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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

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

1 Load Factors from AISC(1986) and BS5950 (1990) for different load types 1.3. Further. the loads factors used by the American Institute of Steel Construction (1986) and British Standard 5950 (1990) are listed for a comparison. The load factor is then multiplied to the design load to give the permissible load of the structure until collapse.2 0 0 Wind Load AISC 0.4 1.4 1. once yielding occurs.4 1. formation of plastic hinges and the presence of axial force in members are ignored in the analysis.4 -1.3 1.0 0. HKPolyU .2 -0.2 1. the worst combination should be determined from the dead. However.0 BS5950 1. the stiffness of the structure changes and thus the original elastic assumption is no longer valid.0 Live Load AISC 0.5 0.5 Load Factor and Load combinations Once the magnitude and directions of loads are determined.3 BS5950 0 1. their combinations are required to be worked out.6 0.9 Table 1. Load and resistance factors are multiplied to the material resistance and the load based on which checking is carried out. the live and the wind load. MSc Lecture Note.2 1. a progressive or a global collapse. Load Combination Dead Load AISC BS5950 1.4 1 2 3 4 1. even the variation in structural stiffness due to yielding.1.6 1.6 Collapse Load Factor In the ultimate limit state design concept.0 1.3. the factor of safety can be defined as the ratio between the collapse and the design load factors.0 1. In Table 1. In current design practice. The true collapse load after the formation of a series of plastic hinges is not considered.1. 7 Chapter1.2 1. It can either be a local. For conventional design. 2004-2005 Professor SL Chan. 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.

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. A stiffening and a softening system are selected for illustration of the error connected with linear analysis. In situations where a structural member is under compression. 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.In recent years. there is no component in the longitudinal direction and this effect due to geometrical change cannot be observed. the deflection is small and the structure is stable. HKPolyU . the theory is incorrect when the structure is heavily loaded so that it deforms considerably and the composing material yields. Figure 1. In a linear analysis. Although the structure stiffens after this load. The member stiffness deteriorates when the critical load is approached. This moves the tip of the cantilever inwards.2 illustrates the softening behaviour of another cantilever subjected to axial force at the end. a completely different result can be observed. the member is lengthened and thus a tensile force is developed. 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. MSc Lecture Note. The cantilever shown in Figure 1.1 has been analysed and it can be seen that as the vertical deflection of the cantilever increases. the concept of prevention of progressive and disproportionate collapse has been proposed and enforced in practice in some countries. resulting in a pulling action of the member. Identification of key structural elements. 8 Chapter1. This geometrically nonlinear effect will lead to the stiffening of the stiffness matrix for the complete structure when the tensile axial force is present. of which the failure causes the collapse of a large area. 2004-2005 Professor SL Chan.

6 0.4 v L L=4000 mm 2 A=4200 mm 4 I=6482 cm E=200 kN/mm u 2 0.10 9 8 P v PL EI 2 L-u L 7 6 5 4 3 2 1 0 0 0.2 0. 2004-2005 Professor SL Chan.1 Elastic Large Deflection Analysis of a Stiffening System 2 1.01 m E = 210x10 N/m 4 I = 8.001P P ∆ 0 0 0.2 Elastic Buckling of a Softening System Figure 9 Chapter1.8 1 Deflections Figure 1. MSc Lecture Note.2 0.1 Figure 1. HKPolyU .8 1 ∆ L Figure 1.5 0.33x10 m L = 3.21.6 0.2 m 2 2 1 L 0.5 P Pcr A = 0.4 0.

HKPolyU . MSc Lecture Note.Figure 1.4 Buckling of some members in a full-scale test of a transmission tower 10 Chapter1. 2004-2005 Professor SL Chan.3 A tension stiffening system Figure 1.

