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Lecture Note

**“Stability of Structures＂ with application to practical design
**

by S.L. Chan

September 2004, Department of Civil & Structural Engineering, HKPolyU

1

Chapter1, MSc Lecture Note, 2004-2005 Professor SL Chan, HKPolyU

**CHAPTER 1 Behaviour, analysis and design of steel frames
**

1.1 Introduction The primary objective of a structure is to carry and transmit loads to foundations safely and to perform well in a serviceable condition. The old fashioned allowable stress design method controls the maximum stress of a structure below the allowable stress of the material, generally taken as the characteristic yield stress divided by a factor of safety. Additional checks will be imposed for checking against instability and buckling. In the more recently introduced and widely accepted limit state design concept, a structure is considered to reach a limit state when it is unable to fulfil the requirements for its functional uses. The inability of the structure or its components to meet these performance requirements can be considered as a structural failure at ultimate limit state and as non-structural failure at serviceability limit state, which comprises of a number of criteria related to safety and serviceability. During the service life of a structure, the structure should have an acceptable low probability of any kind of collapse or damage locally or globally and should not deflect to such an extent that the occupants feel uncomfortable or that the finishes or cladding are damaged, in addition, the fire resistance of the structure must allow sufficient time for the occupants to escape in case of fire and to prevent rapid spread of fire. The corrosion resistance should enable the structure to last for the designed life and the vibration should not be excessive etc. These requirements are covered in several limit states detailed in the design codes and all these limit states are needed to be fulfilled for a generally satisfactory structure. This relationship can be stated in a general term as,

φR ≥λF

in which φ is the material factor, R is the resistance of the structure, λ is the load factor and F is the external load.

Collapse load and the ultimate load-carrying capacity are related to the safety consideration for the design of a structure. Due to the importance of ultimate strength 2

Chapter1, MSc Lecture Note, 2004-2005 Professor SL Chan, HKPolyU

limit state, the safety margin or factor of safety is generally larger than other limit states and greater than 1. This book is mainly concerned with the limit analysis and design of a structure against collapse and under the action of static and cyclic loads. Obviously, the theory in this book can be applied equally well to the serviceability deflection limit state at a lower load level with a less severe degree of non-linearity. A structure or its components are, in general, three dimensional. However, most structures and their components can be idealized as one or two dimensional for practical purposes. A plate or shell has lateral dimensions much larger than its thickness. The beamcolumn is one dimensional structural member with a longitudinal length much larger than its transverse dimensions. This includes the widely used structural elements such as I, channel, angle, hollow sections and others. These types of structural members are commonly used in steel and metal structures due to their structural efficiency, relatively light weight, ductility and ease of fabrication. They can be manufactured as hot-rolled, cold-formed or intruded for some types of alloy like aluminium. The cross sections of compressive members are generally thin-walled and seldom solid because of their larger flexural stiffness for the same weight of material. In general, the member is under the action of axial force, bending and torsional moments and shears. Most members are arranged to be under a dominant action from axial force and bending moments and essentially free from torsional moment, although this condition may not be attainable in all structures. In engineering practice, a developer requesting for a project to be undertaken for a specific purpose will contact the architect. Normally, several options are then worked out. Structural feasibility will also be considered and the structural engineer will be consulted at this preliminary stage for some types of structures of considerable size. The structural engineer will estimate loading, and propose suitable framing systems. After consideration under the constraints of finance, environment, construction period, aesthetics and other relevant factors, an option will be chosen and a more detailed design will be worked out. The complete process may be iterated many times until all parties are satisfied with the final arrangement upon which the contract documents and specifications will be prepared. In the course of this option selection process, safety consideration plays an important role and may often affect the final solution. For example, in regions of seismic risk, the option of using steel is preferred and very often the management team requires a careful study on the safety of the 3

Chapter1, MSc Lecture Note, 2004-2005 Professor SL Chan, HKPolyU

structure under severe loads. Obviously the consideration of safety indirectly affects the architectural details. In the past, structural engineers normally adopted linear analysis from which the result is employed for individual member design based on formulae in the design codes. In a linear analysis, the structural member and thus its composing structure is assumed to have a constant stiffness independent of the deformations and magnitude of member forces. Mathematically, this condition can be stipulated as, Ku=F in which K is the element stiffness matrix, u is the displacement vector and F is the force vector of a structural system. In a linear system, the stiffness K is independent of the force and displacement. In the solution for the stiffness above Equation, the determination of external forces or loads and of the stiffness properties of the structural system is essential in getting the true behaviour of the structure. In the ultimate limit state design philosophy, they are obtained from a statistical basis. 1.2 Probability of Failure

From a statistical point of view, it will be very uneconomical or even impossible to design a structure without any chance of failure. A structure is allowed to have a certain probability of failure, which is very low and in the order of 10-6. To achieve this objective, the characteristic loads and strength are used in the design. The characteristic load is defined as the load with a certain low percentage being exceeded in the design life of a structure. Similarly, the characteristic stress is defined as the stress value with a certain low probability for the material to have yielding falling below the yield stress. Failure takes place when both these unfavourable conditions for the characteristic load and strength occur simultaneously.

For non-structural failure such as deflection limit state, the requirement is lower because the consequence of reaching the limit state is less serious. Because of this, its design requires an equally demanding level of accuracy since the chance of its occurrence is 4

Chapter1, MSc Lecture Note, 2004-2005 Professor SL Chan, HKPolyU

much higher than the limit state. 1.3 Loads Applied forces acting on a structure can be external or internal. In general, loads are due to the dead weight of the structure and machines, live loads of the occupants and furnishes, wind and earthquake loads from the relative movement of air and earth and internal forces due to shrinkage and temperature change, foundation settlement etc. In design, these loads should be combined in order to produce the most severe loading combination that may occur during the life span of a structure, with an acceptable low probability of actual loads exceeding these combined loads. Load factors are multiplied to the estimated loads and the magnitude for the factor varies from one country to another. 1.3.1 Dead Loads Dead loads are referred to as loads which do not vary with time during the life-span of the structure. These include the self weight of the structure, finishes and some types of permanent equipment such as lift motor. Density of material and estimation of object weight will be used for the computation of dead weight. 1.3.2 Live Loads Live loads are generally due to the occupants or objects that vary in position with time. In some types of live loads, the dynamic effects should be considered and a more detailed dynamic response of the structure should be conducted. In recent years, the wide use of delicate electronic equipment such as computers in offices has made serviceability vibration an important consideration in the design of floor beams which support this equipment. Suddenly applied loads on the floor may introduce vibration that may damage the equipment or information stored in them. It may cause a considerable loss of property and time.

1.3.3

Wind and Earthquake Loads Wind loads are highly localized and national wind codes can provide a

guideline in the determination of equivalent static wind pressure. Consideration will be given to the locations, height and surrounding environment of a building. The return period as well as the 5

Chapter1, MSc Lecture Note, 2004-2005 Professor SL Chan, HKPolyU

not commonly covered in detail in codes of practice. a wind tunnel test may be required to determine the wind pressure at different locations of a building.3. In some countries. 6 Chapter1. temperature change. MSc Lecture Note. Instead. These effects can also be included in an analysis by appropriate modification of initial stress and displacement etc.4 Internal Forces Internal forces may be due to foundation settlement. In some cases for the design of tall or large buildings. stability and also the ductility requirements are needed to be met. HKPolyU . The checking of seismic resistance requires a rather different procedure from the conventional design method such as collapse load factor as this cannot be defined in the static case since the rate of this load will also affect structural safety. dynamic response of a building may also be required to be simulated in a wind tunnel test. Earthquake loads are due to ground acceleration and the inertia effect of the mass of a building.period taken for averaging the wind speed should also be determined for wind load intensity. However. In addition. a fifty year return period with three second wind speed average is adopted. the transient response of a structure is required to be traced and the strength. The magnitude of these forces is difficult to be standardised and therefore. 2004-2005 Professor SL Chan. Different countries use a different period for averaging the wind speed and the calculated wind pressure is also dependent on this duration. lack of fit. For a general analysis. the stability and strength of a structure against time needs to be investigated and the response studied. 1. creep and shrinkage of material and residual stress. The consideration of these effects requires the judgement of the engineer. the maximum and minimum temperature may be specified in the codes for calculation of thermal strain.

6 0. 7 Chapter1. Load Combination Dead Load AISC BS5950 1.1.0 0.0 1.2 1.6 Collapse Load Factor In the ultimate limit state design concept.4 1. MSc Lecture Note. The true collapse load after the formation of a series of plastic hinges is not considered. even the variation in structural stiffness due to yielding.3. the ultimate limit state design concept takes a conservative approximation on assuming the equality of load at the first plastic hinge to the ultimate design load.5 0.2 0 0 Wind Load AISC 0. It can either be a local. In current design practice. a progressive or a global collapse.4 1. However.0 Live Load AISC 0.4 1 2 3 4 1.0 1. the worst combination should be determined from the dead.2 -0. the stiffness of the structure changes and thus the original elastic assumption is no longer valid.4 1. the factor of safety can be defined as the ratio between the collapse and the design load factors. Load and resistance factors are multiplied to the material resistance and the load based on which checking is carried out.6 1. 2004-2005 Professor SL Chan.3.5 Load Factor and Load combinations Once the magnitude and directions of loads are determined.1.2 1. formation of plastic hinges and the presence of axial force in members are ignored in the analysis. their combinations are required to be worked out. For conventional design.0 BS5950 1. the live and the wind load.4 -1. Further. once yielding occurs. The load factor is then multiplied to the design load to give the permissible load of the structure until collapse.1 Load Factors from AISC(1986) and BS5950 (1990) for different load types 1. In Table 1.9 Table 1.3 1.3 BS5950 0 1. HKPolyU . the loads factors used by the American Institute of Steel Construction (1986) and British Standard 5950 (1990) are listed for a comparison.2 1.

In situations where a structural member is under compression. The member stiffness deteriorates when the critical load is approached.1 has been analysed and it can be seen that as the vertical deflection of the cantilever increases. HKPolyU .2 illustrates the softening behaviour of another cantilever subjected to axial force at the end. the deflection is small and the structure is stable. the large deflection in the post-buckling range is unattainable in most practical civil engineering structures and yielding occurs well before such a development of a bending strength in this range. will be necessary and additional fictitious load on the element will be required to ensure the key member is capable of resisting additional and accidental loads. As the validity of a linear analysis relies on the assumption that the member force is small and thus the material is elastic plus the assumption that. Identification of key structural elements. resulting in a pulling action of the member.In recent years. of which the failure causes the collapse of a large area. the member is lengthened and thus a tensile force is developed. a completely different result can be observed. 8 Chapter1. MSc Lecture Note. there is no component in the longitudinal direction and this effect due to geometrical change cannot be observed. Although the structure stiffens after this load. the concept of prevention of progressive and disproportionate collapse has been proposed and enforced in practice in some countries. 2004-2005 Professor SL Chan. In a linear analysis. A stiffening and a softening system are selected for illustration of the error connected with linear analysis. This moves the tip of the cantilever inwards. The cantilever shown in Figure 1. the theory is incorrect when the structure is heavily loaded so that it deforms considerably and the composing material yields. Figure 1. This geometrically nonlinear effect will lead to the stiffening of the stiffness matrix for the complete structure when the tensile axial force is present.

