Professional Documents
Culture Documents
Theory of StructuresII
M Shahid Mehmood
Department of Civil Engineering
Swedish College of Engineering & Technology, Wah Cantt
SlopeDeflection Method
4
SlopeDeflection Equations
A L B
5
When the beam is subjected to external loads and support
settlements the member AB deforms as shown (exaggerated),
settlements, (exaggerated) and
internal moments are induced at its ends.
P Undeformed position
B Deformed position
A (elastic curve)
L
P
w
MAB MBA
A B
L
EI= constant 6
P
w
MAB MBA
A B
L
Doublesubscript
p notation is used for member end moments,, with
the first subscript identifying the member end at which the
moment acts and the second subscript indicating the other end of
the member.
member
7
w P
MAB MBA
A L B
Tangent at A
Undeformed position
A B
Elastic curve
B
A
B
A
Tangent at B
Tangent at A
Undeformed position
A B
Elastic curve
B
A
B
A
Tangent at B
Tangent at A
Undeformed position
A B
Elastic curve
B
A
B
A
Cord
Tangent at B
Tangent at A
Undeformed position
A B
Elastic curve
B
A
B
A
Cord
Tangent at B
The
Th member
b end
d moments, end
d rotations,
i and
d chord
h d rotation
i are
positive when counterclockwise.
Note that all the moments and rotations are shown in positive
sense in figure on previous slide.
12
w P
MAB MBA
A L B
Tangent at A
Undeformed position
A B BA
Elastic curve
B
A
B
A
Cord
AB Tangent at B
BA AB
A = B = ( )
(3)
L L
A
According
di tot the
th secondmoment
d t area theorem,
th th expressions
the i
for the tangential deviations AB and BA can be obtained by
summing the moments about the ends A and B, respectively, of the
area under M/EI diagram between the two ends.
14
The bending moment diagrams for the member is constructed in
parts by applying MAB, MBA, and the external loading separately on
the member with simply supported ends.
MBA
3
2
A 1 B
MAB
Bending Moment Diagram
15
Assuming that the member is prismatic (EI is constant along the
length of the member) we sum the moments of the area under the
M/EI diagram about the ends B and A, respectively, to determine
the tangential deviations.
1 M AB L 2 L M BA L L
BA = 2 3 2 3 g B
EI
M AB L2 M BA L2 g B
BA = (4a)
3EI 6 EI EI
1 M AB L L M BA L 2 L
AB = 2 3 + 2 3 + g A
EI
M AB L2 M BA L2 g A
AB = + + (4b)
6 EI 3EI EI 16
In which gB and gA are the moments about the ends B and A,
respectively, of the area under the simplebeam bending moment
diagram due to external loading (ML diagram).
M AB L2 M AB L2
6 EI 3EI
MAB
A
Tangential deviation due to MAB
17
A B
MBA
M BA L2 M BA L2
3EI 6EI
Tangential deviation due to MBA
P
A w B
gA gB
EI EI
M BA L 2 M AB L 2 g B
= 2( A )
3EI 3EI EIL
19
By substituting this equation into Eq. 5b and solving the resulting
equation for MAB, we have
2 EI 2
M AB = (2 A + B 3 ) + 2 (2 g B g A ) (6a )
L L
and by substituting Eq. 6a into either Eq. 5a or 5b, we have
2 EI 2
M BA = ( A + 2 B 3 ) + 2 (g B 2 g A ) (6b )
L L
20
Now, suppose that the member under consideration, instead being
a part of a larger structure, was an isolated beam with both ends
completely fixed against rotations and translations, as shown.
P
A w B
FEMBA FEMBA
A = B = = 0
FixedEnd
Fixed End Moments
The moments that would develop at the ends of such a fixed beam
are referred to as fixed
fixedend
end moments and their expression can be
obtained by setting A = B = = 0; that is,
2
FEM AB = 2 (2 g B g A ) (7a )
L
2
FEM BA = 2 ( g B 2 g A ) (7b ) 21
L
By comparing Eqs. 6 & 7, we find that the second terms on the
right sides of Eqs. 6 are equal to the fixedend moments.
