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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

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

4 1. 7 Chapter1.6 1.0 BS5950 1. In Table 1. MSc Lecture Note. HKPolyU .4 1. formation of plastic hinges and the presence of axial force in members are ignored in the analysis. The load factor is then multiplied to the design load to give the permissible load of the structure until collapse.6 0. Further.3.1.2 0 0 Wind Load AISC 0.2 1.6 Collapse Load Factor In the ultimate limit state design concept. their combinations are required to be worked out.5 Load Factor and Load combinations Once the magnitude and directions of loads are determined.0 1.4 1 2 3 4 1.0 1.3. the live and the wind load. Load and resistance factors are multiplied to the material resistance and the load based on which checking is carried out.2 -0.3 BS5950 0 1. the loads factors used by the American Institute of Steel Construction (1986) and British Standard 5950 (1990) are listed for a comparison.1 Load Factors from AISC(1986) and BS5950 (1990) for different load types 1.2 1.5 0. However. the factor of safety can be defined as the ratio between the collapse and the design load factors. In current design practice.0 0. It can either be a local.9 Table 1. the worst combination should be determined from the dead.3 1. even the variation in structural stiffness due to yielding.4 1. For conventional design.1. a progressive or a global collapse. 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. 2004-2005 Professor SL Chan.0 Live Load AISC 0. The true collapse load after the formation of a series of plastic hinges is not considered.4 -1.2 1. once yielding occurs. Load Combination Dead Load AISC BS5950 1. the stiffness of the structure changes and thus the original elastic assumption is no longer valid.

2004-2005 Professor SL Chan. 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 member is lengthened and thus a tensile force is developed. there is no component in the longitudinal direction and this effect due to geometrical change cannot be observed.In recent years. This geometrically nonlinear effect will lead to the stiffening of the stiffness matrix for the complete structure when the tensile axial force is present. the concept of prevention of progressive and disproportionate collapse has been proposed and enforced in practice in some countries. MSc Lecture Note. resulting in a pulling action of the member. The member stiffness deteriorates when the critical load is approached. 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. a completely different result can be observed. In a linear analysis.2 illustrates the softening behaviour of another cantilever subjected to axial force at the end. 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. Identification of key structural elements. Figure 1. of which the failure causes the collapse of a large area. the deflection is small and the structure is stable.1 has been analysed and it can be seen that as the vertical deflection of the cantilever increases. Although the structure stiffens after this load. 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. In situations where a structural member is under compression. the theory is incorrect when the structure is heavily loaded so that it deforms considerably and the composing material yields. HKPolyU . 8 Chapter1. The cantilever shown in Figure 1.

001P P ∆ 0 0 0. HKPolyU .10 9 8 P v PL EI 2 L-u L 7 6 5 4 3 2 1 0 0 0.2 Elastic Buckling of a Softening System Figure 9 Chapter1.8 1 Deflections Figure 1.5 0. 2004-2005 Professor SL Chan. MSc Lecture Note.8 1 ∆ L Figure 1.2 m 2 2 1 L 0.1 Figure 1.2 0.33x10 m L = 3.4 0.4 v L L=4000 mm 2 A=4200 mm 4 I=6482 cm E=200 kN/mm u 2 0.6 0.01 m E = 210x10 N/m 4 I = 8.6 0.21.1 Elastic Large Deflection Analysis of a Stiffening System 2 1.2 0.5 P Pcr A = 0.

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

Before loaded beyond the elastic limit. the material exhibits a strain hardening behaviour.8 cm S = 480 cm 4 2 3 P A=58. 2004-2005 Professor SL Chan.5. 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 idealised stress . strain Figure Idealised stress vs.5 1. the material fully recovers upon removal of external stress.5 Idealised stress vs. strain relationship for mild steel relationship for mild steel bar bar 200 2P 2 3 I=6490 cm A=41. Further loading will cause the material to reach the ultimate stress and fracture.5%.6 Rigid Plastic Analysis of a Simple Portal 11 Chapter1. MSc Lecture Note.1. HKPolyU .4 Material Properties Steel has relatively uniform material properties when compared to concrete.6 Figure 1. The Young's modulus of elasticity is about 205.strain curve for a steel bar is shown in Figure 1.000 kN/cm 2 0 0 40 80 120 160 200 240 (cm) Figure 1.9cm 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. For mild steel further loaded.000 MPa with a maximum variation of about 2.

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

the so called elasto-plastic buckling. HKPolyU . 1. slender steel structures are currently widely designed and constructed. of which the collapse load is required to be determined. 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. as shown in Figure 1. stability is an important consideration.1. When a member is under the action of moment and/or compressive force. Furthermore. Owing to the improvement in material yield stress for steel in the past few decades and the availability of lowpriced personal computers. 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. The phenomena and nature for various buckling modes are discussed in this section. In the design and analysis of steel structures. has become a relatively unimportant factor for design to date and this trend will prevail in future with the advent in computer technology.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. MSc Lecture Note. a portal shown in Figure 1. The cost of computers. the widely used ultimate limit state design philosophy places the factor of safety on the ultimate load capacity of the structure. which was an important consideration before 1980's. material yield or their combinations.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. In another example when a strut is subjected to a compressive axial load with small disturbance.5 Plastic Failure In the second case for plastic analysis.5. 2004-2005 Professor SL Chan. it may become unstable and failure may be due to buckling. The failure of the member is then controlled by material yielding. 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. 13 Chapter1.