5 P Pcr A = 0.8 1 ∆ L Figure 1.4 0.2 Elastic Buckling of a Softening System Figure 9 Chapter1.8 1 Deflections Figure 1.6 0. MSc Lecture Note.4 v L L=4000 mm 2 A=4200 mm 4 I=6482 cm E=200 kN/mm u 2 0.01 m E = 210x10 N/m 4 I = 8.5 0.2 m 2 2 1 L 0.6 0.21.10 9 8 P v PL EI 2 L-u L 7 6 5 4 3 2 1 0 0 0.2 0.001P P ∆ 0 0 0. HKPolyU .2 0.1 Elastic Large Deflection Analysis of a Stiffening System 2 1. 2004-2005 Professor SL Chan.33x10 m L = 3.1 Figure 1.

MSc Lecture Note.4 Buckling of some members in a full-scale test of a transmission tower 10 Chapter1.Figure 1. 2004-2005 Professor SL Chan.3 A tension stiffening system Figure 1. HKPolyU .

6 Figure 1. strain relationship for mild steel relationship for mild steel bar bar 200 2P 2 3 I=6490 cm A=41. strain Figure Idealised stress vs.5.000 MPa with a maximum variation of about 2. Further loading will cause the material to reach the ultimate stress and fracture. The Young's modulus of elasticity is about 205. 2004-2005 Professor SL Chan. For mild steel further loaded.4 Material Properties Steel has relatively uniform material properties when compared to concrete.strain curve for a steel bar is shown in Figure 1.5%.9cm I=9950 cm 2 3 4 S = 723 cm 4 43 52 Locations for Plastic Hinge formation 1 150 1000 cm 5 P (kN) 100 1 750 cm 750 cm σ ys 50 = 25 kN/cm 2 E = 20. the material fully recovers upon removal of external stress. Before loaded beyond the elastic limit. MSc Lecture Note. Stress σ Proportional Limit Elastic Limit Upper Yield Lower Yield Ultimate Stress Necking Fracture and Failure Strain ε Elastic range Plastic range Strain Hardening Necking and Fracture Figure 1. the material exhibits a strain hardening behaviour.000 kN/cm 2 0 0 40 80 120 160 200 240 (cm) Figure 1.1.8 cm S = 480 cm 4 2 3 P A=58.5 Idealised stress vs. The idealised stress .6 Rigid Plastic Analysis of a Simple Portal 11 Chapter1.5 1. HKPolyU .

For example. The yield criterion generally used for steel material is the Von Mises yield criterion dervied from the maximum distortional energy theory.σ x σ y + 3τ 2 = σ 2 x y xy ys the following equation is employed. Grade 43B should be used for thicker material and Grade 43C. the yielding shear stress is σ ys 3 . in which σx and σy are the direct stress in x. In addition to higher stress versus weight ratio for steel when compared with its major rival.and y. this is not often the case and to prevent brittle fracture. Obviously. The uniaxial yield stress can further be used for prediction of material yielding under bi-directional direct and shear stresses. whilst the use of high grade steel has little or no advantage for structures with behaviour dominated by deflection limit state. instability or vibration. MSc Lecture Note. 12 Chapter1.planes. σ 2 + σ 2 . τxy is the shear stress on the plane and σys is the yield stress under uniaxial stress. Different steel grades have varied values for yield stress.and y. especially when the structure is loaded under low temperature.directions. 350 and 450 MPa. The 95% characteristic yield stress. using the BS5950(1990) system. D or E should be used for even thicker material under cold envirnoments.The strength of steel depends on the composition of the material. which is valid for metal material. defined as the the stress value at which 95% of the tested samples do not yield. choosing a higher steel grade will be advantageous for structures with behaviour critically controlled by ultimate limit state. different steel grades of the same characteristic yield stress should be used for various wall thicknesses. In this Von Mises yield function. Grade 43A steel should be used for relatively thin material. The characteristic yield stresses for common steel grades are 250. steel has an advantage in its high ductility and the ductile mode of failure. but the same Young’s modulus of elasticity. HKPolyU . 2004-2005 Professor SL Chan. concrete. is often used for design. However. It is of interest to note that by substitiuting zero stresses in the x.

In another example when a strut is subjected to a compressive axial load with small disturbance.5. the widely used ultimate limit state design philosophy places the factor of safety on the ultimate load capacity of the structure. MSc Lecture Note. a portal shown in Figure 1. of which the collapse load is required to be determined. Furthermore. The cost of computers. it may become unstable and failure may be due to buckling. HKPolyU . 1. Owing to the improvement in material yield stress for steel in the past few decades and the availability of lowpriced personal computers. stability is an important consideration. The failure of the member is then controlled by material yielding. In the design and analysis of steel structures. as shown in Figure 1. When a member is under the action of moment and/or compressive force. An engineer should be fully aware of the possible buckling modes in order to account for this or to take appropriate action to prevent the occurrence of a particular type of buckling such as to provide bracing members to reduce the effective length.1. the so called elasto-plastic buckling. It can be seen that judgement is necessary for the assessment of the importance of geometric and material nonlinearities so that an approximate analysis method can be chosen for design and analysis. 2004-2005 Professor SL Chan. The phenomena and nature for various buckling modes are discussed in this section. slender steel structures are currently widely designed and constructed. 13 Chapter1. material yield or their combinations. has become a relatively unimportant factor for design to date and this trend will prevail in future with the advent in computer technology.6 under a set of vertical loads and a small lateral disturbing force will reach its maximum load-carrying capacity at a vertical load of 197 kN at which a plastic mechanism is formed. which was an important consideration before 1980's.5 Plastic Failure In the second case for plastic analysis.6 Instability of a structure The design of a member under tensile axial load is relatively simple because the stiffness of a member is stiffened by the presence of axial force in the elastic range. the member will exhibit an elasto-plastic buckling and neither the elastic buckling load nor the plastic squash load is close to the true failure load.

Allowable stress design code like BS449 controls the stress σ which may not be the key parameter for failure due to stability which depends more on Young’s modulus E. This may be considered as a deteriorating stiffness phenomenon for the structure. the structure should have an acceptably low probability of any kind of collapse or damage locally or globally and should not deflect to such an extent that 14 Chapter1. FOS for structural collapse ≠ FOS for stress (FOS= Factor of Safety) Example : slender column fails by buckling which depends more on E. lateral-torsional buckling. generally taken as the characteristic yield stress divided by a factor of safety. In the limit state design code. local plate buckling and their combinations. torsional buckling. MSc Lecture Note. 2004-2005 Professor SL Chan. The inability of the structure or its components to meet these performance requirements can be considered as a structural failure at ultimate limit state and as non-structural failure at serviceability limit state. There are basically several types of buckling modes which must be carefully considered before a safe design can be produced. HKPolyU .Instability refers to the phenomenon that a structure deforms nonproportionally and its stiffness reduces due to the change of geometry and an increasing load. During the service life of a structure. which comprises of a number of criteria related to safety and serviceability. unlike linear and first –order deflection due to bending etc. a structure is considered to reach a limit state when it is unable to fulfil the requirements for its functional uses. The old fashioned allowable stress design method controls the maximum stress of a structure below the allowable stress of the material. These buckling modes for structural members can be classified as Euler buckling. Imagine deflection is related to E and buckling is in fact a phenomenon when the structure deflects rapidly under load (Of course. deflection during buckling is nonlinearly proportional to load).

the failure load is less than this plastic load or squash load. Types of buckling For tension and very short columns. This is due to buckling. Snap-through buckling 5. in addition. There are 5 main types of buckling in steel structures as. Flexural (Euler) buckling 1. These requirements are covered in several limit states detailed in the design codes and all these limit states are needed to be fulfilled for a generally satisfactory structure. HKPolyU . 15 Chapter1. The corrosion resistance should enable the structure to last for the designed life and the vibration should not be excessive etc. For members under compressions. the fire resistance of the structure must allow sufficient time for the occupants to escape in case of fire and to prevent rapid spread of fire.the occupants feel uncomfortable or that the finishes or cladding are damaged. 2004-2005 Professor SL Chan. the stress is proportional to load and the failure load is equal to the yield stress x area (or plastic or elastic modulus for beams). Lateral-torsional buckling 2. MSc Lecture Note. Local plate buckling and 4. Torsional buckling 3.

Euler Column buckling Load Pe Elastic Critical Load Linear Analysis Second-order Elastic Analysis Pc Idealised Test path P δ P δ Deflection The Typical Behaviour of an Imperfect Strut Snap through buckling in shallow roof 16 Chapter1. HKPolyU . 2004-2005 Professor SL Chan. MSc Lecture Note.

HKPolyU .Cruciform susceptible to torsional buckling Lateral-tosional buckling 17 Chapter1. MSc Lecture Note. 2004-2005 Professor SL Chan.

Therefore. simple formulae can be applied to their cases.Local buckling Except the Euler buckling. all of them are considered in isolation in the code that their buckling are not much affected by adjacent member influence and their effects are mainly local. the most common form of buckling is the Euler buckling and it is affected by member interaction as a system such that classification of sway or non-sway frames and consideration of stiffness of adjacent members etc are necessary. HKPolyU . As a result. a second-order analysis was developed in the past decades to assist in checking the column buckling because of these two reasons. MSc Lecture Note.2000). 18 Chapter1. 2004-2005 Professor SL Chan. Unfortunately. This lecture is devoted to this piece of work which becomes important in many design codes such as the BS5950(1990.