2 EI
M AB = (2 A + B 3 ) + FEM AB (8a )
L
2 EI
M BA = ( A + 2 B 3 ) + FEM BA (8b )
L
Equations (8a &8b), which express the moments at the ends of a
member in terms of its end rotations and translations for a
specified external loading, are called slope
slopedeflections
deflections equations.
These equations are valid for prismatic members, composed of
linearly elastic material and subjected to small deformations.
The deformations due to axial and shear forces are neglected.
22
The two slopedeflection equations have the same form and either
end of equations can be obtained from the other simply by
switching the subscript A and B.
M nff =
2 EI
(2 n + f 3 ) + FEM nff (9)
L
23
Members with One End Hinged
24
With reference
f t the
to th previous
i Fi
Figure off member
b AB,
AB if the
th end
dB
of the member AB is hinged, then the moment at B must be zero.
By substituting MBA = 0 into Equation (8), we write
2 EI
M AB = (2 A + B 3 ) + FEM AB (10a )
L
2 EI
M BA =0= ( A + 2 B 3 ) + FEM BA (10b )
L
Solving Eq.
Eq (10) for B, we obtain
3A L
B = + (FEM BA ) (11)
2 2 4 EI
25
TTo determine
d t i B from
f th slope
the l d fl ti equations,
deflection ti we substitute
b tit t
Eq. (11) into Eq. (10a), thus obtaining the modified slopedeflection
equations for member AB with a hinge at end B.
3EI FEM BA
M AB = ( A ) + FEM AB (12a )
L 2
M BA = 0 (12b )
Similarly, it can be shown that for a member AB with a hinge at end
A,, the rotation of the hinged
g end is ggiven byy
B
3 L
A = + (FEM AB ) (13)
2 2 4 EI
26
And
A d the
th modified
difi d slopedeflection
l d fl ti equations
ti can be
b expressed
d as
3EI FEM AB
M BA = ( B ) + FEM BA (14a )
L 2
M AB = 0 (14b )
28
Basic Concept of the SlopeDeflection Method
30 k
1.5 k/ft
EI = constant
A D E = 29,000 ksi
I = 500 in4
B C
20 ft 10 ft 10 ft 15 ft
Although
Al h h theh structure actuallyll consists
i off a single
i l continuous
i
beam between the fixed supports A and D, for the purpose of
analysis it is considered to be composed of three members, AB, BC,
and CD, rigidly connected at joints A, B, C, and D located at the
supports of the structure. 29
Degrees of Freedom
Id tif the
Identify th unknown
k i d
independent
d t displacements
di l t (translations
(t l ti and
d
rotations) of the joints of the structure. These unknown joint
displacements are referred to as the degrees of freedom of the
structure.
From the qualitative deflected shape of the continuous beam
shown in Figure below,
below we can see that none of its joints can
translate.
30 k
1.5 k/ft
/
B C
A D
B B C C
20 ft 10 ft 10 ft 15 ft
The fixed
Th fi d joints
j i t A and
d D cannott rotate,
t t whereas
h j i t B and
joints d C are
free to rotate.
30
Degrees of Freedom
30 k
1.5 k/ft
B C
A D
B B C C
20 ft 10 ft 10 ft 15 ft
30 k
1.5 k/ft MCD
MBA MCB MDC
A B B C C D
MAB MBC
B C
32
Equations of Equilibrium
I addition
In dditi tot the
th external
t l loads,
l d each h member
b isi subjected
bj t d to
t an
internal moment at each of its ends.
The correct senses of the member end moments are not yet
known, it is assumed that the moments at the ends of all the
members are positive (counterclockwise).