The old fashioned allowable stress design method controls the maximum stress of a structure below the allowable stress of the material. This may be considered as a deteriorating stiffness phenomenon for the structure. 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. a structure is considered to reach a limit state when it is unable to fulfil the requirements for its functional uses. 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. local plate buckling and their combinations. 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. These buckling modes for structural members can be classified as Euler buckling.Instability refers to the phenomenon that a structure deforms nonproportionally and its stiffness reduces due to the change of geometry and an increasing load. 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). lateral-torsional buckling. torsional buckling. There are basically several types of buckling modes which must be carefully considered before a safe design can be produced. During the service life of a structure. FOS for structural collapse ≠ FOS for stress (FOS= Factor of Safety) Example : slender column fails by buckling which depends more on E. generally taken as the characteristic yield stress divided by a factor of safety. In the limit state design code. which comprises of a number of criteria related to safety and serviceability. MSc Lecture Note. 2004-2005 Professor SL Chan. unlike linear and first –order deflection due to bending etc. HKPolyU .

Local plate buckling and 4. 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). in addition. There are 5 main types of buckling in steel structures as. MSc Lecture Note. 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 failure load is less than this plastic load or squash load.the occupants feel uncomfortable or that the finishes or cladding are damaged. Snap-through buckling 5. HKPolyU . 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. 2004-2005 Professor SL Chan. This is due to buckling. 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. 15 Chapter1. Flexural (Euler) buckling 1. Lateral-torsional buckling 2. Torsional buckling 3. Types of buckling For tension and very short columns.

HKPolyU .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. MSc Lecture Note. 2004-2005 Professor SL Chan.

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

Local buckling Except the Euler buckling. 2004-2005 Professor SL Chan. Therefore. As a result.2000). HKPolyU . simple formulae can be applied to their cases. 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. MSc Lecture Note. 18 Chapter1. This lecture is devoted to this piece of work which becomes important in many design codes such as the BS5950(1990. Unfortunately. a second-order analysis was developed in the past decades to assist in checking the column buckling because of these two reasons. 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.

Pcr = π 2 EI Le 2 in which Le is the effective length of a column. both in theory and in practice. This behavioural phenomenon carries a physical implication that. In some cases. a stiffening behaviour is observed and vice versa. the equation for Euler's buckling load can be obtained analytically as.8 for the case of a right angle frame. 2004-2005 Professor SL Chan.6. P is the axial force and π is a constant equal to 3. The frequent collapse cases for scaffolding (Chen et. The direction of load eccentricity has a significant influence over the pattern of the equilibrium path. it has a tendency to deflect laterally along its length. For the simplest case of a column under compressive axial load. al. The true load versus deflection relationship is dependent on the magnitude of initial imperfection. When the eccentricity is positive. MSc Lecture Note. HKPolyU .1. for design against the worst possible condition. 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.1 Euler Buckling Euler buckling is possibly the most widely encountered and studied buckling mode.14159. as indicated in Figure 1. 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. 1993) can be attributed partly to the buckling of members under axial forces. Figure 1. the bifurcation and the plastic collapse loads are only the upper bound solutions to the actual failure load.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. 19 Chapter1. When an imperfect strut or column is subjected to an axial force. For practical purposes.

the member is said to have buckled".1. Further to this. The tendency to lower down its position is a natural law. by Salvadori and Heller in "Structures in Architecture" When a structure buckles. the slender member will possibly choose the bending down action to maximum the lowering down of its position. A non-mathematical explanation of buckling is difficult but it can be briefly postulated as follows. 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. However. "A slender column shortens when under a small compressive axial load applied at top. beams) or wholly in compression.7 Post-buckling Behaviour of a Right Angle Frame 1.5 Load P/P cr 1 e/L = 0.6.1 Formulation Stocky and tensile members fail when the stress exceeds the material yield stress. when a slender member is in compression. HKPolyU . In fact. The failure is due to instability or buckling. Their design is therefore straight forward. it fails before the plastic failure load is reached (Plastic Failure Load = Yield Stress x Cross Sectional Area or Plastic Modulus). its weight will lower its position.5 Large Deflection Theory Analytical Solution e=0. MSc Lecture Note.01 e P θ 0.1. its stiffness becomes critically small and a vanishing small 20 Chapter1. The importance of unstable type of failure of a structure cannot be overlooked. When a larger load is present. whether it is partly (e.01 e/L = -0. In doing so. 2004-2005 Professor SL Chan. it will select the easiest path to lower down its position. Koiter (1962) 0 -20 -10 0 10 20 Rotation θ (in degrees) Figure 1. When it occurs.g. because it may be easier for it than to shorten itself axially.

The equilibrium equation in an imaginary and slightly deformed position can be written as.6. one obtains the solution for v as.2 Critical Load of a Column 1.1. we focus on the buckling of a strut. EI 2 d v +Pv=0 2 d x in which E is the Young's modulus of elasticity. Figure 1. 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.1 By Differential Equation A simply supported column shown in Figure 1.9 The Basic Force versus Displacement relations in a Member Solving the simple differential equation. Therefore. we obtain the following 21 Chapter1. This structure includes a frame. v is the lateral deflection in the y-axis and x is the distance along the member length. a plate component or a member.9. buckling can be considered as a zero stiffness phenomenon. v = A sin k x + B cos k x in which k is given by. I is the second moment of area. 2004-2005 Professor SL Chan.6. MSc Lecture Note. In this chapter.disturbing or perturbing force would cause it to have an uncontrolled displacements. is subjected to an axial load. HKPolyU .2. 1.1.