6. Pcr = π 2 EI Le 2 in which Le is the effective length of a column. Figure 1. For the simplest case of a column under compressive axial load. The direction of load eccentricity has a significant influence over the pattern of the equilibrium path. HKPolyU . The frequent collapse cases for scaffolding (Chen et.14159. For practical purposes.1 Euler Buckling Euler buckling is possibly the most widely encountered and studied buckling mode. This behavioural phenomenon carries a physical implication that. 1993) can be attributed partly to the buckling of members under axial forces. the direction as well as the magnitude of disturbing force and initial imperfection should be chosen in such a way so that the most severe effect results. P is the axial force and π is a constant equal to 3.8 for the case of a right angle frame. for design against the worst possible condition. 2004-2005 Professor SL Chan. The true load versus deflection relationship is dependent on the magnitude of initial imperfection. When the eccentricity is positive. both in theory and in practice.7 has already shown the load versus deflection path of an imperfect column and it can be seen that the member cannot sustain a load higher than the member squash load (Psq = σys x Area) or Euler's buckling load. In some cases. it has a tendency to deflect laterally along its length. the post-buckling path may be asymmetric to the primary equilibrium path and the direction of initial imperfection will affect the behaviour of a structure. a stiffening behaviour is observed and vice versa. 19 Chapter1. the equation for Euler's buckling load can be obtained analytically as. as indicated in Figure 1.1. al. When an imperfect strut or column is subjected to an axial force. the bifurcation and the plastic collapse loads are only the upper bound solutions to the actual failure load. MSc Lecture Note.

its stiffness becomes critically small and a vanishing small 20 Chapter1.01 e/L = -0. Koiter (1962) 0 -20 -10 0 10 20 Rotation θ (in degrees) Figure 1. the slender member will possibly choose the bending down action to maximum the lowering down of its position. by Salvadori and Heller in "Structures in Architecture" When a structure buckles. MSc Lecture Note. the complexity of the formulae in the ultimate steel design codes such as the BS5950 and the American Load and Resistance Factor Design for steel is mainly due to the complicated checking of a member against inelastic buckling. the member is said to have buckled". The tendency to lower down its position is a natural law. When a larger load is present. 2004-2005 Professor SL Chan. its weight will lower its position.1 Formulation Stocky and tensile members fail when the stress exceeds the material yield stress. because it may be easier for it than to shorten itself axially.g. whether it is partly (e. beams) or wholly in compression.5 Load P/P cr 1 e/L = 0. A non-mathematical explanation of buckling is difficult but it can be briefly postulated as follows. Further to this.7 Post-buckling Behaviour of a Right Angle Frame 1. When it occurs. HKPolyU . However.1.01 e P θ 0. The importance of unstable type of failure of a structure cannot be overlooked. Their design is therefore straight forward. The failure is due to instability or buckling.6. In fact. it fails before the plastic failure load is reached (Plastic Failure Load = Yield Stress x Cross Sectional Area or Plastic Modulus).1.5 Large Deflection Theory Analytical Solution e=0. "A slender column shortens when under a small compressive axial load applied at top. it will select the easiest path to lower down its position. In doing so. when a slender member is in compression.

MSc Lecture Note. 1.9 The Basic Force versus Displacement relations in a Member Solving the simple differential equation. P EI k= Note : A direct checking of the solution is to substitute the solution into the differential equation! Imposing the boundary conditions of zero deflections at the two ends. a plate component or a member. is subjected to an axial load. EI 2 d v +Pv=0 2 d x in which E is the Young's modulus of elasticity. Therefore.1.9.2.disturbing or perturbing force would cause it to have an uncontrolled displacements. The equilibrium equation in an imaginary and slightly deformed position can be written as.6.1. we focus on the buckling of a strut.2 Critical Load of a Column 1. 2004-2005 Professor SL Chan. v is the lateral deflection in the y-axis and x is the distance along the member length.6. HKPolyU . v = A sin k x + B cos k x in which k is given by. one obtains the solution for v as. we obtain the following 21 Chapter1. buckling can be considered as a zero stiffness phenomenon. In this chapter. This structure includes a frame.1 By Differential Equation A simply supported column shown in Figure 1. I is the second moment of area. Figure 1.

A sin (k L) = 0 we have either a = 0 or sin(kL) = 0. it can only be applied to problems of simple geometry such as beam-columns. The vanishing of the first variation of the total potential energy functional implies the satisfaction of the equilibrium condition. Thus. For the minimum or the first mode buckling load. 2004-2005 Professor SL Chan. the Euler's load is given by. A mathematical technique of Variational Calculus is often used to minimise a functional like : 22 Chapter1. In the second condition. the principle of minimum potential energy can be used. P= Note : π2E I L 2 Although the present approach to find the buckling load is straight forward. kl is equal to nΠ in which n is an integer. HKPolyU . 1.2. n is equal to 1.6. Thus. However. In the first condition. it is not a good approach in general and more complex problems.2 The Principle of Minimum Potential Energy As an alternative method to solve a buckling problem. it is extremely difficult or even impossible to write down a set of differential equilibrium equation for a frame and therefore cannot be used in such types of structures.1.equation. MSc Lecture Note. Its application to more complex problems of inelastic buckling analysis of angle beamcolumns was also conducted. it implies that the member will not deflect and represents a higher energy path. δ Π=0 for equilibrium >0 For Stable Equilibrium For Neutral Equilibrium For Unstable Equilibrium δ2Π=0 <0 An energy function is an expression for the energy. The vanishing of the second variation of the energy functional means the structural system is in the state of neutral equilibrium.

we put. To derive the Euler buckling load of a column. Thus. MSc Lecture Note. 2 2 1 L ⎛ ⎛ d2 v ⎞ ⎛ dv ⎞ ⎞ ⎜E I ⎜ Π = ∫O ⎟ + P ⎜ ⎟ ⎟ dx 2 ⎜ ⎜ dx 2 ⎟ ⎝ dx ⎠ ⎟ ⎠ ⎝ ⎝ ⎠ In the case of a simply supported column. ⎛π x ⎞ v = A sin ⎜ ⎟ ⎝ L ⎠ into above equation and after differentiation and integration. we obtain the exact value for the Euler buckling load as in previous case. . the energy functional of the column can be written as (Tension +ve). the assumption of a half sine curve will satisfy the deflected form the column.n ⎛ dy d 2 y d y⎞ I = f ⎜ y. n ⎟ ⎜ dx ⎟ dx ⎠ dx ⎝ Note that.. 2004-2005 Professor SL Chan.. after minimisation. . 2 . That is. we cannot obtain the solution directly. We can only have the expression or a set of equations governing the instability condition. HKPolyU .. P=- π2E I L 2 (Compression) Π= E I A2 π 4 L P A2 π 2 L + 2 L4 2 L2 δ2Π= E Iπ 2 L 2 +P Note : The present energy approach will be found to be very general and can be applied in 23 Chapter1.

it does not directly give us the solution. Co is the amplitude of the initial imperfection. we will face with a similar problem in the precious section in finding a correct displacement function to satisfy all the boundary conditions of a complex problem. HKPolyU . MSc Lecture Note.1. the displacement is assumed to be in the form of a polynomial function and the coefficients (A1 to An) will then be expressed in terms of the degrees of freedom. it is very tedious for us to write down the energy functional for each particular problem. it will be further elaborated later. In real cases. To allow the method to be used in a general problem without the need of having a correct displacement function to satisfy the boundary conditions. 2004-2005 Professor SL Chan. Generality. the Perry-Robertson formula is used for the design of struts.3 ⎜ 2 ⎜ 100 r r ⎝ ⎞ ⎟ ⎟ ⎠ 2 Where L is the length and r is the radius of gyration. Zmax is the distance of the extreme fibre from the centroidal axis.6. In the American codes.complicated problems. However. we have. Unfortunately.Pv = = = R R o dx 2 dx 2 EI EI Put n2=P/EI and symbolise d()/dx as a superdot. the maximum mid-span deflection is taken as the member length/1000 whilst in the BS449 code. In fact. To this end. Co and the imperfection shape as. depending on the number of coefficients (A1 to An). 1 1 d 2 v d 2 vo M . This effect is included in the member strength determination by assuming a midspan initial deflection. the finite element method of analysis is commonly utilised. vo = Co sin πx L The change in curvature is then given by. 1. it gives us a set of equations of order 1 to thousands.3 The Perry-Robertson formula for design of struts In most of the design codes. Their major difference is on the assumption of the initial imperfection. it is taken as follows. ⎛ L η = ZMAX CO = 0. 24 Chapter1. the members are not perfectly straight nor the loads are perfectly concentric.

2 ⎛π ⎞ Co ⎜ ⎟ ⎝ L ⎠ sin π x v= 2 L ⎛π ⎞ ⎜ ⎟ . For maximum moment. At x = L.Co ⎜ ⎟ sin v v L ⎝L⎠ Solving. MSc Lecture Note. 2004-2005 Professor SL Chan.n2 ⎝L⎠ πx C = O Pcr sin L Pcr . v=0.P ymax ⎡C ⎤ = . 25 Chapter1. we have the combined stress as. thus A = 0.πx ⎛π ⎞ 2 && + n 2 v = &&o = . x=L/2 and Mmax is given by. HKPolyU .P ⎦ To limit the maximum stress to a particular value such as the yield stress (limit state) or its value divided by a certain factor of safety (allowable stress). we have.P ⎢ o Pcr ⎥ ⎣ Pcr . we use the following boundary conditions. thus B=0. M max = . v = 0.P in which Pcr is the Euler's buckling load and equal to π2EI/L2. ⎛π ⎞ Co ⎜ ⎟ ⎝ L ⎠ sin π x v = A sinnx + B cosnx 2 L 2 ⎛π ⎞ n -⎜ ⎟ ⎝L⎠ 2 2 To find A and B in the above equation. At x =0.

All these necessiate the development of element stiffness matrix allowing for the effects of axial force. HKPolyU . Plot also the curves for the Euler's buckling load and the squash load in your diagram. the element stiffness matrix for a second order analysis of frames must account for the effect.c function).102. Element Stiffness Matrices In the above analysis and design.6.σ ys σ cr ⎬ 2 ⎪ ⎪⎝ ⎠ ⎭ ⎩ Appendix B. Note that the widely used analysis computer program is based on the linear assumption that the effects are ignored. One of the basic but not sufficient requirements is that. Analysis of structures allowing for the effects will be called the second order analysis. the stability effect will be allowed for. This type of analysis is accepted by the Australia AS4100-1990 and is currently under active study by the drafters of various national codes such as the American and the European codes. 2004-2005 Professor SL Chan. we note that the member capacity and thus its resistance against external loads are dependent on the magnitude of the axial load (and also the moment to be described in later section). in contract to the finite element method where the solution is approximate that the displacement function is assumed. in the advanced analysis.7 pc = σ ys + (η + 1) σ cr 2 ⎫ ⎧ ⎛ σ ys + (η + 1) σ cr ⎞2 ⎪ ⎪ . MSc Lecture Note. The element matrix is derived from the differential equilibrium equation directly and thus the stiffness matrix is exact. Advanced analysis is defined as a method of analysis which is capable of representing the limit state behaviour associated with specification member capacity checks to an extent such that the analysis alone is sufficient to verify the adequacy of both member and overall structural system performance and strength. 1. Hence write a simple program to generate and plot the design curves for tables 17 in the code for a particular section and steel grade.⎨⎜ ⎟ . 1. we focus on individual member behaviour. we realise a frame composed of an assemblage of members will have a stiffness dependent on the load.1 The stability function A method of using the element stiffness matrix allowing for the presence of axial force is the method of stability function (or the s.4 1. the geometrically nonlinear analysis or the P-delta analysis. From the equations.1. Thus.P I Exercise Derive the following equation for permissible stress of struts in BS449 (1990) p.6. To this end. 26 Chapter1. where σcr is the critical stress equal to Pcr/Area.σ max = P M max Zmax + ≤ σ allow A I P C P = + o Pcr Zmax A Pcr .4.1.