The free body diagrams of the joints show the member end
moments acting in an opposite (clockwise) direction in accordance
with Newton
Newtonss law of action and reaction.
reaction
30 k
1.5 k/ft MCD
MBA MCB MDC
A B B C C D
MAB MBC
B C
33
Equations of Equilibrium
B
Because th entire
the ti structure
t t i in
is i equilibrium,
ilib i each
h off its
it members
b
and joints must also be in equilibrium. By applying the moment
equilibrium equations MB = 0 and MC = 0, respectively, to the
free bodies of joints B and C, we obtain the equilibrium equations
M BA + M BC = 0 (17a)
M CB + M CD = 0 (17b)
30 k
1.5 k/ft MCD
MBA MCB MDC
A B M B C M C D
MAB BA MBC CB
B C
MBC MCD
34
SlopeDeflection Equations
Th equilibrium
The ilib i equations
ti E (17) can be
Eqs. b expressed d in
i terms
t off
the unknown joint rotations, B and C, by using slopedeflection
equations that relate member end moments to the unknown joint
rotations.
Before we can write the slopedeflection equations, we need to
compute the
h fixedend
fi d d moments due d to theh externall loads
l d acting
i
on the members of the continuous beam.
To calculate the fixedend
fixed end moments,
moments we apply imaginary clamps at
joints B and C to prevent them from rotating.
Or we generally provide fixed
fixedsupports
supports at the ends of each
member to prevent the joint rotations as shown.
35
SlopeDeflection Equations
30 k
1.5 k/ft
A D
OR
30 k
1.5 k/ft
A B B C C D
FEMAB FEMBA FEMBC FEMCB FEMCD FEMDC
OR
30 k
1.5 k/ft
A B B C C D
50 kft 50 kft FEMBC FEMCB FEMCD FEMDC
OR
30 k
1.5 k/ft
A B B C C D
50 kft 50 kft 75 kft 75 kft 0 0
2 EI
M BC = (2 B + C ) + 75 = 0.2 EI B + 0.1EI C + 75 (18c )
20
2 EI
M CB = (2 C + B ) 75 = 0.2 EI C + 0.1EI B 75 (18d )
20
42
Member End Moments
Th moments
The t att the
th endsd off the
th three
th members
b off the
th continuous
ti
beam can now be determined by substituting the numerical values
of EIB and EIC into the slopedeflection equations (Eqs. 18).
43
Member End Moments
T check
To h k that
th t the
th solution
l ti off simultaneous
i lt equations
ti (E 19) has
(Eqs. h
been carried out correctly, the numerical values of member end
moments should be substituted into the joint equilibrium
equations (Eqs. 17). If the solution is correct, then the equilibrium
equations should be satisfied.
The member end moments just computed are shown on the free
b d diagrams
body di off the
th members
b and d joints
j i t in
i Figure
Fi on nextt slide.
lid
44
Member End Moments
30 k
1.5 k/ft 49.1 24.4
71.7 49.1
A B B C C D
39.2
39 2 71.7
71 7
SAB = 13.38 k SBA B SBC SCB C SCD SDC
By Cy
Member End Shears
The shear forces at the ends of members can now be determined
by applying the equations of equilibrium to the free bodies of
members For member AB,
members. AB
A B B C C D
39 2
39.2 71.7
71 7
SBA = 16.62 k B SBC SCB C SCD SDC
SAB = 13.38 k
By Cy
For member AB,
+ Fy = 0 13.38 1.5(20 ) + S BA = 0
S BA = 16.62 k
46
Member End Shears
30 k
1.5 k/ft 49.1 24.4
