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Matrix
Displacement Method
5.1 INTRODUCTION
In the last half-century, considerable progress has been made in the matrix
analysis of structures. The topic has been generalized to finite elements, and
extended to the stability, non-linear and dynamic analysis of structures. This
progress is due to the simplicity, modularity and flexibility of matrix methods.
Many textbooks covering these methods have been published including Argyris
[4], McGuire and Gallagher [172], Livesley [160], Meek [173], Kardestuncer [88],
ad Vanderbilt [242] among many others. In these books the displacement method
of structural analysis is thoroughly developed, and therefore only a brief
introduction will be presented here.
5.2 FORMULATION
Consider a structure S with M members and N nodes; each node having one
degree of freedom. The kinematical indeterminacy of S may then be determined
as,
η(S) = αN − β , (5-1)
6 6
2 2
6 6
0 1
2
Fig. 5.1 The degrees of freedom of the joints for two structures.
One can also calculate η(S) by simple addition of the degrees of freedom of the
joints of the structure, i.e. for the truss S, η(S) = 2 + 2 + 2 + 1= 7, and for the
frame η(S) = 4×6 = 24.
Let p and v represent the joint loads and joint displacements of a structure. Then
the force-displacement relationship for the structure can be expressed as,
p = Kv, (5-2)
A typical coefficient Kij is the value of the force pi required to be applied at the ith
component of the structure, in order to produce a displacement vj=1 at j and zero
displacements at all the other components.
124
CHAPTER 5 Matrix Displacement Method 125
As has been shown in Chapter 4, the member forces r can be related to nodal
forces p by:
p = Br. (5-4)
u = Btv. (5-5)
For each individual member of the structure, the member forces can be related to
member distortions by an element stiffness matrix km. A block diagonal matrix
containing these element stiffness matrices is known as the unassembled stiffness
matrix of the structure, denoted by k. Obviously:
r = ku. (5-6)
p = BkBtv. (5-7)
Therefore,
K = BkBt (5-8)
Let us illustrate the method by means of a simple example. Consider a fixed end
beam with a load P applied at its mid span. This beam is discretized as two beam
elements, as shown in Figure 5.2(a). The components of element forces and
element distortions are depicted in Figure 5.2(b) and those of the entire structure
are illustrated in Figure 5.2(c).
P
1 2
1 3
2
L L
125
126 Structural Mechanics: Graph and Matrix Methods
p ,v p ,v p ,v
2 2 4 4 6 6
1 2
p ,v p ,v p ,v
1 1 3 3 5 5