⎛ sinkx x ⎞ M a ⎛ sink(L. P.φ sin φ c1 = 27 Chapter1.e. (Derive by yourself) ⎡ψ φ ⎤ ⎡θ a ⎤ ⎥ ⎡Ma ⎤ ⎢ ⎢ ⎥ L ⎢ 3 6⎥ ⎢ ⎥ ⎢ ⎥= ⎢ ⎥⎢ ⎥ ⎢ ⎥ EI ⎢ φ ψ ⎥ ⎢ ⎥ ⎢θ b ⎥ ⎣M b ⎦ ⎣ ⎦ ⎢ 6 3⎥⎢ ⎥ ⎦ ⎣ The above is the flexiblity matrix (i.e.kx=F) can be obtained by inversing the f and can finally be obtained as. MSc Lecture Note. is given by (see p. EI ⎡ c1 c2 ⎤ ⎡ M a ⎤ ⎢ ⎥=⎢ ⎥ L ⎢c2 c1⎥ ⎢M b ⎥ ⎣ ⎦ ⎣ ⎦ φ (sin φ . 2004-2005 Professor SL Chan.φ cos φ ) 2(1 . Where ψ = and φ = In matrix form as. x = f F).x) L.cos φ ) .sin φ ) c2 = 2(1 . ⎛ sinkx x ⎞ .φ sin φ where φ (φ . The final total deflection can be evaluated by superimposition as.The deflection of a beam under an end moment and an axial load.12. HKPolyU .cos φ ) .x ⎞ .⎟+ v = Mb ⎜ ⎜ ⎟ L ⎠ P ⎝ sinkL L ⎠ P ⎝ sinkl Ma L ψ + M b L φ 3 EI 6 EI M b L ψ + Ma L φ θb = 3 EI 6 EI θa = The nodal rotations can therefore be calculated as. The stiffness matrix (i. Timoshenko and Gere).⎟ v = Mb ⎜ P ⎝ sinkL L ⎠ The deflection due to the moment at the other end can be obtained by replacing Mb by Ma and x by (L-x).

1.cos ⎢π ⎟ ⎜ ⎟ ⎣ 2L⎥ ⎠ ⎦ ⎝ in which the coefficient A is the lateral dip deflection.Note that the above stiffness equations are only valid for compressive axial load case. ⎛ ⎡ x ⎤⎞ v = A ⎜ 1 . The most commonly used shape function for deflection is cubic for the lateral deflection and v = a 0 + a1 x + a 2 x 2 + a 3 x 3 linear for axial lengthening.6. The coefficients in tensile and zero load cases can also be derived in the same procedure. Thus. P. For example. a cantilever strut has a deflected shape in the following form. determinate the relative stiffness of a pin-fix strut under an axial load equal to 0. (b) Derive the stiffness coefficients for a strut without any axial load and with a tensile load. c1 and c2. for a strut against the axial load. Exercise (a) Plot the stiffness coefficients.1. Note that the expression satisfies the boundary conditions of zero deflection and slope at x = 0 and deflection equal to A at x = L.5 of the Euler's buckling load and under no axial load in which case c1=4 and c2=2.5 Element Matrices by the Principle of Total Potential Energy The assume sine function for the problem of a simply supported column is not valid in a general problem. Hence. 2004-2005 Professor SL Chan. u = b0 + b1 x 28 Chapter1. MSc Lecture Note. because a general beam-column has a deflected shape other than a half sine curve. HKPolyU .

MSc Lecture Note.2 ρ 2 ) ρ . 2004-2005 Professor SL Chan. in which Π is the total potential energy functional. the energy expression for a continuum is first expressed as. 2 2 2 2 ⎤ ⎡ f 3 = ⎢(3 . Thus. Note that the right hand rule has been used to denote the rotation. ended nodes. we have. dy = θ z1 dx dy = θ z2 dx WHEN x = L : y = v2 . Expressing the coefficients a1 to a4 in terms of the degrees of freedom y1. 29 Chapter1. we obtain an alternative expression as. y2. vol is the volume of the continuum. Expressing the strain in terms of the linear (εL) and the nonlinear strain tensor (εN). ρ2 = L L To obtain the element stiffness matrix for a general thin-walled beam-column. [σ] and [ε] are the stress and strain tensor 1 Π = ∫ vol [σ ]T [ε ] dv + [F ]T [r] 2 1 = ∫ vol [ε ]T [D] [ε ] dv + [F ]T [r] 2 respectively. [F] and [r] are the applied force and the corresponding displacement vectors.ρ 1 ρ L⎥ 2 ⎦ 1 1 2 ⎣ where ρ1 = 1 - x x . which are the deflections and rotations at the two WHEN x = 0 : y = v1 . we have the following boundary conditions as. we now have 4 coefficients and can be expressed in terms of the degrees of freedom at the two ends of an element.For lateral deflection. HKPolyU . θz1 and θz2.2 ρ 1) ρ ρ ρ 2 L (3 .

axes). only the following terms are considered to be non-zero. we obtain.e. [ε ] = [ε ]L + [ε ]N Note that [σ ] = [D] [ε L] 1 Π = ∫ vol [ε L ]T [D] [ε L ] + 2[σ L ]T [ε N ] dv1 + [F ]T [r] 2 ( ) For the present studies. MSc Lecture Note. HKPolyU . 2004-2005 Professor SL Chan. To this. we ignore those stresses acting perpendicularly to the longitudinal member axis and shears in the directions parallel to the x-axis (i. Thus. vi and wi are the displacements of an arbitrary point on the cross section in the x.and z. y and z directions respectively. the y. only the beam-column element is considered. 2 2 2 ⎛ ∂ u i ⎞ 1 ⎡⎛ ∂ u i ⎞ ⎛ ∂ vi ⎞ ⎛ ∂ w i ⎞ ⎤ ⎟ + ⎢⎜ ⎟ +⎜ ⎟ +⎜ ⎟⎥ ε xx = ⎜ ⎝ ∂ x ⎠L 2 ⎢⎝ ∂ x ⎠ ⎝ ∂ x ⎠ ⎝ ∂ x ⎠ ⎥ N ⎣ ⎦ ui wi i i i i i i ε xz = ⎨ ⎢ ⎥ + ⎢ ∂ x ⎥ ⎬ + 2 ⎨ ∂x ∂z + ∂x ∂z + ∂x ∂z ⎬ 2⎪ ⎣∂z⎦ ⎣ ⎦ ⎪L ⎩ ⎭N ⎩ ⎭ 1 ⎧ ⎡ ∂ u i ⎤ ⎡ ∂ vi ⎤ ⎪ + ⎨ 2 ⎪ ⎢ ∂ y ⎥ ⎢∂ x ⎥ ⎦ ⎦ ⎣ ⎩⎣ ⎫ 1 ⎧ ∂u ∂u ∂v ∂v ∂w ∂w ⎫ ⎪ i i i + i i + i ⎬ ⎬ + ⎨ ∂x ∂y ⎭ N ⎪ L 2 ⎩ ∂x ∂y ∂x ∂y ⎭ 1 ⎧ ⎡∂ ⎪ ⎤ ⎡∂ ⎪ ⎤⎫ 1 ⎧ ∂u ∂u ∂v ∂v ∂w ∂w ⎫ ε xy = in which the subscripts L and N represent the linear and nonlinear components and ui.Substituting and ignoring the higher order term. 30 Chapter1.

∂v ∂w ∂θ x -z -ω ∂x ∂x ∂x ui = u . This coordinate system is called the principal coordinate. ui. If these displacements are not used in the derivation. The corresponding stresses for are given by. ω = ∫s ρ ds 0 where ρ is the distance between the point and the shear centre.y wi = w + θ x y vi = v . 2004-2005 Professor SL Chan. and the shear centre displacements.θ x z in which ω the sectorial coordinate given by. The reason for the selection of centroidal axial lengthening and the shear centre lateral deflections is due to the fact that these displacements are not coupled.M y1 ρ 1 + M y 2 ρ 2) + (M z1 ρ 1 . This important point has been overlooked by many other researchers. This means that our assumption that the shape function for the displacement along a principal axis does not depend on the displacements in other principal axes is valid. vi and wi can be expressed in terms of the axial displacement at centroid.For small but finite deformation. about the shear centre axis as follows. σ xx = P z y ω + (.M z 2 ρ 2) + Mω A I yy Izz Iω τxy = τxz = Vy A Vz A 31 Chapter1. v and w. u. the displacement function for the deflections along the any orthogonal axes will be coupled. HKPolyU . and the angle of rotation θx. MSc Lecture Note.

we obtain the general expression for the energy functional of a general and asymmetric section as. 2 2 2 2 2 L ⎛ ∂2 v ⎞ ⎛ ∂2 w ⎞ ⎛ ∂ 2θ x ⎞ 1 ⎡ ⎛∂u⎞ ⎛ ∂θ x ⎞ ⎤ Π = ∫ ⎢EA ⎜ ⎟ + EIz ⎜ 2 ⎟ + EI y ⎜ ⎜∂ ⎟ ⎜ ∂ 2 ⎟ + EIω ⎜ ∂ 2 ⎟ + GJ ⎜ ∂ x ⎟ ⎥ dx ⎟ ⎜ ⎟ 2 0 ⎢ ⎝∂x⎠ ⎝ ⎠⎥ ⎝ x ⎠ ⎝ x ⎠ ⎝ x ⎠ ⎦ ⎣ +∫ 0 L P ⎡⎛ ∂ v ⎞ ⎛ ∂ w ⎞ 2 ⎛ ∂θ x ⎞ ⎟ ⎟ + r1 ⎜ ⎟ +⎜ ⎢⎜ 2 ⎢⎝ ∂ x ⎠ ⎝ ∂ x ⎠ ⎝ ∂x ⎠ ⎣ 2 2 2 ⎤ ⎥ dx ⎥ ⎦ ∫ (. z and y are the co-ordinates with respect to the centroid. Shear due to warping is also ignored for simplicity. MSc Lecture Note. Vx. A is the cross sectional area. 2 Iω = ∫ A ω d A Substituting.M 0 L L ∂ ∂v ∂θ ∂ v dx + ∫ (M z1 ρ 1 . HKPolyU . 2 Iz = ∫ A y dA 2 Iy = ∫A z d A r1 = 2 1 2 2 ∫A (y + z ) d A A and Iω is the warping section constant given by.M z 2 ρ 2 ) x dx ρ1 + M y 2 ρ 2 ) θ x y1 ∂x ∂x 0 ∂x ∂x 32 Chapter1. My and Mz are the moments about the principal axes and Mω is the Bimoment. Vz are the shear centre in the y and z directions acting on the place perpendicular to the x-axis. P is the axial force along the centroidal axis. 2004-2005 Professor SL Chan. Iy and Iz are the second moments of area about the principal axes given by.in which the subscripts 1 and 2 represent the near and the far ends of the element.