In the second condition. In the first condition. it can only be applied to problems of simple geometry such as beam-columns. MSc Lecture Note. 1.2 The Principle of Minimum Potential Energy As an alternative method to solve a buckling problem.1. n is equal to 1. Thus. A sin (k L) = 0 we have either a = 0 or sin(kL) = 0.6. However. Thus. A mathematical technique of Variational Calculus is often used to minimise a functional like : 22 Chapter1. it implies that the member will not deflect and represents a higher energy path. 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. HKPolyU . P= Note : π2E I L 2 Although the present approach to find the buckling load is straight forward. the principle of minimum potential energy can be used. it is not a good approach in general and more complex problems. For the minimum or the first mode buckling load.2. the Euler's load is given by. The vanishing of the second variation of the energy functional means the structural system is in the state of neutral equilibrium. Its application to more complex problems of inelastic buckling analysis of angle beamcolumns was also conducted.equation. kl is equal to nΠ in which n is an integer. 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. 2004-2005 Professor SL Chan. The vanishing of the first variation of the total potential energy functional implies the satisfaction of the equilibrium condition.

n ⎟ ⎜ dx ⎟ dx ⎠ dx ⎝ Note that. . HKPolyU . we obtain the exact value for the Euler buckling load as in previous case. That is. the assumption of a half sine curve will satisfy the deflected form the column. 2004-2005 Professor SL Chan.n ⎛ dy d 2 y d y⎞ I = f ⎜ y. MSc Lecture Note.. To derive the Euler buckling load of a column.. 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. the energy functional of the column can be written as (Tension +ve). we put. after minimisation. 2 .. 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. ⎛π x ⎞ v = A sin ⎜ ⎟ ⎝ L ⎠ into above equation and after differentiation and integration. we cannot obtain the solution directly. Thus. . We can only have the expression or a set of equations governing the instability condition.

To this end. it gives us a set of equations of order 1 to thousands. Co and the imperfection shape as. In real cases. 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. 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. Generality. it is very tedious for us to write down the energy functional for each particular problem.1. However. it will be further elaborated later.3 The Perry-Robertson formula for design of struts In most of the design codes. Unfortunately.6. ⎛ L η = ZMAX CO = 0. 1 1 d 2 v d 2 vo M . the finite element method of analysis is commonly utilised. 1. 24 Chapter1. 2004-2005 Professor SL Chan. In the American codes. Zmax is the distance of the extreme fibre from the centroidal axis. depending on the number of coefficients (A1 to An). Co is the amplitude of the initial imperfection. vo = Co sin πx L The change in curvature is then given by. the Perry-Robertson formula is used for the design of struts. In fact. This effect is included in the member strength determination by assuming a midspan initial deflection. Their major difference is on the assumption of the initial imperfection. the members are not perfectly straight nor the loads are perfectly concentric. it is taken as follows.complicated problems. we have. it does not directly give us the solution.3 ⎜ 2 ⎜ 100 r r ⎝ ⎞ ⎟ ⎟ ⎠ 2 Where L is the length and r is the radius of gyration. 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. MSc Lecture Note. the maximum mid-span deflection is taken as the member length/1000 whilst in the BS449 code. HKPolyU .Pv = = = R R o dx 2 dx 2 EI EI Put n2=P/EI and symbolise d()/dx as a superdot.

P in which Pcr is the Euler's buckling load and equal to π2EI/L2. we use the following boundary conditions. For maximum moment. v = 0.P ⎢ o Pcr ⎥ ⎣ Pcr . x=L/2 and Mmax is given by. we have. At x =0. 25 Chapter1.n2 ⎝L⎠ πx C = O Pcr sin L Pcr .P ymax ⎡C ⎤ = .Co ⎜ ⎟ sin v v L ⎝L⎠ Solving. we have the combined stress as. ⎛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. MSc Lecture Note. v=0. At x = L. 2004-2005 Professor SL Chan. HKPolyU . 2 ⎛π ⎞ Co ⎜ ⎟ ⎝ L ⎠ sin π x v= 2 L ⎛π ⎞ ⎜ ⎟ . M max = .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). thus B=0. thus A = 0.πx ⎛π ⎞ 2 && + n 2 v = &&o = .