For each element such as element 1, the element stiffness matrix can be written as,
Element stiffness matrices k1 and k2 can be easily constructed using the definition
of kij. For a beam element, ignoring its axial deformation, these terms are shown in
Figure 5.3. The structure has a uniform cross section and since both elements have
the same length:
126
CHAPTER 5 Matrix Displacement Method 127
k 21
k 41 k22 k 42
u 1=1
u2 =1
k 11 k31 k12 k 32
k 43
k44
k23 k24 u4 =1
u3 =1
k 13 k33 k14 k 34
Fig. 5.3 The stiffness coefficients of a beam element ignoring its axial
deformation.
⎡ 6 / L2 − 3 / L − 6 / L2 − 3 / L⎤
⎢ ⎥
2EI ⎢ − 3 / L 2 3/ L 1 ⎥
k1 = k 2 = . (5-11)
L ⎢− 6 / L2 3/ L 6 / L2 3/ L ⎥
⎢ ⎥
⎢⎣ − 3 / L 1 3/ L 2 ⎥⎦
⎡k 0⎤
k=⎢ 1 ⎥. (5-12)
⎣ 0 k 2⎦
Now consider the equilibrium of the joints of the structure, resulting in,
p1 = r 1 , p2 = r2 , p3 = r5 + r3,
p4 = r 4 + r 6 , p 5 = r 7 , p6 = r 8 . (5-13)
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128 Structural Mechanics: Graph and Matrix Methods
⎡ r1 ⎤
⎢ ⎥
⎡ p1 ⎤ ⎡1 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⎤ ⎢r2 ⎥
⎢p ⎥ ⎢ ⎥
⎢ 2 ⎥ ⎢⋅ 1 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⎥ ⎢ r3 ⎥
⎢ ⎥
⎢ p3 ⎥ ⎢ ⋅ ⋅ 1 ⋅ 1 ⋅ ⋅ ⋅ ⎥ ⎢r4 ⎥
⎢ ⎥=⎢ ⎥ , (5-14)
⎢p 4 ⎥ ⎢ ⋅ ⋅ ⋅ 1 ⋅ 1 ⋅ ⋅ ⎥ ⎢ r5 ⎥
⎢ ⎥
⎢ p5 ⎥ ⎢ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ 1 ⋅ ⎥ ⎢r6 ⎥
⎢ ⎥ ⎢ ⎥
⎣⎢ p 6 ⎦⎥ ⎣⎢ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ 1⎥⎦ ⎢r7 ⎥
⎢ ⎥
⎢⎣ r8 ⎥⎦
p = Br. (5-15)
u1 = v1 , u 2 = v 2 , u 3 = u 5 = v 3,
u4 = u6 = v 4 , u7 = v5 , u8=v6 , (5-16)
⎡ u1 ⎤ ⎡1 ⋅ ⋅ ⋅ ⋅ ⋅⎤
⎢u ⎥ ⎢
⎢ 2 ⎥ ⎢⋅ 1 ⋅ ⋅ ⋅ ⋅ ⎥⎥ ⎡ v1 ⎤
⎢u 3 ⎥ ⎢⋅ ⎢ ⎥
⋅ 1 ⋅ ⋅ ⋅ ⎥ ⎢v 2 ⎥
⎢ ⎥ ⎢ ⎥
⎢u 4 ⎥ = ⎢ ⋅ ⋅ ⋅ 1 ⋅ ⋅ ⎥ ⎢ v3 ⎥
⎢u 5 ⎥ ⎢⋅ ⎢ ⎥, (5-17)
⋅ 1 ⋅ ⋅ ⋅ ⎥ ⎢v 4 ⎥
⎢ ⎥ ⎢ ⎥
⎢u 6 ⎥ ⎢ ⋅ ⋅ ⋅ 1 ⋅ ⋅ ⎥ ⎢ v5 ⎥
⎢u ⎥ ⎢ ⋅ ⎢ ⎥
⋅ ⋅ ⋅ 1 ⋅ ⎥ ⎣⎢ v 6 ⎦⎥
⎢ 7⎥ ⎢ ⎥
⎢⎣ u 8 ⎥⎦ ⎢⎣ ⋅ ⋅ ⋅ ⋅ ⋅ 1⎥⎦
u = Ev = Btv. (5-18)
128
CHAPTER 5 Matrix Displacement Method 129
The reason for matrix E being the transpose of the matrix B, has already been
discussed in the previous chapter, however, using the principle of virtual work, a
simple proof can be obtained. Consider:
1 t
W = work done by external loads = vp
2
1 t
U = strain energy = ur
2
Therefore the stiffness matrix of the entire structure can be obtained as:
⎡ 6 / L2 − 3 / L − 6 / L2 − 3/ L 0 0 ⎤
⎢ ⎥
⎢ − 3/ L 2 3/ L 1 0 0 ⎥
2EI ⎢− 6 / L2 3/ L 12 / L2 0 − 6 / L2 − 3 / L⎥
K= ⎢ ⎥. (5-19)
L ⎢ − 3/ L 1 0 4 3/ L 1 ⎥
⎢ ⎥
⎢ 0 0 − 6 / L2 3/ L 6 / L2 3/ L ⎥
⎢⎣ 0 0 − 3/ L 1 3/ L 2 ⎥⎦
v1 = v2 = v5 = v6 = 0,
⎡ p 3 ⎤ 2EI ⎡12 / L2 0⎤ ⎡ v 3 ⎤
⎢p ⎥ = ⎢ ⎥⎢ ⎥ . (5-20)
⎣ 4⎦ L ⎣⎢ 0 4⎦⎥ ⎣ v 4 ⎦
p 3L3 − PL3
Since p4 = 0 and p3 = −P , therefore v 3 = = .