71.7 49.1
A B B C C D
39 2
39.2 71 7
71.7
SBA = 16.62 k B SCB = 13.87 k C SCD SDC
SAB = 13.38 k SBC = 16.13 k
By Cy
For member BC,
+ MC = 0 71.7 S BC (20 ) + 30(10 ) 49.1 = 0
S BC = 16.13 k
+ Fy = 0 16.13 30 + SCB = 0
SCB = 13.87 k
47
Member End Shears
30 k
1.5 k/ft 49.1 24.4
71.7 49.1
A B B C C D
39 2
39.2 71 7
71.7
SBA = 16.62 k B SCB = 13.87 k C SCD = 4.9 k SDC = 4.9 k
SAB = 13.38 k SBC = 16.13 k
By Cy
For member CD,
+ MD = 0 49.1 SCD (15) + 24.4 = 0
SCD = 4.9 k
+ Fy = 0 4.9 + S DC = 0
S DC = 4.9 k
48
Support Reactions
30 k
1.5 k/ft 49.1 24.4
71.7 49.1
A B 16 62 k16.13 k71.7
16.62
B C C D
39 2
39.2 71 7
SBA = 16.62 k B SCB = 13.87 k C SCD = 4.9 k SDC = 4.9 k
SAB = 13.38 k SBC = 16.13 k
By = 32.75 k Cy
From the free body diagram of joint B, we can see that the vertical
reaction at the roller support B is equal to the sum of the shears at
ends B of member AB and BC; that is
49
Support Reactions
30 k
1.5 k/ft 49.1 24.4
71.7 49.1
A B 16 62 k16.13 k71.7
16.62
B C 13 87 k 4.9 k
13.87
C D
39 2
39.2 71 7
SBA = 16.62 k B SCB = 13.87 k C SCD = 4.9 k SDC = 4.9 k
SAB = 13.38 k SBC = 16.13 k
By = 32.75 k Cy = 18.77 k
50
Support Reactions
30 k
1 5 k/ft
1.5
A D
B C
32.75 k 18.77 k
51
Support Reactions
30 k
1.5 k/ft
A D
39 2 kkft
39.2 f B C
32.75 k 18.77 k
13.38 k
The reactions at the fixed support A are equal to the shear and
moment at the end A of member AB.
Ay = S AB = 13.38 k
M A = M AB = 39.2 k ft
52
Support Reactions
30 k
1.5 k/ft 24.4 kft
A D
39 2 kkft
39.2 f B C
32.75 k 18.77 k
13.38 k 4.9 k
The reactions at the fixed support D equal the shear and moment
at end D of the member CD.
D y = S DC = 4.9 k
M D = M DC = 24.4 k ft
53
Equilibrium Check
30 k
1.5 k/ft 24.4 kft
A D
39 2 kkft
39.2 f B C
32.75 k 18.77 k
13.38 k 4.9 k
+ MD = 0
39.2 13.38(55) + 1.5(20 )(45) 32.75(35) + 30(25)
18.77(15) + 24.4 = 0.1 0 Checks 54
Shear Diagram
30 k
1.5 k/ft 24.4 kft
A D
39 2 kkft
39.2 f B C
32.75 k 18.77 k
13.38 k 4.9 k
16.13
13.38
4.9
A F B E C D
8.92 ft
13 87
13.87
16.62
55
Moment Diagram
30 k
1.5 k/ft 24.4 kft
A D
39 2 kkft
39.2 f B C
32.75 k 18.77 k
13.38 k 4.9 k
89.7
20.5 24.4
A B C D
F E
39
39.2
2 49.1
49 1
71.7
56
30 k
1.5 k/ft 24.4 kft
A D
39.2 kft B C
32.75 k 18.77 k
13.38 k 4.9 k
16.13
13.38
4.9
A F B E C D
8 92 ft
8.92
13.87
16.62 89.7
20.5 24.4
A B C D
F E
39.2 49.1
57
71.7
Analysis of Continuous Beam
Based
B d on the
th discussion
di i above,
b th procedure
the d f the
for th analysis
l i off
continuous beams can be summarized as follows:
MCD = wa2/2 w
wa
w wa2/2
Actual Beam
A
59
B C
Example 1
Determine the reactions and draw the shear and bending moment
diagrams for the two
twospan
span continuous beam shown in Figure.
Figure
18 k
2 k/ft
A B C
10 ft 15 ft 30 ft
EI = constant
60
Solution
1. Degree of Freedom
18 k
2 k/ft
A B C
10 ft 15 ft 30 ft
EI = constant
61
2. FixedEnd Moments
4. SlopeDeflection Equations
M nf =
2 EI
(2 n + f 3 ) + FEM nf (9)
L
since the supports A and C are fixed, the rotations A = C =0.