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). we focus on individual member behaviour. 26 Chapter1. Thus. 2004-2005 Professor SL Chan.4 1.4. in the advanced analysis. HKPolyU . 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.6. we realise a frame composed of an assemblage of members will have a stiffness dependent on the load.c function).6.σ ys σ cr ⎬ 2 ⎪ ⎪⎝ ⎠ ⎭ ⎩ Appendix B.σ max = P M max Zmax + ≤ σ allow A I P C P = + o Pcr Zmax A Pcr . Note that the widely used analysis computer program is based on the linear assumption that the effects are ignored. 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. the stability effect will be allowed for. Element Stiffness Matrices In the above analysis and design.1. One of the basic but not sufficient requirements is that.P I Exercise Derive the following equation for permissible stress of struts in BS449 (1990) p. 1.102. Plot also the curves for the Euler's buckling load and the squash load in your diagram. From the equations. in contract to the finite element method where the solution is approximate that the displacement function is assumed. MSc Lecture Note.7 pc = σ ys + (η + 1) σ cr 2 ⎫ ⎧ ⎛ σ ys + (η + 1) σ cr ⎞2 ⎪ ⎪ .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. All these necessiate the development of element stiffness matrix allowing for the effects of axial force. 1. Analysis of structures allowing for the effects will be called the second order analysis. The element matrix is derived from the differential equilibrium equation directly and thus the stiffness matrix is exact. where σcr is the critical stress equal to Pcr/Area. To this end. 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. the geometrically nonlinear analysis or the P-delta analysis.⎨⎜ ⎟ . the element stiffness matrix for a second order analysis of frames must account for the effect.

φ sin φ c1 = 27 Chapter1.x) L.φ cos φ ) 2(1 .kx=F) can be obtained by inversing the f and can finally be obtained as.The deflection of a beam under an end moment and an axial load.cos φ ) .sin φ ) c2 = 2(1 .⎟+ 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.e. The final total deflection can be evaluated by superimposition as. is given by (see p. P.12. EI ⎡ c1 c2 ⎤ ⎡ M a ⎤ ⎢ ⎥=⎢ ⎥ L ⎢c2 c1⎥ ⎢M b ⎥ ⎣ ⎦ ⎣ ⎦ φ (sin φ .e. Timoshenko and Gere). Where ψ = and φ = In matrix form as.x ⎞ . MSc Lecture Note. The stiffness matrix (i.φ sin φ where φ (φ . (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.cos φ ) . HKPolyU . ⎛ sinkx x ⎞ . ⎛ sinkx x ⎞ M a ⎛ sink(L. x = f F).⎟ 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). 2004-2005 Professor SL Chan.

Hence. Exercise (a) Plot the stiffness coefficients. ⎛ ⎡ x ⎤⎞ v = A ⎜ 1 .6.5 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. determinate the relative stiffness of a pin-fix strut under an axial load equal to 0. because a general beam-column has a deflected shape other than a half sine curve. MSc Lecture Note. u = b0 + b1 x 28 Chapter1. a cantilever strut has a deflected shape in the following form.Note that the above stiffness equations are only valid for compressive axial load case. P. for a strut against the axial load. Thus. 2004-2005 Professor SL Chan. 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. HKPolyU . Note that the expression satisfies the boundary conditions of zero deflection and slope at x = 0 and deflection equal to A at x = L.cos ⎢π ⎟ ⎜ ⎟ ⎣ 2L⎥ ⎠ ⎦ ⎝ in which the coefficient A is the lateral dip deflection.5 of the Euler's buckling load and under no axial load in which case c1=4 and c2=2. For example. The coefficients in tensile and zero load cases can also be derived in the same procedure. c1 and c2.1. 1. (b) Derive the stiffness coefficients for a strut without any axial load and with a tensile load.

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

we obtain. we ignore those stresses acting perpendicularly to the longitudinal member axis and shears in the directions parallel to the x-axis (i. [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. 2004-2005 Professor SL Chan.Substituting and ignoring the higher order term. only the beam-column element is considered. Thus. MSc Lecture Note. To this. 30 Chapter1. HKPolyU .axes). only the following terms are considered to be non-zero. the y.e. vi and wi are the displacements of an arbitrary point on the cross section in the x. y and z directions respectively. 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.and z.

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

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

the moment term can be ignored etc. in the above. u. as follows. we obtain the expression for the energy functional in terms of nodal degrees of freedom. [r].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 the case of the buckling of an angle column. For the case of an I-beam. 2004-2005 Professor SL Chan. we use the cubic polynomial for the lateral deflection to represent the deflected shape of the displacement and linear for axial lengthening. Venant torsion constant and r1 is the polar radius of gyration about the shear centre given by. In the context of the finite element analysis. Instead. linear function for axial lengthening.∫ ⎢τ ⎣ 0 L L ⎡ xy ⎛ ∂w ∂u ∂v⎞ ⎛ ∂ v ∂ u ∂ w ⎞⎤ + ⎜θ x ⎟ . Summary for the derivation of an element matrix by the finite element method 33 Chapter1. we do not use a single and close formed expression for the displacement which may not be possible for complex problems. HKPolyU . the section is assumed to be symmetrical that the asymmetrical terms are all ignored. that. the orthogonality conditions for the generalised principal coordinates are such that the following terms are zero. [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). Also. ∫ 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. in the above derivation. MSc Lecture Note. That is. the terms for asymmetry and the axial force can be ignored. Thus substituting the cubic displacement function for the lateral displacement. Note. v and w.

Thus. Write down the energy functional for the particular type of member. for simplicity and demonstrative purpose. we use cubic polynomial which has also 4 coefficients so that we can solve the coefficients. Thus.1. v = a 0 + a1 x + a 2 x 2 + a 3 x 3 For x = 0. If we have 4 degrees of freedom. Depending on the nodal degree of freedom for an element. HKPolyU . we write down the energy term corresponding to bending. dv = θz2 dx a 0 = v1 a1 = θ z 1 a3 = 2( v1 .v1 + v2) 2θ z1 + θ z 2 2 L L 34 Chapter1. MSc Lecture Note. 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. 2004-2005 Professor SL Chan.v2) L 3 + θ z1 + θ z 2 L 2 a2 = 3(. dv = θ z1 dx For x = L. for a beam element. v = v 2 . 2. v = v1 . For example. write down a polynomial for the deflection of the element.