5.1.000 kN/cm 2 0 0 40 80 120 160 200 240 (cm) Figure 1.000 MPa with a maximum variation of about 2. the material exhibits a strain hardening behaviour. 2004-2005 Professor SL Chan. HKPolyU . Further loading will cause the material to reach the ultimate stress and fracture.5 Idealised stress vs.5 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 = 20.5%. The idealised stress . strain relationship for mild steel relationship for mild steel bar bar 200 2P 2 3 I=6490 cm A=41.4 Material Properties Steel has relatively uniform material properties when compared to concrete.6 Rigid Plastic Analysis of a Simple Portal 11 Chapter1. the material fully recovers upon removal of external stress.6 Figure 1.strain curve for a steel bar is shown in Figure 1.8 cm S = 480 cm 4 2 3 P A=58. 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. For mild steel further loaded. Before loaded beyond the elastic limit. strain Figure Idealised stress vs. The Young's modulus of elasticity is about 205.

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

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

generally taken as the characteristic yield stress divided by a factor of safety. Imagine deflection is related to E and buckling is in fact a phenomenon when the structure deflects rapidly under load (Of course. a structure is considered to reach a limit state when it is unable to fulfil the requirements for its functional uses. This may be considered as a deteriorating stiffness phenomenon for the structure. deflection during buckling is nonlinearly proportional to load). 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. 2004-2005 Professor SL Chan. The old fashioned allowable stress design method controls the maximum stress of a structure below the allowable stress of the material. 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. local plate buckling and their combinations. 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. torsional buckling. 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. MSc Lecture Note. There are basically several types of buckling modes which must be carefully considered before a safe design can be produced. HKPolyU . unlike linear and first –order deflection due to bending etc. In the limit state design code. These buckling modes for structural members can be classified as Euler buckling. During the service life of a structure.Instability refers to the phenomenon that a structure deforms nonproportionally and its stiffness reduces due to the change of geometry and an increasing load.

Lateral-torsional buckling 2. There are 5 main types of buckling in steel structures as. For members under compressions. Types of buckling For tension and very short columns. the failure load is less than this plastic load or squash load. HKPolyU . Flexural (Euler) buckling 1. Snap-through buckling 5. MSc Lecture Note. Torsional buckling 3. Local plate buckling and 4. in addition. This is due to buckling. 15 Chapter1. 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. 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).the occupants feel uncomfortable or that the finishes or cladding are damaged. 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. 2004-2005 Professor SL Chan. The corrosion resistance should enable the structure to last for the designed life and the vibration should not be excessive etc.

2004-2005 Professor SL Chan. 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.

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

Local buckling Except the Euler buckling. MSc Lecture Note. 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. HKPolyU . 2004-2005 Professor SL Chan. Unfortunately. 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. This lecture is devoted to this piece of work which becomes important in many design codes such as the BS5950(1990.2000). simple formulae can be applied to their cases. Therefore. 18 Chapter1. As a result.

MSc Lecture Note. 19 Chapter1.1. The direction of load eccentricity has a significant influence over the pattern of the equilibrium path. Pcr = π 2 EI Le 2 in which Le is the effective length of a column.14159. When the eccentricity is positive. Figure 1.6. The frequent collapse cases for scaffolding (Chen et. the equation for Euler's buckling load can be obtained analytically as. both in theory and in practice. The true load versus deflection relationship is dependent on the magnitude of initial imperfection. When an imperfect strut or column is subjected to an axial force. For the simplest case of a column under compressive axial load. the bifurcation and the plastic collapse loads are only the upper bound solutions to the actual failure load. 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.8 for the case of a right angle frame. This behavioural phenomenon carries a physical implication that.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. 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. for design against the worst possible condition.1 Euler Buckling Euler buckling is possibly the most widely encountered and studied buckling mode. P is the axial force and π is a constant equal to 3. as indicated in Figure 1. 1993) can be attributed partly to the buckling of members under axial forces. In some cases. 2004-2005 Professor SL Chan. For practical purposes. HKPolyU . a stiffening behaviour is observed and vice versa. al.