63
4. SlopeDeflection Equations
2 EI
M BC = (2 B ) + 150 = 0.133EI B + 150 (3)
30
2 EI
M CB = ( B ) 150 = 0.0667 EI B 150 (4)
30
64
5. Equilibrium Equations
Th free
The f b d diagram
body di off joint
j i t B is
i shown
h i Figure.
in Fi
18 k
2 k/ft
A B C
18 k
MBA 2 k/ft
MBA MCB
B
A B MBC B C
MAB MBC
Memberb end
d moments, which h h are assumed d to be b in
counterclockwise direction on the ends of members, must be
pp
applied in ((opposite)
pp ) clockwise direction on the free bodyy of the
joint in accordance with Newtons Third Law.
65
5. Equilibrium Equations
18 k
MBA 2 k/ft
MBA MCB
B
A B MBC B C
MAB MBC
M BA + M BC = 0 (5)
66
6. Joint Rotations
67
7. Member End Moments
A B 101.5 101.5 B C
35.6 101.5 101.5 174.3
A B 101.5 101.5 B C
35.6
35 6 101.5 101.5
101 5 174.3
8.16 9.84 27.57 32.43
69
9. Support Reactions
The reactions at the fixed support A and C are equal to the forces
and moments at the ends of the members connected to these
joints. To determine the reaction at roller support B, consider the
equilibrium of the free body of joint B in the vertical direction.
18 k
9.84 27.57 2 k/ft
B
A B 101.5 101.5 B C
35.6 101.5 101.5 174.3
8.16 9.84 27.57 32.43
37.41
70
9. Support Reactions
18 k
2 k/ft
/
A B C
35 6 kkft
35.6 ft 174 3 kft
174.3
37.41 k
8.16 k 32.43 k
71
10. Equilibrium Check
37.41 k
8.16 k 32.43 k
+ Fy = 0
8.16 18 + 37.41 2(30) + 32.43 = 0 Checks
72
10. Equilibrium Check
37.41 k
8.16 k 32.43 k
10 ft 15 ft 30 ft
+ MC = 0
35.6 8.16(55) + 18(45) 37.41(30 ) + 2(30 )(15) 174.3 = 0.2 0 Checks
73
11. Shear Force Diagram
18 k
2 k/ft
A B C
37.41 k
8.16 k 32.43 k
27.57
8.16
16.2 ft
A D B C
E
9.84
32.43
74
11. Bending Moment Diagram
18 k
2 k/ft
A B C
37.41 k
8.16 k 32.43 k
88 7
88.7
46
A B C
D E
35.6
101.5 174.3
75
Example 2
Determine the reactions and draw the shear and bending moment
diagrams for the continuous beam shown in Figure.
Figure
60 kN
15 kN/m
A D
B C
10 m 5m 5m
I 2I 2I
EI = 200 GPa
I = 700 (106) mm4
76
Solution
From figure we can see that all three joints of the beam are free to
rotate Thus the beam have 3 degrees of freedom,
rotate. freedom A, B, D.
MBA MDB = 0
B
A D
MAB = 0 MBD
77
Solution
The modified SDE do not contain the rotations of the hinged ends,
by using these equations the rotations A, and D of the simple
supports can be eliminated,
eliminated which will then involve only one
unknown joint rotation, B.
60 kN
15 kN/m
A D
B C
78
1. Degree of Freedom
B
2. FixedEnd Moments
15(10)
2
FEM AB = = 125 kN m or + 125 kN-m
12
FEM BA = 125 kN m or 125 kN-m
kN m
60(10 ) 15(10 )
2
FEM BD = + = 200 kN m or + 200 kN-m
8 12
FEM DB = 200 kN m or 200 kN-m
60 kN
15 kN/m
A D
B C
79
3. SlopeDeflection Equations
Si
Since b th members
both b off the
th beam
b h
have one end d hinged,
hi d we use
Eqs. 15 to obtain the slopedeflection equations for both members.
M AB = 0 ANS
3EI 125
M BA = ( B ) + 125 = 0.3EI B 187.5 (1)
10 2
3E (2 I ) 200
M BD = ( B ) + 200 + = 0.6 EI B + 300 (2)
10 2
M DB = 0 ANS
60 kN
15 kN/m
A D
B C
80
4. Equilibrium Equations
MBD
M BA + M BD = 0 (3)
5. Joint Rotation
81
6. Joint Rotation
(0.3EI B 187.5) + (0.6 EI B + 300) = 0
or
0.9 EI B = 112.5
from which
EI B = 125 kN m 2
The
h member
b end d moments can now beb computed d by
b substituting
b
the numerical value of EIB into the slopedeflection equations
((Eqs.
q 1 & 2).