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

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%. calculate the buckling load of a simply supported column with a pinned joint at one end and a roller joint at the other end.The condition for the structural system to become unstable is the vanishing of the determinant of the matrix. Because the cubic Hermite function for lateral deflection represents the exact linear solution for the bending for a beam {i. which is the half sine curve for a simply supported strut. 2004-2005 Professor SL Chan. Exercises 1. EI = M1(1-x/L)+M2(x/L)}. λ. MSc Lecture Note. for the semi-indefinite condition of the eigenvalue. | kL + λ kG | = 0 To this. a computer program has been developed by the lecturer to calculate the value of the load factor. in the present studies of buckling problems. 10% ? 1. 36 Chapter1.2 Determine also the buckling load of a cantilever by using 1 element. we can easily see the nonlinear solution. That is. HKPolyU . 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.1 Using one single cubic polynomial as a displacement function. 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. However.e. say.

2 = −θo ⎜ ⎟ sin . Ex.6. it may deflect and bend about its minor axis when the applied moment is close to its critical moment. 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. MSc Lecture Note. = vo ⎜ ⎟ cos .1. 2004-2005 Professor SL Chan. L dx L dx L ⎝L⎠ ⎝L⎠ 2 πx d 2 v ⎛π ⎞ v = vo sin .2 Lateral Buckling of Beams When a member is under the predominant action of bending moment about its principal major axis. Let θ = θo sin πx ∂θ πx d 2θ πx ⎛π⎞ ⎛π⎞ = θo ⎜ ⎟ cos . 2 = −v L dx L dx ⎝L⎠ πx dv π ⎛π ⎞ ⎜ ⎟ sin L ⎝L⎠ 2 So. HKPolyU . 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.

1965) or the energy equation using the principle of total potential energy (Chan and Kitipornchai. The close form general solution for the elastic buckling moment can then be obtained as.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 . 2004-2005 Professor SL Chan. MSc Lecture Note. ⎡ ∂ 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. 38 Chapter1. 1987a).

P z ) (r 2 + y o + z o ) p 2 2 . 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. m= 1 < 2. G is shear modulus of elasticity. This mode of buckling may be found in short and open section such as angle and cruciform.Py o ( P . HKPolyU . which is used as the supporting base of space frames shown in Figure in Chapter 1. Figure in Chapter 1 sketches the lateral buckling analysis of a cantilever beam of rectangular cross section.6 .P z ) . The elastic buckling load of a thin-walled member with asymmetric cross-section can be obtained as the root of the following cubic equation. J is torsional section constant. Iω is warping section constant.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. 1. a small disturbing force to initiate lateral deflection is necessary and the load versus deflection path can then be plotted using an incremental .4 β MS in which ML and MS are the larger and smaller nodal moments applied to the two ends of a beam respectively.P x ) ( P .P y ) ( P . Short thin-walled columns under axial force may twist torsionally before reaching the squash load. L is the effective length of the beam and m is a coefficient to account for the effect of moment gradient given empirically by. 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).P y ) = 0 39 Chapter1.3 Torsional Buckling A short thin-walled column under axial force may buckle and twist torsionally. MSc Lecture Note.0. 2 2 ( P .6. For non-bifurcation type of analysis.iterative method which is discussed in the next Chapter.P z o ( P . 2004-2005 Professor SL Chan.5 and β = M L 0.

Part 1 (1990) adopt this approach for hot-rolled sections. Px is the torsional buckling load about the shear centre axis. NAFSHELL (1995). MSc Lecture Note. depending on the boundary condition of the plate being considered.and the z.axes. When the thickness of the plate components making up a section is thin. material lying outside the width limit of the composing plate elements making up the section is ignored. this assumption is valid and the result obtained on this basis is accurate. the cross section is assumed to remain undeformed when loaded to its ultimate strength. 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.in which Py and Pz are the Euler flexural buckling loads of the strut about the y. the permissible stress of the structural element is reduced to limit the permissible stress in the section. In the effective stress method. 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. In the design of structural elements susceptible to local buckling. 1.6. For the majority of hotrolled sections. For the effective width method. HKPolyU . 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. 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. The overall 40 Chapter1. for the top flange of a square hollow section (SHS) under moment. 2004-2005 Professor SL Chan. 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. the effective stress or the effective width concept is normally adopted. Figure in Chapter 1 shows the local plate buckling simulated by the large deflection finite shell element computer program. Using this assumption.4 Local Buckling In the conventional theory of thin-walled beams. 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. Codes such as BS5950.