it fails before the plastic failure load is reached (Plastic Failure Load = Yield Stress x Cross Sectional Area or Plastic Modulus).6.5 Load P/P cr 1 e/L = 0. Their design is therefore straight forward. HKPolyU . because it may be easier for it than to shorten itself axially. its stiffness becomes critically small and a vanishing small 20 Chapter1.5 Large Deflection Theory Analytical Solution e=0. The failure is due to instability or buckling. 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. In doing so. its weight will lower its position.1 Formulation Stocky and tensile members fail when the stress exceeds the material yield stress. When a larger load is present. it will select the easiest path to lower down its position.g. MSc Lecture Note.7 Post-buckling Behaviour of a Right Angle Frame 1. "A slender column shortens when under a small compressive axial load applied at top.01 e/L = -0. the member is said to have buckled". 2004-2005 Professor SL Chan. when a slender member is in compression. When it occurs. beams) or wholly in compression. The tendency to lower down its position is a natural law.01 e P θ 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. The importance of unstable type of failure of a structure cannot be overlooked.1. whether it is partly (e.1. A non-mathematical explanation of buckling is difficult but it can be briefly postulated as follows. Further to this. In fact. However.

we obtain the following 21 Chapter1. I is the second moment of area. is subjected to an axial load.2 Critical Load of a Column 1. MSc Lecture Note.6. EI 2 d v +Pv=0 2 d x in which E is the Young's modulus of elasticity. In this chapter. Figure 1. v = A sin k x + B cos k x in which k is given by. The equilibrium equation in an imaginary and slightly deformed position can be written as. Therefore.1 By Differential Equation A simply supported column shown in Figure 1.1.9 The Basic Force versus Displacement relations in a Member Solving the simple differential equation. one obtains the solution for v as.2. This structure includes a frame. 1.1. v is the lateral deflection in the y-axis and x is the distance along the member length. buckling can be considered as a zero stiffness phenomenon. a plate component or a member.6.9. 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. we focus on the buckling of a strut. HKPolyU . 2004-2005 Professor SL Chan.disturbing or perturbing force would cause it to have an uncontrolled displacements.

The vanishing of the second variation of the energy functional means the structural system is in the state of neutral equilibrium. A mathematical technique of Variational Calculus is often used to minimise a functional like : 22 Chapter1. However. 2004-2005 Professor SL Chan. In the second condition. 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. In the first condition. 1. Thus. it is not a good approach in general and more complex problems. kl is equal to nΠ in which n is an integer. Thus.2. 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.6. HKPolyU . For the minimum or the first mode buckling load. A sin (k L) = 0 we have either a = 0 or sin(kL) = 0. the Euler's load is given by. it can only be applied to problems of simple geometry such as beam-columns. the principle of minimum potential energy can be used.1. P= Note : π2E I L 2 Although the present approach to find the buckling load is straight forward. Its application to more complex problems of inelastic buckling analysis of angle beamcolumns was also conducted.2 The Principle of Minimum Potential Energy As an alternative method to solve a buckling problem. MSc Lecture Note. it implies that the member will not deflect and represents a higher energy path. n is equal to 1.equation. The vanishing of the first variation of the total potential energy functional implies the satisfaction of the equilibrium condition.

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

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

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

4. 1. we focus on individual member behaviour. From the equations. HKPolyU .c function).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. we realise a frame composed of an assemblage of members will have a stiffness dependent on the load.1.1 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. Thus. To this end. Plot also the curves for the Euler's buckling load and the squash load in your diagram.4 1. Note that the widely used analysis computer program is based on the linear assumption that the effects are ignored. 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 the advanced analysis. One of the basic but not sufficient requirements is that. 2004-2005 Professor SL Chan. 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. where σcr is the critical stress equal to Pcr/Area.6.7 pc = σ ys + (η + 1) σ cr 2 ⎫ ⎧ ⎛ σ ys + (η + 1) σ cr ⎞2 ⎪ ⎪ . the geometrically nonlinear analysis or the P-delta analysis.P I Exercise Derive the following equation for permissible stress of struts in BS449 (1990) p.σ max = P M max Zmax + ≤ σ allow A I P C P = + o Pcr Zmax A Pcr .⎨⎜ ⎟ . the stability effect will be allowed for. in contract to the finite element method where the solution is approximate that the displacement function is assumed. The element matrix is derived from the differential equilibrium equation directly and thus the stiffness matrix is exact. All these necessiate the development of element stiffness matrix allowing for the effects of axial force. the element stiffness matrix for a second order analysis of frames must account for the effect. 26 Chapter1.6. Analysis of structures allowing for the effects will be called the second order analysis. 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. Element Stiffness Matrices In the above analysis and design.σ ys σ cr ⎬ 2 ⎪ ⎪⎝ ⎠ ⎭ ⎩ Appendix B.102. 1. MSc Lecture Note.