That is. Note. Also. the orthogonality conditions for the generalised principal coordinates are such that the following terms are zero. the terms for asymmetry and the axial force can be ignored.∫ ⎢τ ⎣ 0 L L ⎡ xy ⎛ ∂w ∂u ∂v⎞ ⎛ ∂ v ∂ u ∂ w ⎞⎤ + ⎜θ x ⎟ . we do not use a single and close formed expression for the displacement which may not be possible for complex problems. HKPolyU . In the context of the finite element analysis. we use the cubic polynomial for the lateral deflection to represent the deflected shape of the displacement and linear for axial lengthening. u. For the case of an I-beam. Summary for the derivation of an element matrix by the finite element method 33 Chapter1. ∫ xdA = ∫ ydA = ∫ xydA = ∫ x ω dA = ∫ y ω dA = 0 The formulation described in the above represents the energy functional for a general asymmetric thin-walled beam-column. Instead. we obtain the expression for the energy functional in terms of nodal degrees of freedom. linear function for axial lengthening. as follows. the moment term can be ignored etc. Thus substituting the cubic displacement function for the lateral displacement. For the case of the buckling of an angle column. Venant torsion constant and r1 is the polar radius of gyration about the shear centre given by. that. the section is assumed to be symmetrical that the asymmetrical terms are all ignored. [r] = [ u1 v1 w1 θ x1 θ y1 θ z1 u 2 v2 w 2 θ x 2 θ y 2 θ z 2 ] T 2 ∂ Π = [k L] + λ [k G ] ∂ xi ∂ x j in which kL and kG are the linear and geometric stiffness matrices for a general thin-walled beam-column and λ is the load intensity parameter (see next page). v and w. [r]. in the above. MSc Lecture Note. in the above derivation. 2004-2005 Professor SL Chan.τ xz ⎜θ x ⎟⎥ dx ⎝ ∂x ∂x ∂x⎠ ⎝ ∂ x ∂ x ∂ x ⎠⎦ 2 ⎛ ∂θ x ⎞ T ∫ Mω β ω ⎜ ∂ x ⎟ dx + [F ] [r] ⎝ ⎠ 0 in which J is the St.

for simplicity and demonstrative purpose. 2004-2005 Professor SL Chan. Write down the energy functional for the particular type of member. Thus.1. For example. dv = θ z1 dx For x = L. MSc Lecture Note. we write down the energy term corresponding to bending. Thus. v = a 0 + a1 x + a 2 x 2 + a 3 x 3 For x = 0. v = v1 . for a beam element. Depending on the nodal degree of freedom for an element. If we have 4 degrees of freedom. dv = θz2 dx a 0 = v1 a1 = θ z 1 a3 = 2( v1 . write down a polynomial for the deflection of the element. HKPolyU . we use cubic polynomial which has also 4 coefficients so that we can solve the coefficients. v = v 2 .v2) L 3 + θ z1 + θ z 2 L 2 a2 = 3(. 2.v1 + v2) 2θ z1 + θ z 2 2 L L 34 Chapter1. the energy functional corresponding to the Π= ⎛ d2 v ⎞ 1 P ⎛ dy ⎞ EI⎜ 2 ⎟ dx + ∫ ⎜ ⎟ ∫ ⎜ dx ⎟ 2 0 ⎝ dx ⎠ 20 ⎝ ⎠ L L 2 dx + M θ 1 1 + M 2 θ 2 + F1 v1 + F2 v2 action of an axial force is selected and can be expressed as.

2 + 3 ) (x⎥ L L L ⎦ ⎢ v2 ⎥ L L L L L ⎣ ⎢ ⎥ ⎣θ z 2⎦ 3.3 ) ( x 2 .6 L .1 . After differentiating the functional with respect to the degree of freedom two by two.L ⎢ 10 30 10 15 ⎥ ⎦ ⎣ L⎥ ⎦ Note that the coefficients are given by.3 ⎢ L ⎢ ⎢ 6 ⎢ 2 ⎣ L 6 L 2 - 12 L 2 4 L 6 L 2 - 6 L 2 12 L 3 2 L 6 L 2 6⎤ 1 6L 1⎤ ⎡ 6L 2⎥ ⎢ 5 L ⎥ 10 5 10 ⎥ ⎥ ⎢ ⎥ ⎥ ⎢ 2⎥ ⎢ 1 2L . ⎡ v1⎤ ⎢ ⎥ 3 2 3 x 2 2 x3 2 x 2 x3 ⎡ 3 x 2 2 x3 ⎤ ⎢θ z 2⎥ + 2 ) ( 2 . 2 ∂ Π . 2004-2005 Professor SL Chan.x )⎥ ⎢ v = ⎢(1 . we obtain the functional in terms of the nodal degree of freedom.2⎥ ⎢ 5 10 5 10 ⎥ L ⎥ ⎥ ⎢ ⎥ ⎥ ⎢ 1 2L⎥ 4⎥ ⎢ 1 . after solving. HKPolyU . Substituting the displacement function. we obtain the stiffness matrix as follows. v. in terms of the nodal degree of freedom into the energy functional. MSc Lecture Note.L ⎥ ⎢ 10 15 L⎥ 10 30 ⎥ ⎥ ⎥ ⎢ ⎥+P⎢ ⎥ 6⎥ 6L 1⎥ ⎢. x j are the nodal degrees of freedom 35 Chapter1.And. ∂ xi ∂ x j k ij = k ji = x i .1 . ⎡ 12 ⎢ 3 ⎢ L ⎢ ⎢ 6 ⎢ 2 ⎢ L [k l + k G ] = EIz ⎢ ⎢ 12 ⎢.

a computer program has been developed by the lecturer to calculate the value of the load factor. some researchers do not consider the beam-column element as a finite element which implies that the exact expression for the deflection cannot be obtained but approximated by a series of approximate functions such as cubic polynomial. for the semi-indefinite condition of the eigenvalue. What is the percentage error for such a solution? Can we use 1 element to represent 1 member in a nonlinear analysis if we need a solution of less than. HKPolyU . which is the half sine curve for a simply supported strut. say. Exercises 1. 2004-2005 Professor SL Chan. MSc Lecture Note. calculate the buckling load of a simply supported column with a pinned joint at one end and a roller joint at the other end.e. However. is far from cubic and therefore we need to use at least 2 elements to obtain a solution with an accuracy of less than 1%. Because the cubic Hermite function for lateral deflection represents the exact linear solution for the bending for a beam {i.The condition for the structural system to become unstable is the vanishing of the determinant of the matrix. 10% ? 1. | kL + λ kG | = 0 To this. we can easily see the nonlinear solution.1 Using one single cubic polynomial as a displacement function. in the present studies of buckling problems. That is. EI = M1(1-x/L)+M2(x/L)}. 36 Chapter1. λ.2 Determine also the buckling load of a cantilever by using 1 element.

2 = −θo ⎜ ⎟ sin . Given 2 L ∂θ ∂v 1 L ⎛ d2v ⎞ 1 L ⎛ ∂θ ⎞ dx π = ∫ EI z ⎜ 2 ⎟ dx + ∫ GJ⎜ x ⎟ dx + M ∫ 2 0 ⎜ dx ⎟ 2 0 ⎝ ∂x ⎠ O ∂x ∂x ⎝ ⎠ 2 To determine Mcr under uniform bending. 2004-2005 Professor SL Chan. HKPolyU .2 Lateral Buckling of Beams When a member is under the predominant action of bending moment about its principal major axis.1. it may deflect and bend about its minor axis when the applied moment is close to its critical moment. MSc Lecture Note. = vo ⎜ ⎟ cos .6. Let θ = θo sin πx ∂θ πx d 2θ πx ⎛π⎞ ⎛π⎞ = θo ⎜ ⎟ cos . Ex. 2 2 L L ⎡ ⎡ ⎛π ⎞ π⎤ πx ⎤ 1 1 ⎛π ⎞ π = ∫ EI z ⎢− vo ⎜ ⎟ sin ⎥ dx + ∫ GJ ⎢θ o ⎜ ⎟ cos ⎥ dx L⎥ 2o L⎦ 2o ⎝L⎠ ⎣ ⎝L⎠ ⎢ ⎣ ⎦ 2 ⎛ ⎛π ⎞ πx ⎞ ⎛ ⎛ π ⎞ πx ⎞ + M ∫ ⎜θ o ⎜ ⎟ cos ⎟ ⎜ vo ⎜ ⎟ cos ⎟dx ⎜ ⎟⎜ L ⎠⎝ ⎝L⎠ L⎟ ⎝L⎠ ⎠ o⎝ L 1 2⎛ π ⎞ = EI z vo ⎜ ⎟ 2 ⎝L⎠ 4L 1 2⎛π ⎞ ∫ sin L dx + 2o GJθ o ⎜ L ⎟ ⎝ ⎠ o 2 2L π 2L ∫ cos o 2 π L dx ⎛π ⎞ + Mθ oVo ⎜ ⎟ ⎝L⎠ ∫ cos o 2 π L dx Since cos 2 x = 1 − 2 sin 2 x 1 − cos 2 x 2 sin x = 2 2 cos 2 x − 1 = cos 2 x πx L L sin 2 dx = ⎫ L 2 ⎪ ∫ ⎪ o ⎬⇒ ⎪ L L 2 πx dx = ⎪ ∫ cos ⎭ L 2 o 37 Chapter1. 2 = −v L dx L dx ⎝L⎠ πx dv π ⎛π ⎞ ⎜ ⎟ sin L ⎝L⎠ 2 So. L dx L dx L ⎝L⎠ ⎝L⎠ 2 πx d 2 v ⎛π ⎞ v = vo sin .