x is the distance along the member. MSc Lecture Note. + d v = . 2004-2005 41 Professor SL Chan. the overall sectional capacity is reduced to cater for the effect of local plate buckling. To formulate the P-δ effect and to obtain the correct relationship between the bending coefficients under the action of axial force. 1.9.resistance of the section is then lowered due to the ignorance of this material and therefore. I is the second moment of area.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. Its careful consideration is important for buckling analysis and design of slender skeletal structures.M1 2 L dx 2 EI in which E is the Young’s modulus of elasticity. The lowest buckling load acting perpendicularly on the edge of a simple supported square plate is given by. the differential equilibrium equation can be written as. HKPolyU . In AS4100(1990). resort can be made to the equilibrium equation for a beam-column element.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. M1 and M2 are nodal moments at the left and right ends and P is the axial force. this concept is used. Note that positive nodal moment is assumed by the right hand rule using the z-axis pointing outside the plane of this paper.Pv + M1 M 2 x. A plate component may buckle by compressive edge loads or by shear loads acting along the edges of the plate. Et π 12(1 -ν 2) b2 3 2 9. It affects the state of stress as well as the stiffness of the member. v is the lateral deflection in y-axis. Narayanan (1985) edited a series of recent research works in the area of plate buckling in various types of steel structures. Pcr = and the shear buckling load by. Chapter1. Considering the beam-column element under an axial force as shown in Figure 1.

2004-2005 Professor SL Chan.µ x) L. 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. I is the second moment of area about the bending axis and c1 and c2 are the stiffness coefficients given by the followings. HKPolyU .⎡ sin( µ L. and expressing the rotations at two ends as the nodal rotations as. d v1 dv |x = 0 = θ 1 . equation as. L is the member length. MSc Lecture Note. 1 |x = L = θ 2 . E is Young's modulus of elasticity. M2.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. θ1 and θ2 are the nodal moments and rotations at the two ends of the member. 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.

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

the original geometry can no longer be employed for the formulation of the transformation matrix simply because the coordinates have been varied. MSc Lecture Note. The P-δ effect can also be transformed to the P-∆ effect by using several elements per member. the transformation matrix is updated and the effect of large deflections is then included. 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.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. both these methods for including the effect of large deflections yield the same result (Zienkiewicz [1977]. not all the buckling modes are required to be included in an analysis. Using more elements for a member. With proper formulations. we can update the geometry of a structure by the updated Lagrangian formuation as. To include this effect in an analysis. generally termed as total Lagrangian formulation. at the expense of heavier computation time.9 Design of Steel Structures In practical design of steel structures. Beams with full restraints along the length do not require the determination of the effects of 44 Chapter1. 2004-2005 Professor SL Chan. Alternatively. Bathe [1982]).8 The P-∆ Effect When a structure deforms grossly. Based on the new or updated geometry. 1. HKPolyU . 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. provided that their effects are prevented or insignificant. 1. 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.

the second-order effect normally present is due to axial forces in columns or due to the vertical loads. To aid the designer and reader to fully appreciate the nature. When the plate components are thicker than a certain breadth versus thickness ratio. is introduced to the design procedure for determining the permissible stress. The ductility factor. needs to be considered in the analysis and design. the effective length factor or the K-factor.10 Types of Analysis Although the actual behaviour of a structure is nonlinear and complicated. is determined. 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. Unfortunately. however. limitation and accuracy of these methods. ductility. 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. In practical design of steel buildings. in addition to strength and stability. These analysis techniques require different degrees of complexity which. may not necessarily be directly related to the manual manipulation work involved due to the availability of powerful personal computers. 1. HKPolyU . As many practical columns are of modest to high slenderness that invalidates the assumption of an analysis considering only material yielding. Framing is also aimed for the symmetrical and balanced layout in order to ensure stability and ductility in resisting dynamic forces. 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. defined as the ratio of the displacement at the instance of collapse to displacement at the onset of yielding. 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. In the conventional linear design and analysis of steel structures. the analysis should be equipped with the ability to carry out inelastic and large deflection analysis. local plate buckling will not occur before the structure reaches the plastic moment. 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. MSc Lecture Note. In dealing with this type of design and to obtain a better insight into the dynamic and collapse response of a structure.lateral instability.

In BS5950 (1990). 1. 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". can be estimated from a linear analysis by the following M u = B1 M nt + B2 M lt formula.10. 46 Chapter1. the slenderness ratio of a column in a multi-storey frame is determined from different charts for sway. non-sway and partial sway frames. Thus. the following factor can be used to amplify the moment in a sway frame. the second-order elastic moment. the relationship between the applied load and the deflection at any point in a structure is a straight line. which has been used for decades. Alternatively. In order to account for any nonlinear effect that has not been allowed for in a linear analysis. 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.Chapter 1. In the LFRD (1986) specification. B1 and B2 are the magnification factors corresponding respectively to the P-δ and the P-∆ effects and given in detail in the specification.1 Linear Analysis Linear analysis. 2004-2005 Professor SL Chan. assumes the deflection is proportional to the applied force. MSc Lecture Note. As this straight line by itself does not provide any information on stability and the true capacity of the structure. HKPolyU . Mu. 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. the amplification factor is used to increase the bending moment of a column obtained from a linear analysis. as shown in the line coinciding with the initial slope of any analysis in Figure. Thus.