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

Hence. For example.Note that the above stiffness equations are only valid for compressive axial load case. P.1. because a general beam-column has a deflected shape other than a half sine curve.6.cos ⎢π ⎟ ⎜ ⎟ ⎣ 2L⎥ ⎠ ⎦ ⎝ in which the coefficient A is the lateral dip deflection. 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. Exercise (a) Plot the stiffness coefficients. 1. ⎛ ⎡ x ⎤⎞ v = A ⎜ 1 . a cantilever strut has a deflected shape in the following form.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. c1 and c2. Thus. for a strut against the axial load. (b) Derive the stiffness coefficients for a strut without any axial load and with a tensile load. HKPolyU . u = b0 + b1 x 28 Chapter1. MSc Lecture Note. The coefficients in tensile and zero load cases can also be derived in the same procedure. Note that the expression satisfies the boundary conditions of zero deflection and slope at x = 0 and deflection equal to A at x = L. determinate the relative stiffness of a pin-fix strut under an axial load equal to 0.5 of the Euler's buckling load and under no axial load in which case c1=4 and c2=2.

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

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

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

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

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

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

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

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

it may deflect and bend about its minor axis when the applied moment is close to its critical moment. Ex. L dx L dx L ⎝L⎠ ⎝L⎠ 2 πx d 2 v ⎛π ⎞ v = vo sin .1.6. HKPolyU . Let θ = θo sin πx ∂θ πx d 2θ πx ⎛π⎞ ⎛π⎞ = θo ⎜ ⎟ cos . = vo ⎜ ⎟ cos . MSc Lecture Note.2 Lateral Buckling of Beams When a member is under the predominant action of bending moment about its principal major axis. 2004-2005 Professor SL Chan. 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 = −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. 2 = −v L dx L dx ⎝L⎠ πx dv π ⎛π ⎞ ⎜ ⎟ sin L ⎝L⎠ 2 So.

1987a). 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. MSc Lecture Note. 2004-2005 Professor SL Chan. HKPolyU . ⎡ ∂ 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.

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.P y ) = 0 39 Chapter1.P z ) (r 2 + y o + z o ) p 2 2 .P y ) ( P . This mode of buckling may be found in short and open section such as angle and cruciform. G is shear modulus of elasticity.6 . 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.6. 2 2 ( P .3 Torsional Buckling A short thin-walled column under axial force may buckle and twist torsionally. Figure in Chapter 1 sketches the lateral buckling analysis of a cantilever beam of rectangular cross section. Iω is warping section constant. m= 1 < 2. MSc Lecture Note. 2004-2005 Professor SL Chan.5 and β = M L 0. The elastic buckling load of a thin-walled member with asymmetric cross-section can be obtained as the root of the following cubic equation.0.P z ) . 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.iterative method which is discussed in the next Chapter. a small disturbing force to initiate lateral deflection is necessary and the load versus deflection path can then be plotted using an incremental . HKPolyU .P x ) ( P . J is torsional section constant.Py o ( P . 1.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. For non-bifurcation type of analysis. 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 z o ( P .