38 Chapter1. 1987a). MSc Lecture Note.1 1 ⎛π ⎞ L ⎛π ⎞ 1 2⎛π ⎞ 1 ⇒ π = EI z vo ⎜ ⎟ + GJθ o2 ⎜ ⎟ + Mπ o vo ⎜ ⎟ 2 ⎝L⎠ 2 2 ⎝L⎠ 2 ⎝L⎠ 2 4 2 2 4 ⎧ L ∂ 2π ⎛π ⎞ = EI z ⎜ ⎟ ⎪ 2 2 ∂Vo ⎝L⎠ ⎪ ⎪ ⎪ 2 L ⎛π ⎞ ∂ 2π ⎪ = ⎜ ⎟ GJ ⎪ 2 Q⎨ 2⎝L⎠ ∂θ o ⎪ ⎪ 2 ⎪ ∂ 2π ∂ 2π ⎛ 1 ⎞⎛ π ⎞ = = M ⎜ ⎟⎜ ⎟ ⎪ ∂vo ∂θ o ∂θ o ∂vo ⎝ 2 ⎠⎝ L ⎠ ⎪ ⎪ ⎩ So. HKPolyU . The close form general solution for the elastic buckling moment can then be obtained as. 1965) or the energy equation using the principle of total potential energy (Chan and Kitipornchai. ⎡ ∂ 2π ⎢ 2 ⎢ ∂vo δ 2π = ⎢ ⎢ 2 ⎢ ∂π ⎢ ∂θ o ∂vo ⎣ ∂ 2π ⎤ ⎡ ⎛ π ⎞2 ⎥ ∂vo ∂θ o ⎥ 2 EI ⎜ ⎟ 1 ⎛π ⎞ ⎢ z ⎥ = ⎜ ⎟ ⎢ ⎝L⎠ 2⎝ L⎠ ⎢ ∂ 2π ⎥ ⎢ M ⎥ ⎣ 2 ∂θ o ⎥ ⎦ 2 2 ⎧ ⎫ ⎪ ⎛π⎞ 2⎪ ⎨GJ x EI z ⎜ ⎟ − M ⎬ = 0 ⎪ ⎪ ⎝L⎠ ⎩ ⎭ ⎤ M⎥ ⎥ ⎥ GJ ⎥ ⎦ π ⎛π⎞ ⎛π⎞ M = GJ EI z ⎜ ⎟ ⇒ M cr = GJ EI z ⎜ ⎟ L ⎝L⎠ ⎝L⎠ 2 2 1⎛ π⎞ det = 0 ⇒ ⎜ ⎟ 2⎝ L⎠ The elastic buckling moment can be obtained by the solution of the differential equilibrium equation (Trahair. 2004-2005 Professor SL Chan.

P y ) ( P .P z ) . For non-bifurcation type of analysis.6 . 1. m= 1 < 2. MSc Lecture Note.3 Torsional Buckling A short thin-walled column under axial force may buckle and twist torsionally.M cr = m π L EI y GJ 1 + π 2 EIω GJL 2 in which Iy is second moment of area about the minor principal axis. Kitipornchai and Lee (1984) conducted experiments on the elasto-plastic buckling behaviour of angle with varying length and Chan and Kitipornchai (1987b) proposed a finite element approach to the elastic buckling analysis of angle struts.P x ) ( P . The elastic buckling load of a thin-walled member with asymmetric cross-section can be obtained as the root of the following cubic equation.P z ) (r 2 + y o + z o ) p 2 2 . 2004-2005 Professor SL Chan.6.Py o ( P . Figure in Chapter 1 sketches the lateral buckling analysis of a cantilever beam of rectangular cross section. Iω is warping section constant. which is used as the supporting base of space frames shown in Figure in Chapter 1.4 β MS in which ML and MS are the larger and smaller nodal moments applied to the two ends of a beam respectively. L is the effective length of the beam and m is a coefficient to account for the effect of moment gradient given empirically by.P y ) = 0 39 Chapter1. G is shear modulus of elasticity. 2 2 ( P . a small disturbing force to initiate lateral deflection is necessary and the load versus deflection path can then be plotted using an incremental . This mode of buckling may be found in short and open section such as angle and cruciform.0. The elasto-plastic buckling load was also predicted by Chan (1989) using the finite element approach which compared well with the test results by Usami (1971).iterative method which is discussed in the next Chapter.5 and β = M L 0. J is torsional section constant. HKPolyU .P z o ( P . Short thin-walled columns under axial force may twist torsionally before reaching the squash load.

The overall 40 Chapter1. for the top flange of a square hollow section (SHS) under moment. 2004-2005 Professor SL Chan.and the z. NAFSHELL (1995). For the effective width method.6. In the effective stress method. Codes such as BS5950. HKPolyU . the cross section is assumed to remain undeformed when loaded to its ultimate strength. the effective stress or the effective width concept is normally adopted.axes.in which Py and Pz are the Euler flexural buckling loads of the strut about the y. In the design of structural elements susceptible to local buckling. 1. For the majority of hotrolled sections. the cross section of the member may deform and exhibit local plate buckling before the member yields or buckles in any other modes previously described. material lying outside the width limit of the composing plate elements making up the section is ignored. yo and zo are the coordinates of the centroid about the axes parallel to the principal axes and passing through the shear centre and rp is the polar radius of gyration given by. MSc Lecture Note. Figure in Chapter 1 shows the local plate buckling simulated by the large deflection finite shell element computer program. Px is the torsional buckling load about the shear centre axis.4 Local Buckling In the conventional theory of thin-walled beams. Part 1 (1990) adopt this approach for hot-rolled sections. this assumption is valid and the result obtained on this basis is accurate. When the thickness of the plate components making up a section is thin. Most hotrolled sections are not susceptible to this type of buckling whilst built-up sections such as girders require careful consideration of the plate stability. Ix + Iy A rp = in which Iy and Iz are respectively the second moments of area about the two principal axes respectively and A is the cross sectional area. depending on the boundary condition of the plate being considered. the permissible stress of the structural element is reduced to limit the permissible stress in the section. Using this assumption. theories developed for analysis of thin-walled beam-columns can be simplified and the time required for the analysis of this type of structures is greatly reduced. National codes for design of steel and metal structures have clauses to prevent this or to allow for a reduction in cross sectional capacity when the plate width versus thickness ratio exceeds a certain value.

MSc Lecture Note. Its careful consideration is important for buckling analysis and design of slender skeletal structures. The lowest buckling load acting perpendicularly on the edge of a simple supported square plate is given by. Et π 12(1 -ν 2) b2 3 2 9. Considering the beam-column element under an axial force as shown in Figure 1. In AS4100(1990).M1 2 L dx 2 EI in which E is the Young’s modulus of elasticity. Narayanan (1985) edited a series of recent research works in the area of plate buckling in various types of steel structures. the overall sectional capacity is reduced to cater for the effect of local plate buckling. Pcr = and the shear buckling load by.35π 2 E Ps = 12(1 -ν 2) b2 in which b is the width of the square and υ is the poisson's ratio. Chapter1.Pv + M1 M 2 x. this concept is used. resort can be made to the equilibrium equation for a beam-column element. To formulate the P-δ effect and to obtain the correct relationship between the bending coefficients under the action of axial force. 2004-2005 41 Professor SL Chan.9. M1 and M2 are nodal moments at the left and right ends and P is the axial force. v is the lateral deflection in y-axis. Note that positive nodal moment is assumed by the right hand rule using the z-axis pointing outside the plane of this paper. HKPolyU . I is the second moment of area. + d v = . x is the distance along the member.7 The P-δ Effect The P-δ effect is referred to as the second-order effect due to the deflection along a member and the axial force. the differential equilibrium equation can be written as. It affects the state of stress as well as the stiffness of the member. A plate component may buckle by compressive edge loads or by shear loads acting along the edges of the plate.resistance of the section is then lowered due to the ignorance of this material and therefore. 1.

HKPolyU . 2004-2005 Professor SL Chan. we have the stiffness dx dx EI (c1θ 1 + c2θ 2 ) L EI M 2 = (c2 θ 1 + c1θ 2 ) L M1 = in which M1. M2. E is Young's modulus of elasticity. MSc Lecture Note.⎡ sin( µ L. θ1 and θ2 are the nodal moments and rotations at the two ends of the member. equation as.µ x) L. and expressing the rotations at two ends as the nodal rotations as. L is the member length. c1 = φ (sin φφ cos φ ) 2(1cos φ )φ sin φ c2 = φ (φ sin φ ) 2(1cos φ )φ sin φ 42 Chapter1. 1 |x = L = θ 2 .x ⎤ M 2 ⎡ sin µ x x ⎤ v = M1 ⎢ P ⎣ sin µ L L ⎥ P ⎢ sin µ L L ⎥ ⎦ ⎣ ⎦ in which µ= P EI Differentiating above equation with respect to θ1 and θ2. I is the second moment of area about the bending axis and c1 and c2 are the stiffness coefficients given by the followings. d v1 dv |x = 0 = θ 1 .

is reversed. The cubic displacement function for displacement will be obtained and the stability coefficients can be determined directly as. since it considers correctly the second-order effect due to the element deflection. HKPolyU . P.in which φ = PL EI 2 Repeating the procedure for the tensile load case in which the sign of axial force. It can be seen that the conventional linear analysis of using c1 and c2 is only correct for the condition of zero axial load. MSc Lecture Note. Figure 1. c1 = 4 . c2 = 2 The above procedure is an exact means of incorporating the P-δ effect into an element under the Timoshenko beam-column theory. c1 = ψ (sinh ψψ coshψ ) 2(coshψ 1)ψ sinh ψ c2 = ψ (ψ sinh ψ ) 2(coshψ 1)ψ sinh ψ in which ψ = . c1 and c2. The expressions allow for the variation of the stiffness of a 43 Chapter1.10 shows the variation of axial force and the stability functions. 2004-2005 Professor SL Chan. we have the stability function for c1 and c2 as follows.PL EI 2 For the zero load case. which assumes that member is under predominant axial load and small end moment. the differential Equation can be solved directly as in the case for linear analysis.

we can update the geometry of a structure by the updated Lagrangian formuation as. x i+1 = x i + u i in which xi and ui are the coordinates and deflections at step “i” respectively. this effect can be included through element formulation so that the coordinate system remains unchanged for the complete loading history. more nodes for geometry update can be introduced along the member and thus the effect of axial force can be included into the member stiffness. Based on the new or updated geometry. The P-δ effect can also be transformed to the P-∆ effect by using several elements per member. Bathe [1982]). generally termed as total Lagrangian formulation.member in the presence of axial force and they can be used to revise the stiffness of the global stiffness matrix comprising hundreds of elements as well as predicting the buckling of a single member.9 Design of Steel Structures In practical design of steel structures. HKPolyU . 1. Using more elements for a member. This effect may become important when the deflection and/or the conjugate force is large such as in the case of a building under a heavy mass at the roof and a lateral wind load. Alternatively. MSc Lecture Note. With proper formulations. the original geometry can no longer be employed for the formulation of the transformation matrix simply because the coordinates have been varied. both these methods for including the effect of large deflections yield the same result (Zienkiewicz [1977]. 2004-2005 Professor SL Chan. Beams with full restraints along the length do not require the determination of the effects of 44 Chapter1. To include this effect in an analysis. 1. not all the buckling modes are required to be included in an analysis. at the expense of heavier computation time.8 The P-∆ Effect When a structure deforms grossly. provided that their effects are prevented or insignificant. the transformation matrix is updated and the effect of large deflections is then included.