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

Horne (1949) developed a kinematic energy approach for determining the plastic failure load of a steel frame. HKPolyU .3 First Order Elastic-Perfectly Plastic Analysis of rigid-jointed frames In the plastic analysis of steel frames.75 for uncladed frames or claded frames with inclusion of wall panel stiffening in analysis. The bifurcation analysis is generally used to determine the exact effective length factor K for a member in a structural system. several elements are needed to model each member. Mp is the plastic moment capacity of the section at node i. 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. which was subsequently modified by others. Chajes (1974) and Brush and Almroth (1975).the lowest few modes are usually of practical interest. This method ignores the buckling and the large deflection effect until collapse. Although the method can only provide an upper bound solution to the stability of a frame. Mathematically the load factor leading to the formation of the first plastic hinge analysis can be computed by the following simple equation. Once the location of the first plastic hinge is spotted.10. 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. In this approach. The manual approach.6. 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. elements with end springs to simulate the softening of a section stiffness are used to model the members in a framed structure. it can be used as an approximation to the instability stage. i = 1. MSc Lecture Note. When the possibility of formation of a plastic hinge along a member exists. Its application to a simple portal has been shown in Figure 1. ⎛ ∆ λ j = min ⎜ ⎜ ⎝ i Mp iM ⎞ ⎟ . BS5950 (1990) requires the elastic buckling load factor to be larger than 4.6 for clad frames ignoring the stiffening effect from wall panels and 5. 2004-2005 Professor SL Chan. a hinge is inserted to this node by reducing the stiffness of end spring in the element to zero and the 48 Chapter1. however. 1. In the computer analysis. np is the total number of possible plastic hinge locations simulated by element springs .

analysis is continued based on the modified structure with this new plastic hinge. ∆λ2. 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. 49 Chapter1. A very small force will cause infinite displacement. the geometric or the material nonlinearity does not dominate its failure. deflections can occur without creation of strain energy. MSc Lecture Note. 2004-2005 Professor SL Chan. HKPolyU . 1.10. is calculated by repeating the above process. The second incremental load factor. neither the bifurcation nor the plastic load factors are close to the true collapse load of a structure. This procedure is repeated until a mechanism is detected. 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. 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 many practical structures.4 The Merchant Rankine's formula for collapse load of rigid-jointed frames Unless a structure is very slender or very stocky. Rankine (1863) used a reciprocal additive formula for computation of collapse load which was extended to frameworks by Merchant (1954) as. In this mechanism. The plastic and the elastic buckling factors can be combined to check the elastic and plastic stability of a frame. Empirical formula has been developed to combine these two failure load factors to approximate the collapse load.

one must distinguish between the limit and the bifurcation point which requires a different numerical treatment in tracing the equilibrium path by computer. 2004-2005 50 Professor SL Chan. the effects of initial imperfection. material yielding is not considered in the second-order elastic analysis. This can be considered as the transition point from stable to unstable equilibrium states or vice versa. HKPolyU . 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. λp and λcr are the ultimate. which includes the P-δ and the P-∆ effects. As implied by its name. 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. 1. the sway P-∆ effect and no rigid mathematical proof is yet available for verification of the formula. it takes no account of many important factors such as initial imperfection.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. Second-order elastic analysis implies an analysis allowing for the secondorder effects due to change of geometry and initial stress in members. the plastic and the elastic buckling load Although the Merchant-Rankine formula is simple to use. A limit point refers to the turning point for the equilibrium path of a structure. In a nonlinear analysis. For the stability theory involving large deflection effects. MSc Lecture Note. In a bifurcation point. the P-δ and the P-∆ effects can all be included in a rigorous analysis. These P-δ and P-∆ effects may be important for slender structures in practice and their existence illustrated previously. Figure in Chapter 1 shows these effects in a frame. the structure is assumed to be undeformed in all except the loaded directions.10. This can either be a bifurcation point or a limit point as shown in Figure 1. The checking of member Chapter1. they are mostly empirical and lack a rational consideration of the effect of member initial imperfection and residual stress. residual stress.11. 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 λu factors respectively. In principle. = 1 λp + 1 λ cr in which λu.

In the fibre model. Generally speaking. The error for a second-order inelastic analysis may come from the approximation for the material model. the amplification factors or equivalent become unnecessary. As a result.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 second-order inelastic analysis is not yet fully qualified for the requirement of an advanced analysis which can be used for direct design. For example. 1. be skipped and the accuracy and saving in manipulation effort can be achieved. 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.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. therefore. if 51 Chapter1. generally termed as the plastic hinge (Yau and Chan. As shown in Figure. However. HKPolyU . The inclusion of material nonlinearity can either be carried out by the lump or by the fibre plasticity models. yielding is assumed to spread along the element length and across the section. the path for second-order elastic analysis follows the exact equilibrium path before yielding. and numerical integration is normally employed to evaluate the element stiffness of a partially yielded section (Chan. MSc Lecture Note. For example. 2004-2005 Professor SL Chan. 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.10. 1994). As shown in the idealized load versus deflection response curves in Figure. 1989). yielding is assumed to be concentrated in a small region of zero length. the lump plasticity model is more efficient and easier to apply whilst the fibre model is more accurate and considered to be exact. The error is difficult to quantify but is problem dependent. In many cases yielding is spread over such a distance that the plastic hinge cannot sufficiently capture the true behaviour of the frame. the second-order inelastic analysis may give an error in predicting the true collapse load. the difference between the second-order inelastic analysis and the advanced analysis is expected. However. residual stress and initial imperfection in the members but improvement can be achieved by refining the model. In the lump plasticity model. 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. 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.