24EI 24EI
From this simple example, it can be seen that matrix B is a very sparse boolean
matrix and the direct formation of BkBt using matrix multiplication requires a
considerable amount of storage. In the following, it is shown that one can form
BkBt with an assembling process (known also as planting), as follows:
129
130 Structural Mechanics: Graph and Matrix Methods
Consider an element "a" of a structure, as shown in Figure 5.4, for which the
element stiffness matrix can be written as,
⎡ k ii k ij ⎤
ka = ⎢
k jj ⎥⎦
, (5-21)
⎣k ji
i and j are the two end nodes of member a. Multiplication BkBt has the following
effect on ka :
⎡0 0⎤ ⎡0 0⎤
⎢ ⎥ ⎢ ⎥
⎢0 0⎥ ⎢0 0⎥
⎢0 0⎥⎥ ⎢0 0⎥⎥
⎢ ⎢
⎢I 0⎥ ⎡ k ii k ij ⎤ ⎡0 0 0 I 0 0 0 0⎤ ⎢ I 0⎥ ⎡0 0 0 k ii 0 k ij 0 0⎤
⎢ ⎥⎢ ⎥
k jj ⎥ ⎢⎣0 0 0 0 0 I 0 ⎥=⎢ ⎥⎢ ⎥
⎢0 0⎥ ⎢k ji
⎣ ⎦ 0⎦ ⎢0 0⎥ ⎢⎣0 0 0 k ji 0 k jj 0 0⎥
⎦
⎢ ⎥ ⎢ ⎥
⎢0 I⎥ ⎢0 I⎥
⎢0 0⎥ ⎢0 0⎥
⎢ ⎥ ⎢ ⎥
⎣⎢0 0⎦⎥ ⎣⎢0 0⎦⎥
(5-22)
1 ⎡0 0 0 0 0 0 0 0⎤
⎢ ⎥
2 ⎢0 0 0 0 0 0 0 0⎥
⎢ ⎥
3 ⎢0 0 0 0 0 0 0 0⎥ 6
⎢ ⎥ 8
4 ⎢0 0 0 k ii 0 k ij 0 0⎥ a
= ⎢
5 ⎢0 0 0 0 0 0 0 0⎥⎥ 7
5
4
6 ⎢⎢0 0 0 k ji 0 k jj 0 0⎥⎥
7 ⎢⎢0 0 0 0 0 0 0 0⎥⎥
8 ⎢⎣0 0 0 0 0 0 0 0⎥⎦ 3 2 1
The adjacency matrix of S is also an 8×8 matrix and the effect of node 4 being
adjacent to node 6, is the existence of unit entries in the same locations as the
submatrices of the element a. One can build up the adjacency matrix of a graph by
the addition of the effect of one member at a time. In the same way, one can also
form the overall stiffness matrix of the structure by the addition of the contribution
of every member in succession. As an example, for the graph shown in Figure 5.4,
the overall stiffness matrix has the following pattern:
130
CHAPTER 5 Matrix Displacement Method 131
1 2 3 4 5 6 7 8
1 ⎡∗ ⋅ ⋅ ∗ ⋅ ⋅ ⋅ ⋅⎤
2 ⎢⎢ ⋅ ∗ ⋅ ⋅ ∗ ⋅ ⋅ ⋅ ⎥⎥
3 ⎢⋅ ⋅ ∗ ⋅ ⋅ ⋅ ∗ ⋅⎥
⎢ ⎥
4 ⎢∗ ⋅ ⋅ ∗ ∗ ∗ ⋅ ⋅⎥ (5-23)
.
5 ⎢⋅ ∗ ⋅ ∗ ∗ ∗ ∗ ⋅⎥
⎢ ⎥
6 ⎢⋅ ⋅ ⋅ ∗ ∗ ∗ ⋅ ∗⎥
7 ⎢⋅ ⋅ ∗ ⋅ ∗ ⋅ ∗ ∗⎥
⎢ ⎥
8 ⎢⎣ ⋅ ⋅ ⋅ ⋅ ⋅ ∗ ∗ ∗⎥⎦
Non-zero entries are shown by ∗ . For a stiffness matrix each of these non-zero
entries is an α×α submatrix, where a is the degrees of freedom of each node of the
structure. As an example, for a planar truss α = 2, and for a space frame α = 6.
The formation of the stiffness matrix by the above process is known as assembling
or planting of the stiffness matrix of a structure.
In the above example, the stiffness matrices could be assembled because both are
constructed with reference to the same coordinate system. However, for a structure
in general, the stiffness matrices should be prepared in a single coordinate system.
On the other hand, for each element, there exists a coordinate system attached to
the element, known as a local coordinate system. In Figure 5.5, local coordinate
systems for members 45 and 25, and the global coordinate system for the entire
structure are illustrated.
_
y y _
x
4 5 _
x
_
y
1 3
x
2
131
132 Structural Mechanics: Graph and Matrix Methods
its axes along the member, the second axis lies in its plane of symmetry (if it has
one) and the third axis is chosen such that it results in a right handed coordinate
system.