These analysis techniques require different degrees of complexity which. the linearized response of a structure is used to construct the bending moment diagram of the structure from which the strength and stability of each member is checked and designed. 1. In practical design of steel buildings. To aid the designer and reader to fully appreciate the nature. local plate buckling will not occur before the structure reaches the plastic moment. in addition to strength and stability. HKPolyU . MSc Lecture Note. is introduced to the design procedure for determining the permissible stress.10 Types of Analysis Although the actual behaviour of a structure is nonlinear and complicated. is determined. needs to be considered in the analysis and design. they are summarized below with a cross reference on the generalized load versus deflection path for a structure depicted in Figure in 45 Chapter1. 2004-2005 Professor SL Chan. the effective length factor or the K-factor. limitation and accuracy of these methods. As many practical columns are of modest to high slenderness that invalidates the assumption of an analysis considering only material yielding. ductility. however. Framing is also aimed for the symmetrical and balanced layout in order to ensure stability and ductility in resisting dynamic forces. In dealing with this type of design and to obtain a better insight into the dynamic and collapse response of a structure. The ductility factor. this slenderness depends on the rigidity of the connections as well as the rigidity of the connecting members to this column being designed and therefore a rather complicated formula is used in different national design codes. the second-order effect normally present is due to axial forces in columns or due to the vertical loads. In the conventional linear design and analysis of steel structures.lateral instability. Unfortunately. When the plate components are thicker than a certain breadth versus thickness ratio. different levels of analysis with various degrees of refinement can be used to design the structure. In design of structures against extreme and dynamic loads. may not necessarily be directly related to the manual manipulation work involved due to the availability of powerful personal computers. The column strength is very much dependent on the member slenderness ratio and also the side sway of the whole building. A column of I or box section and of sufficient torsional stiffness is not susceptible to torsional buckling. the analysis should be equipped with the ability to carry out inelastic and large deflection analysis. defined as the ratio of the displacement at the instance of collapse to displacement at the onset of yielding.

B1 and B2 are the magnification factors corresponding respectively to the P-δ and the P-∆ effects and given in detail in the specification. one can superimpose the force diagram due to various loads in order to obtain the final force distribution in the structure. A special feature or convenience about this method of analysis is on the validity of the principle of superposition of different load cases. the designer must employ other means to check the safety of a structure such as the member capacity check based on an assumed K-factor for columns and to limit the maximum stress in the structure. in which Mnt and Mlt are the maximum first-order elastic moments in the member calculated on the assumptions of "lateral translation" and "without translation".Chapter 1. 46 Chapter1. 1. In BS5950 (1990). the relationship between the applied load and the deflection at any point in a structure is a straight line. In the LFRD (1986) specification. the amplification factor is used to increase the bending moment of a column obtained from a linear analysis. the slenderness ratio of a column in a multi-storey frame is determined from different charts for sway. Thus. non-sway and partial sway frames. the following factor can be used to amplify the moment in a sway frame. which has been used for decades. as shown in the line coinciding with the initial slope of any analysis in Figure. Thus. Mu.1 Linear Analysis Linear analysis. As this straight line by itself does not provide any information on stability and the true capacity of the structure. assumes the deflection is proportional to the applied force. can be estimated from a linear analysis by the following M u = B1 M nt + B2 M lt formula. Alternatively. In order to account for any nonlinear effect that has not been allowed for in a linear analysis.10. 2004-2005 Professor SL Chan. the second-order elastic moment. MSc Lecture Note. HKPolyU .

It can be seen that the application of the above formula becomes tedious when a large number of columns are to be designed and checked.2 Elastic Bifurcation Analysis The buckling load factor. the stiffness of a slender member depends on the sign and magnitude of initial load in the member. The situation will be more complicated when the member is slant or in cases where the member is under non-uniform axial force. the effective length is difficult to assess by judgement.amplification factor = λ cr λ cr . For a general stiffness matrix of a structural system with n degrees of freedom. 1. interpolation and the sub-space iteration schemes. HKPolyU . which causes the structural system to buckle elastically with the structural geometry assumed unchanged until buckling occurs. but this effect of change of member stiffness due to external loads via the initial stress in members is ignored in a linear analysis.10. Only the lowest or 47 Chapter1. 2004-2005 Professor SL Chan. This factor can be obtained by an eigenvalue analysis detailed in next section. λcr. there exist n roots for the bifurcation load and they represent n possible buckling modes. Furthermore. A detailed discussion of these methods are given by Bathe (1982).1 in which λcr is the elastic buckling load factor which multiplied to the design or applied load vector gives the buckling load vector for the structural system. In many cases. the determination of the effective length factor is difficult to judge. an eigenvalue problem is formulated by a standard procedure as. There exist a number of numerical methods for the solution of above equation and the computation of eigen vectors which represent the buckling mode shape. In many cases. In the bifurcation type of analysis. The solution methods for the above problem are the methods of bisection. | K L + λ cr K G | = 0 in which KL and KG are the linear and the geometric stiffness matrices respectively. MSc Lecture Note. is termed as the elastic buckling factor.

i = 1. it can be used as an approximation to the instability stage. Mp is the plastic moment capacity of the section at node i. np is the total number of possible plastic hinge locations simulated by element springs . HKPolyU . 2004-2005 Professor SL Chan.the lowest few modes are usually of practical interest. n p for the jth cycle ⎟ ⎠ in which i M is the moment due to an initial set of applied loads and at node i. Once the location of the first plastic hinge is spotted.6 for clad frames ignoring the stiffening effect from wall panels and 5. Its application to a simple portal has been shown in Figure 1.3 First Order Elastic-Perfectly Plastic Analysis of rigid-jointed frames In the plastic analysis of steel frames. This method ignores the buckling and the large deflection effect until collapse. Chajes (1974) and Brush and Almroth (1975). Manual methods based on the energy and the equilibrium considerations for the determination of critical loads have been presented by Timoshenko and Gere (1961). becomes tedious when the structure size is large. MSc Lecture Note. a linear analysis is carried out first to search for the location for the formation of the first plastic hinge under a set of increasing loads acting upon a structure.75 for uncladed frames or claded frames with inclusion of wall panel stiffening in analysis. elements with end springs to simulate the softening of a section stiffness are used to model the members in a framed structure.6. Although the method can only provide an upper bound solution to the stability of a frame. BS5950 (1990) requires the elastic buckling load factor to be larger than 4. a hinge is inserted to this node by reducing the stiffness of end spring in the element to zero and the 48 Chapter1. which was subsequently modified by others. ⎛ ∆ λ j = min ⎜ ⎜ ⎝ i Mp iM ⎞ ⎟ . 1. When the possibility of formation of a plastic hinge along a member exists. several elements are needed to model each member. Mathematically the load factor leading to the formation of the first plastic hinge analysis can be computed by the following simple equation.10. The manual approach. however. The bifurcation analysis is generally used to determine the exact effective length factor K for a member in a structural system. Horne (1949) developed a kinematic energy approach for determining the plastic failure load of a steel frame. In this approach. In the computer analysis.

A very small force will cause infinite displacement. BS5950 (1990) specifies the range of these factors for steel frames in a very simple and empirical way and it can be used in conjunction with the elastic bifurcation load for a quick and approximate check for structural stability. The second incremental load factor. 49 Chapter1. HKPolyU . is calculated by repeating the above process. This procedure is repeated until a mechanism is detected. Rankine (1863) used a reciprocal additive formula for computation of collapse load which was extended to frameworks by Merchant (1954) as. λp = ∑ ∆ λi i =1 j in which Aj@ is the total number of plastic hinges formed before a plastic mechanism is formed and λp is the plastic collapse load factor for the rigid-jointed frame.analysis is continued based on the modified structure with this new plastic hinge. 1. which can be sensed by the semi-definite condition or zero determinant of the stiffness matrix and the final collapse load factor is determined as the sum of all the incremental load factors as. In this mechanism. 2004-2005 Professor SL Chan. neither the bifurcation nor the plastic load factors are close to the true collapse load of a structure. In many practical structures. Empirical formula has been developed to combine these two failure load factors to approximate the collapse load.4 The Merchant Rankine's formula for collapse load of rigid-jointed frames Unless a structure is very slender or very stocky. the geometric or the material nonlinearity does not dominate its failure. deflections can occur without creation of strain energy. ∆λ2. MSc Lecture Note.10. The plastic and the elastic buckling factors can be combined to check the elastic and plastic stability of a frame.

In a nonlinear analysis. λp and λcr are the ultimate. In principle. they are mostly empirical and lack a rational consideration of the effect of member initial imperfection and residual stress. = 1 λp + 1 λ cr in which λu. material yielding is not considered in the second-order elastic analysis. Figure in Chapter 1 shows these effects in a frame. which includes the P-δ and the P-∆ effects. HKPolyU . it takes no account of many important factors such as initial imperfection. the structure is assumed to be undeformed in all except the loaded directions. For the stability theory involving large deflection effects. Second-order elastic analysis implies an analysis allowing for the secondorder effects due to change of geometry and initial stress in members. This can either be a bifurcation point or a limit point as shown in Figure 1.11. residual stress. The checking of member Chapter1. the critical point refers to the semi-definite condition for the tangent of the equilibrium path or the tangent stiffness matrix of the tangent stiffness matrix. Their effects are due to deflections in the members and in the structures respectively and difficult to be rationally accounted for in a linear analysis for all cases. 1. the P-δ and the P-∆ effects can all be included in a rigorous analysis. Although modified formulae are proposed to refine the equation for a better approximation of the collapse load through the elastic bifurcation load and the plastic collapse load.1 λu factors respectively. the plastic and the elastic buckling load Although the Merchant-Rankine formula is simple to use. This can be considered as the transition point from stable to unstable equilibrium states or vice versa.10. A limit point refers to the turning point for the equilibrium path of a structure.5 Second-order Elastic Analysis A relatively more complicated approach for accurate analysis of structures involves the tracing of the equilibrium or the load versus deflection path. one must distinguish between the limit and the bifurcation point which requires a different numerical treatment in tracing the equilibrium path by computer. As implied by its name. These P-δ and P-∆ effects may be important for slender structures in practice and their existence illustrated previously. In a bifurcation point. MSc Lecture Note. the sway P-∆ effect and no rigid mathematical proof is yet available for verification of the formula. 2004-2005 50 Professor SL Chan. the effects of initial imperfection.