Depending on the severity of the applied load expressed as years of return period. allowing for various sources of non-linearities such as the material yielding. strength must be sufficient for stress reserve in a structure to resist loads before yielding. 1. It must be emphasised that. For a less severe load. the idealization may become inaccurate and invalid. 2004-2005 Professor SL Chan. the phenomenon of resonance and ductility of a structure cannot be revealed in this static approach. A more natural and accurate analysis but expensive in terms of computer time. large deflection and buckling. although the analysis method by itself is accurate.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. in addition to strength and stiffness. It is economically unjustified to design a structure to remain in its elastic stage under severe load.A.10. For instance. The sequence for formation of plastic hinges must be examined and controlled so that the structure remains stable. input information and the model must be precise and accurate in order to simulate the structural behaviour reliably. the structure is allowed to undergo a certain degree of damage and plasticity in structures is normally allowed. collapse should simultaneously be prevented even during a severe earthquake. however. and is required for consideration. provided that it does not collapse. the structure should be repairable after an earthquake strike. Stiffness is the 52 Chapter1. loading sequence is also an important parameter for analysis and ductility.S. is to trace the complete equilibrium path.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. MSc Lecture Note. environment. This so-called transient response analysis plots the stress and deflection of the complete structure against time using various loadings or earthquake history. The modal analysis and the spectrum analysis (Clough and Penzien 1993) is an improved method to incorporating these dynamic effects into the analysis. HKPolyU . In the design of structures against extreme and dynamic loads. 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. Energy absorption capacity must be adequate and fracture failure should be prevented. Generally speaking. 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. The Northridge earthquake in the U.

As such. The most refined Advanced Method of Analysis includes all the second-order effects and also material properties and residual stress. 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. 53 Chapter1. 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. out-of-plane buckling such as lateral torsional buckling should be prevented when using this type of analysis and design. by the fact that no detailed consideration on the accuracy of the plasticity model. residual stress. The second-order inelastic analysis includes the effects of material yielding but can be distinguished from the most sophisticated method of analysis. MSc Lecture Note. 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 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. member initial imperfection and/or semi-rigid joint stiffness is included in the method. the curves generated by this type of analysis follow closely to the actual behaviour of a structure. as indicated in Figure. In other words. the Advanced Analysis. The ductility factor can only be evaluated accurately by a complete second-order plastic analysis. only the section capacity check is needed for member design. At the present stage of development.rigidity of the structure against external loads and its inadequacy leads to buckling and excessive deformation. It can be an improved or a refined second-order plastic-hinge analysis or direct plastic zone analysis. 1.10. initial member imperfection. Advanced Analysis can be defined as any analysis method that does not require specification member capacity checks. HKPolyU . erection procedure and interaction with foundations. For an idealized model.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. 2004-2005 Professor SL Chan.

721-739. B. Structural use of steel in building. Department of Civil Engineering. (1949). Load and resistance factor design. pp. K. Vol. Structural Engineer. Brush. 2004-2005 Professor SL Chan. Pan. 1993.R.O. Chajes. M. McGraw-Hill. 27. Inc. A. Buckling of bars.F. (1989).L. Journal of Engineering Structures. Nonlinear analysis of structures composed of thin-walled beam-columns.. S.F.. Journal of Engineering Structures. Inelastic Post-Buckling Analysis of Tubular Beam-Columns and Frames. and Lee. S.L. Part 1. 11. MSc Lecture Note. Chan. pp. Australian Standard for Steel Structures (1990). Tsong.J. Chicago. 33. (1987a). pp. A. Second-order inelastic analysis of steel frames by personal computers. H.J. (1993). plates and shells.D.99-106. D. AISC. Chan. pp. Journal of Structural Engineering. Construction safety of temporary structures. (1982). Australia. BS5950. W. School of Civil Engineering. Research Report CE-STR-93-26.K. R. Research Report CE54. McGraw-Hill. Clough. 9. Prentice-Hall Inc. N. Australia for partial fulfilment of the Degree of Doctor of Philosophy. Journal of Structural Engineering.W. Geometric nonlinear analysis of asymmetric thinwalled beam-columns. British Standards Institution (1990).243-254. N. S. Contribution to The design of steel frames by Baker. Sydney.21. (1974).L. and Kitipornchai. (1975). (1994). Chen. S. S. Dynamics of Structures. and Almroth. pp. Civil Engineering and Engineering Mechanics Series. University of Queensland.W. Civil Engineering Series. U. no. Englewood Cliffs.23-30.11 REFERENCES American Institute of Steel Construction (1986). University of Queensland. Department of Structural Engineering. 54 Chapter1.F. Chan. S. (1987b).J.. S.L. pp. AS-4100. 2nd edition. J. 1989.2. 421 Kitipornchai. specification for structural steel buildings. (1984). W. 113(4). Finite element procedures in engineering analysis. J. HKPolyU . vol. Inelastic experiments on angles and tee struts. (1987). Chen. and Kitipornchai. Chan.. Englewood Cliffs. Prentice-Hall Inc.L. thesis submitted to the Department of Civil Engineering. Nonlinear finite element analysis of angle and tee beam-columns.O.1. ASCE. and Penzien. S. and Yen. Horne. Principle of structural stability theory. and Chan. Purdue University. Bathe.

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

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