In the design of structural elements susceptible to local buckling. MSc Lecture Note. 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.in which Py and Pz are the Euler flexural buckling loads of the strut about the y. the cross section is assumed to remain undeformed when loaded to its ultimate strength. 1. 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. material lying outside the width limit of the composing plate elements making up the section is ignored. 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. depending on the boundary condition of the plate being considered. For the majority of hotrolled sections. 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. When the thickness of the plate components making up a section is thin. 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. 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. Part 1 (1990) adopt this approach for hot-rolled sections. the permissible stress of the structural element is reduced to limit the permissible stress in the section. In the effective stress method. for the top flange of a square hollow section (SHS) under moment. Px is the torsional buckling load about the shear centre axis. For the effective width method. Codes such as BS5950.4 Local Buckling In the conventional theory of thin-walled beams. NAFSHELL (1995). this assumption is valid and the result obtained on this basis is accurate.axes. The overall 40 Chapter1. 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.and the z. Using this assumption.6. 2004-2005 Professor SL Chan.

resistance of the section is then lowered due to the ignorance of this material and therefore. Chapter1. Its careful consideration is important for buckling analysis and design of slender skeletal structures. this concept is used. MSc Lecture Note. Et π 12(1 -ν 2) b2 3 2 9. 2004-2005 41 Professor SL Chan. A plate component may buckle by compressive edge loads or by shear loads acting along the edges of the plate. Pcr = and the shear buckling load by. Considering the beam-column element under an axial force as shown in Figure 1. I is the second moment of area. It affects the state of stress as well as the stiffness of the member.M1 2 L dx 2 EI in which E is the Young’s modulus of elasticity.9. resort can be made to the equilibrium equation for a beam-column element.Pv + M1 M 2 x. In AS4100(1990). v is the lateral deflection in y-axis. 1.35π 2 E Ps = 12(1 -ν 2) b2 in which b is the width of the square and υ is the poisson's ratio. the differential equilibrium equation can be written as. To formulate the P-δ effect and to obtain the correct relationship between the bending coefficients under the action of axial force. Note that positive nodal moment is assumed by the right hand rule using the z-axis pointing outside the plane of this paper. the overall sectional capacity is reduced to cater for the effect of local plate buckling. x is the distance along the member. Narayanan (1985) edited a series of recent research works in the area of plate buckling in various types of steel structures. HKPolyU . The lowest buckling load acting perpendicularly on the edge of a simple supported square plate is given by. M1 and M2 are nodal moments at the left and right ends and P is the axial force. + d v = .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.

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

MSc Lecture Note. Figure 1.PL EI 2 For the zero load case. 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.in which φ = PL EI 2 Repeating the procedure for the tensile load case in which the sign of axial force. we have the stability function for c1 and c2 as follows. which assumes that member is under predominant axial load and small end moment. 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 differential Equation can be solved directly as in the case for linear analysis. c1 = 4 . c1 and c2.10 shows the variation of axial force and the stability functions. P. is reversed. HKPolyU . since it considers correctly the second-order effect due to the element deflection. 2004-2005 Professor SL Chan. 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 = . It can be seen that the conventional linear analysis of using c1 and c2 is only correct for the condition of zero axial load.

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

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

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

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

In the computer analysis. Manual methods based on the energy and the equilibrium considerations for the determination of critical loads have been presented by Timoshenko and Gere (1961). several elements are needed to model each member. The manual approach. BS5950 (1990) requires the elastic buckling load factor to be larger than 4. Horne (1949) developed a kinematic energy approach for determining the plastic failure load of a steel frame.3 First Order Elastic-Perfectly Plastic Analysis of rigid-jointed frames In the plastic analysis of steel frames. In this approach. MSc Lecture Note. becomes tedious when the structure size is large. np is the total number of possible plastic hinge locations simulated by element springs . Its application to a simple portal has been shown in Figure 1.the lowest few modes are usually of practical interest. ⎛ ∆ λ j = min ⎜ ⎜ ⎝ i Mp iM ⎞ ⎟ . 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. a hinge is inserted to this node by reducing the stiffness of end spring in the element to zero and the 48 Chapter1. 2004-2005 Professor SL Chan.10. When the possibility of formation of a plastic hinge along a member exists.6 for clad frames ignoring the stiffening effect from wall panels and 5. Mp is the plastic moment capacity of the section at node i. 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. HKPolyU . Chajes (1974) and Brush and Almroth (1975).75 for uncladed frames or claded frames with inclusion of wall panel stiffening in analysis.6. Mathematically the load factor leading to the formation of the first plastic hinge analysis can be computed by the following simple equation. which was subsequently modified by others. The bifurcation analysis is generally used to determine the exact effective length factor K for a member in a structural system. i = 1. however. This method ignores the buckling and the large deflection effect until collapse. 1. Although the method can only provide an upper bound solution to the stability of a frame. it can be used as an approximation to the instability stage. Once the location of the first plastic hinge is spotted. elements with end springs to simulate the softening of a section stiffness are used to model the members in a framed structure.