)
82
8. Member End Moments
M BA = 0.3( 125) 187.5 = 225 kN m or 225 kN-m ANS
M BD = 0.6( 125) + 300 = 225 kN m ANS
A B 225 225 B C
225 225
52.5 97.5 127.5 82.5
By = 225
60 kN
15 kN/m
A D
B C
+ Fy = 0
52.5 15(20 ) + 225 60 + 82.5 = 0 Checks
+ MC = 0
52.5(20 ) + 15(20 )(10 ) 225(10 ) + 60(5) = 0 Checks
84
11. Shear Force & Bending Moment Diagrams
60 kN
15 kN/m
A D
B C
127.5
52.5
52.5
16.2 ft
A E B D
C
3.5 m 7.5
82.5
97.5
85
11. Shear Force & Bending Moment Diagrams
60 kN
15 kN/m
A D
B C
91.88
A E B D
C
86
225
Example 3
Determine the member end moments and reactions for the three
span continuous beam shown,
shown due to the uniformly distributed
load and due to the support settlements of 5/8 in. at B, and 1.5 in.
at C, and in. at D.
2 k/ft
A D
B C
20 ft
f 20 ft
f 20 ft
EI = 29,000 ksi
I = 7,800 in.4
87
Solution
1. Degree of Freedom
Four joints of the beam are free to rotate,
rotate we will eliminate the
rotations of simple supports at ends A and D and use the modified
SDE for member AB and CD respectively.
The analysis will involve only two unknown joint rotations, B and
C.
2 k/ft
A D
B C
88
2. Fixed End Moments
2(20 )
2
FEM AB = FEM BC = FEM CD = = 66.7 k ft or + 66.7 k-ft
12
FEM BA = FEM CB = FEM DC = 66.7 k ft or 66.7 k-ft
k ft
3. Chord Rotations
The specified support settlements are shown on a exaggerated
scale. 2 k/ft
A D
B C
A B C D
5 3
AB 8
in.
1
1 in.
4
in.
2
BC D
B CD
C 89
3. Chord Rotations
2 k/ft
A D
B C
20 ft 20 ft 20 ft
A B C D
5 3
AB 8
in.
1
1 in
i .
4
in.
2
BC D
B CD
C
0.0521
AB = = 0.0026
20
0.0729
BC = = 0.00365
20
1.5 0.75
CD = = 0.00313
(12)20
90
4. Slopedeflection Equations
M AB = 0 ANS
3EI
M BA = ( B + 0.0026) 100 = 0.15EI B + 0.00039 EI 100 (1)
10
2 EI
M BC = [2 B + C 3( 0.00365)] + 66.7
20
= 0.2 EI B + 0.1EI C + 0.0011EI + 66.7 (2)
2 EI
M CB = [2 C + B 3( 0.00365)] 66.7
20
= 0.1EI B + 0.2 EI C + 0.0011EI 66.7 (3)
3EI
M CD = ( C 0.00313) + 100 = 0.15EI C 0.00047 EI + 100 (4)
20
M DC = 0 ANS
91
5. Equilibrium Equations
MBA MCB
B
M BA + M BC = 0 C
(5)
MBC M CB + M CD = 0 MCD ((6))
6. Joint Rotations
A B B C C D
427.7 427.7
1.38 41.38 81.79 41.79 20.4 60.4
By = 123.17
123 17 Cy = 62.19
94
8. Member End Shears and Support Reactions
A B B C C D
427.7 427.7
1.38 41.38 81.79 41.79 20.4 60.4
By = 123.17
123 17 Cy = 62.19
2 k/ft
k/f
A D
B C
95
9. Shear and Bending Moment Diagrams
2 k/ft
A D
B C
81.79
41.79
A D
B C
1.38
20.4
41.38
96
60.4
9. Shear and Bending Moment Diagrams
2 k/ft
A D
B C
808.2
A D
B C
427.6 97