The error is difficult to quantify but is problem dependent. For example. the second-order inelastic analysis is not yet fully qualified for the requirement of an advanced analysis which can be used for direct design. 1. However. Generally speaking. In the lump plasticity model.strength relies on the application of design formula whilst the second-order effects such as the P∆ and P-δ effects are included automatically in the analysis. However. As a result. the amplification factors or equivalent become unnecessary. a plastic hinge concept of reducing the stiffness at a particular location with zero length may not be able to completely represent the true yielding pattern of the structure. the member capacity check can be carried out by superposition of the computed nodal moments at the two ends of a member obtained directly from the second-order elastic analysis and the moment along the member due to member load and allowing for the P-δ effect. if 51 Chapter1. 1994). HKPolyU . In many cases yielding is spread over such a distance that the plastic hinge cannot sufficiently capture the true behaviour of the frame. 1989). the second-order inelastic analysis may give an error in predicting the true collapse load. 2004-2005 Professor SL Chan. be skipped and the accuracy and saving in manipulation effort can be achieved. generally termed as the plastic hinge (Yau and Chan. the path for second-order elastic analysis follows the exact equilibrium path before yielding.6 Second-order Inelastic Analysis If the effect of material yielding is included in the above second-order elastic analysis it becomes the second-order inelastic analysis. The inclusion of material nonlinearity can either be carried out by the lump or by the fibre plasticity models. For example. MSc Lecture Note. As shown in the idealized load versus deflection response curves in Figure. They deviate when the load is at a level causing material yield and thus the second-order elastic analysis over-predicts the collapse load of a structure. the difference between the second-order inelastic analysis and the advanced analysis is expected. The error for a second-order inelastic analysis may come from the approximation for the material model. In the fibre model. the lump plasticity model is more efficient and easier to apply whilst the fibre model is more accurate and considered to be exact. yielding is assumed to be concentrated in a small region of zero length.10. The process of determining the effective length of the member by a formula in a design code in order to calculate the second-order moments can. therefore. yielding is assumed to spread along the element length and across the section. and numerical integration is normally employed to evaluate the element stiffness of a partially yielded section (Chan. residual stress and initial imperfection in the members but improvement can be achieved by refining the model. As shown in Figure.

the yielding zone in a beam is distributed over a large area and only an element with a plastic hinge allowed to form at its ends is used to model each member. It is economically unjustified to design a structure to remain in its elastic stage under severe load. A more natural and accurate analysis but expensive in terms of computer time. however. collapse should simultaneously be prevented even during a severe earthquake. allowing for various sources of non-linearities such as the material yielding. environment. Generally speaking. The sequence for formation of plastic hinges must be examined and controlled so that the structure remains stable. and is required for consideration. For a less severe load. HKPolyU . In the design of structures against extreme and dynamic loads. although the analysis method by itself is accurate.S. in 1994 and the Hyogoken-Nanbu earthquake near Kobe city in Japan in 1995 revealed the design code at that period was still not fully sufficient to resist even a moderate earthquake attack. loading sequence is also an important parameter for analysis and ductility. Stiffness is the 52 Chapter1.A. provided that it does not collapse.10.7 Dynamic and Cyclic Analysis Wind and seismic loads are time dependent and the response of a structure under this loading type is dynamic in nature. The Northridge earthquake in the U. input information and the model must be precise and accurate in order to simulate the structural behaviour reliably. the idealization may become inaccurate and invalid. 2004-2005 Professor SL Chan. Energy absorption capacity must be adequate and fracture failure should be prevented. The modal analysis and the spectrum analysis (Clough and Penzien 1993) is an improved method to incorporating these dynamic effects into the analysis. The widely used equivalent load approach to transform the dynamic force to a set of static forces in many cases cannot reflect the true behaviour of a structure. the phenomenon of resonance and ductility of a structure cannot be revealed in this static approach. strength must be sufficient for stress reserve in a structure to resist loads before yielding. This so-called transient response analysis plots the stress and deflection of the complete structure against time using various loadings or earthquake history. Depending on the severity of the applied load expressed as years of return period. the structure should be repairable after an earthquake strike. large deflection and buckling. in addition to strength and stiffness. It must be emphasised that. the structure is allowed to undergo a certain degree of damage and plasticity in structures is normally allowed. MSc Lecture Note. is to trace the complete equilibrium path. For instance. 1.

2004-2005 Professor SL Chan. This is due to the fact that these buckling modes may not be easily conducted in the global analysis for the complete structure and they have relatively less interaction with the global structure. Ductility is the character of a structure to tolerate large deflection before fracture and its consideration is important in assessing the performance of a structure under dynamic loads. The effect of initial imperfections is also encountered for in the analysis and a practical design can be directly carried out on the basis of the stress computed by this type of rigorous analysis. by the fact that no detailed consideration on the accuracy of the plasticity model. HKPolyU . MSc Lecture Note.8 Advanced Analysis Advanced Analysis combines the effects of material yielding and geometrical change with sufficient accuracy for practical purposes so that member capacity checks can be avoided. 53 Chapter1. residual stress. erection procedure and interaction with foundations. initial member imperfection. out-of-plane buckling such as lateral torsional buckling should be prevented when using this type of analysis and design. as indicated in Figure. only the section capacity check is needed for member design. In other words. At the present stage of development. The ductility factor can only be evaluated accurately by a complete second-order plastic analysis. the Advanced Analysis. The most refined Advanced Method of Analysis includes all the second-order effects and also material properties and residual stress. The geometrically non-linear or the second-order elastic analysis ignores the effects of material yielding and thus it can only follow the equilibrium path of a real structure before yielding. the curves generated by this type of analysis follow closely to the actual behaviour of a structure. Advanced Analysis can be defined as any analysis method that does not require specification member capacity checks. 1.rigidity of the structure against external loads and its inadequacy leads to buckling and excessive deformation. For an idealized model. It can be an improved or a refined second-order plastic-hinge analysis or direct plastic zone analysis. The second-order inelastic analysis includes the effects of material yielding but can be distinguished from the most sophisticated method of analysis.10. As such. member initial imperfection and/or semi-rigid joint stiffness is included in the method.

Chajes.W.1. Part 1. (1949). BS5950. thesis submitted to the Department of Civil Engineering. Department of Civil Engineering. S.99-106. Geometric nonlinear analysis of asymmetric thinwalled beam-columns. HKPolyU . Construction safety of temporary structures. S. University of Queensland. University of Queensland. S.2. 421 Kitipornchai. Sydney. Chen. Department of Structural Engineering. Journal of Structural Engineering.W.F.243-254. Dynamics of Structures. Civil Engineering and Engineering Mechanics Series. Principle of structural stability theory. vol. W. 27. Australia.721-739. and Kitipornchai. 1993.L.11 REFERENCES American Institute of Steel Construction (1986). no. Clough.O. 113(4).. (1974). J. (1975). 11. British Standards Institution (1990).23-30. 54 Chapter1. AS-4100. Civil Engineering Series.F. ASCE. (1984).D. Australia for partial fulfilment of the Degree of Doctor of Philosophy. 2004-2005 Professor SL Chan. and Chan. and Almroth. AISC. K. Inelastic experiments on angles and tee struts. and Penzien. Pan. Research Report CE54. McGraw-Hill. and Kitipornchai.J. N. S.L. Chan. (1987). 1989. H. N. Contribution to The design of steel frames by Baker. Nonlinear analysis of structures composed of thin-walled beam-columns. Chan.K. S. Chan.J.O. Tsong. A.. Structural use of steel in building. Nonlinear finite element analysis of angle and tee beam-columns. U. A.L. Chicago. Chen. S. McGraw-Hill. pp. S. (1993).R. Finite element procedures in engineering analysis. 9. (1987b).. Prentice-Hall Inc. Horne. Research Report CE-STR-93-26. MSc Lecture Note.L. pp. Prentice-Hall Inc. (1987a). J. Journal of Structural Engineering. Australian Standard for Steel Structures (1990). plates and shells. and Lee. Journal of Engineering Structures. Purdue University. D.. Buckling of bars. B. pp. Englewood Cliffs. (1989). S. W. (1982). Bathe. Inc. 33. Inelastic Post-Buckling Analysis of Tubular Beam-Columns and Frames. Vol. Journal of Engineering Structures. Structural Engineer.J. M. Chan.21. specification for structural steel buildings. and Yen. pp. R. Brush. Load and resistance factor design. Second-order inelastic analysis of steel frames by personal computers. 2nd edition. pp. (1994). School of Civil Engineering.L. pp. Englewood Cliffs.F.

Trahair. Zienkiewics. Journal of Structural Engineering.stability and strength.M. (1863).Y. for partial fulfilment of the requirements for the degree of Doctor of Science. Nonlinear analysis of shells. S.Y.S. 2nd edition. (1977). 1993. Inelastic and stability analysis of flexibly connected steel frames by the spring-in-series model. The failure load of rigidly jointed frameworks as influenced by stability. A manual of civil engineering.Merchant. (1954). O. Dissertation presented to Washington University at St. Timoshenko. Plated structures . Salvadori. Theory of elastic stability. Louis. NJ.M. Mo. (1994). Prentice-Hall. W.L. C. (1961). S. 55 Chapter1.157 Trahair. Usami.S. (1985).. 38. 3rd Edition. Rankine. (1971). McGraw-Hill. and Gere.2803-2819. McGraw-Hill. N. 2004-2005 Professor SL Chan. And Chan. “Out-of-plane advanced analysis of steel structures”. ASCE. Yau. J. N. HKPolyU . The Structural Engineer. and Chan. (2002). NAFSHELL. The Finite Element Procedure. pp. R.RXXX. University of Sydney. (1965). User's Reference Manual. 32. pp. M. London. New York. pp.C. Narayanan. 1963. MSc Lecture Note. W. R. Australia. and Heller. S.185-190. Elsevier Applied Science. Journal of the Institution of Engineers. N. Charles Griffin and Comp. 2nd edition. Englewood Cliffs. Restrained single-angle columns under biaxial bending. Research Report No.J.L. Stability of I-beam with elastic end restraints. T. Structures in Architecture.P..

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