The plastic and the elastic buckling factors can be combined to check the elastic and plastic stability of a frame.analysis is continued based on the modified structure with this new plastic hinge. The second incremental load factor. MSc Lecture Note. 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. neither the bifurcation nor the plastic load factors are close to the true collapse load of a structure. the geometric or the material nonlinearity does not dominate its failure. Rankine (1863) used a reciprocal additive formula for computation of collapse load which was extended to frameworks by Merchant (1954) as. 1. 2004-2005 Professor SL Chan. 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. 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. deflections can occur without creation of strain energy. 49 Chapter1. Empirical formula has been developed to combine these two failure load factors to approximate the collapse load. HKPolyU . A very small force will cause infinite displacement. is calculated by repeating the above process. This procedure is repeated until a mechanism is detected.10. In this mechanism. ∆λ2. 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.

= 1 λp + 1 λ cr in which λu.11. the sway P-∆ effect and no rigid mathematical proof is yet available for verification of the formula. the effects of initial imperfection. the plastic and the elastic buckling load Although the Merchant-Rankine formula is simple to use. For the stability theory involving large deflection effects. they are mostly empirical and lack a rational consideration of the effect of member initial imperfection and residual stress. A limit point refers to the turning point for the equilibrium path of a structure. HKPolyU . 1. Figure in Chapter 1 shows these effects in a frame. 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. material yielding is not considered in the second-order elastic analysis. it takes no account of many important factors such as initial imperfection. 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. As implied by its name. This can either be a bifurcation point or a limit point as shown in Figure 1.5 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. which includes the P-δ and the P-∆ effects. This can be considered as the transition point from stable to unstable equilibrium states or vice versa. 2004-2005 50 Professor SL Chan. Second-order elastic analysis implies an analysis allowing for the secondorder effects due to change of geometry and initial stress in members. MSc Lecture Note. the P-δ and the P-∆ effects can all be included in a rigorous analysis. residual stress.10. λp and λcr are the ultimate.1 λu factors respectively. In principle. 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. In a bifurcation point. the structure is assumed to be undeformed in all except the loaded directions. In a nonlinear analysis. The checking of member Chapter1. one must distinguish between the limit and the bifurcation point which requires a different numerical treatment in tracing the equilibrium path by computer. These P-δ and P-∆ effects may be important for slender structures in practice and their existence illustrated previously.

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

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

53 Chapter1. member initial imperfection and/or semi-rigid joint stiffness is included in the method. The ductility factor can only be evaluated accurately by a complete second-order plastic analysis. initial member imperfection.10. At the present stage of development. the Advanced Analysis. the curves generated by this type of analysis follow closely to the actual behaviour of a structure. HKPolyU . The second-order inelastic analysis includes the effects of material yielding but can be distinguished from the most sophisticated method of analysis. 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. 1. as indicated in Figure. Advanced Analysis can be defined as any analysis method that does not require specification member capacity checks. MSc Lecture Note. It can be an improved or a refined second-order plastic-hinge analysis or direct plastic zone analysis. For an idealized model. erection procedure and interaction with foundations. out-of-plane buckling such as lateral torsional buckling should be prevented when using this type of analysis and design. In other words.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. 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. 2004-2005 Professor SL Chan. As such. only the section capacity check is needed for member design.rigidity of the structure against external loads and its inadequacy leads to buckling and excessive deformation. 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. 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 most refined Advanced Method of Analysis includes all the second-order effects and also material properties and residual stress. residual stress.

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

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

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