⎡ x1 ⎤ ⎡ cos α 0 sin α ⎤ ⎡ x ⎤
⎢ ⎥ ⎢
⎢ y1 ⎥ = ⎢ 0 1 0 ⎥⎥ ⎢⎢ y ⎥⎥ (5-24)
⎢z ⎥ ⎢⎣− sin α 0 cos α ⎥⎦ ⎢⎣ z ⎥⎦
⎣ 1⎦
y y1
x2
y2
x3 xj
y3 y ji j yj
zj
L
γ xi
i yi x
β x zi
z1 α
z2 L* z ji
z3 x ji
z x1 z
(a) (b)
⎡ x 2 ⎤ ⎡ cos β sin β 0⎤ ⎡ x1 ⎤
⎢ y ⎥ = ⎢− sin β cos β 0⎥ ⎢ y ⎥
⎢ 2⎥ ⎢ ⎥⎢ 1⎥ (5-25)
⎢⎣ z 2 ⎥⎦ ⎢⎣ 0 0 1⎥⎦ ⎢⎣ z1 ⎥⎦
132
CHAPTER 5 Matrix Displacement Method 133
⎡ x 3 ⎤ ⎡1 0 0 ⎤ ⎡x 2 ⎤
⎢ y ⎥ = ⎢0 cos γ sin γ ⎥ ⎢ y ⎥ .
and ⎢ 3⎥ ⎢ ⎥⎢ 2 ⎥ (5-26)
⎢⎣ z 3 ⎥⎦ ⎢⎣0 − sin γ cos γ ⎥⎦ ⎢⎣ z 2 ⎥⎦
(5-27)
where:
⎡x 3 ⎤ ⎡x ⎤
⎢ y ⎥ = [T] ⎢ y ⎥.
⎢ 3⎥ ⎢ ⎥ (5-28)
⎢⎣ z 3 ⎥⎦ ⎢⎣ z ⎥⎦
Γ = T Γ. (5-29)
It can easily be proved that T is an orthogonal matrix, i.e.
This matrix can easily be written in terms of the coordinates of the two ends of a
vector. Considering Figure 5.6(b), Eq. (5-31) becomes,
⎡ x ji / L y ji / L z ji / L ⎤
⎢ ⎥
T = ⎢− x ji y ji / L * L L * / L y ji z ji / L * L⎥, (5-32)
⎢ − z / L* 0 x ji / L * ⎥⎦
⎣ ji
133
134 Structural Mechanics: Graph and Matrix Methods
where:
1 1
L* = (z 2ji + x 2ji ) 2 and L = (z 2ji + y 2ji + x 2ji ) 2 . (5-33)
⎡T ⎤
⎢ T ⎥
T=⎢ ⎥ (5-34)
⎢ T ⎥
⎢ ⎥
⎣ T⎦
Element stiffness matrices for skeletal structures can be obtained using various
methods. For some elements, concepts from mechanics of solids are sufficient for
the formation of an element stiffness matrix; for others, energy methods are more
suitable. In the following, a general method for the formation of a stiffness matrix
is presented and then applied to bar and beam elements. The details of the
derivations are omitted for brevity. Such details can be found in any classical book
on the matrix analysis of structures.
Consider an elastic body as shown in Figure 5.7. Suppose that some loads are
applied at certain points (specified as nodes) 1,2,...,n. Let vit be the displacement
of node i along the applied load pit. The loads are applied in a pseudo-static
manner, increasing gradually from zero. Assuming a linear behaviour, the work
done by an external force p = {p1, p2, ... , pn) through the displacement v = {v1, v2,
... , vn} can be written as:
1
W= (p1v1 + p 2 v 2 + ... + p n v n ). (5-35)
2
134
CHAPTER 5 Matrix Displacement Method 135
W = U, (5-36)
1
and therefore: U= (p1v1 + p 2 v 2 + ... + p n v n ) . (5-37)
2
∂U 1 ∂p ∂p ∂p
= [p i + 1 v1 + 2 v 2 + ... + n v n ]. (5-38)
∂v i 2 ∂v i ∂v i ∂v i
∂U
= pi . (5-39)
∂v i
Thus,
∂p1 ∂p ∂p
pi = [ v1 + 2 v 2 + ... + n v n ], (5-40)
∂v i ∂vi ∂vi
⎡ p1 ⎤ ⎡ ∂p1 ∂p 2
⋅ ⋅
∂p n ⎤ ⎡ v1 ⎤
⎢ ⎥ ⎢ ∂v1 ∂v1 ∂v1 ⎥⎢ ⎥
⎢ p 2 ⎥ ⎢ ∂p1 ∂p 2
⋅ ⋅
∂p n ⎥⎢v2 ⎥
⎢ ⎥ ⎢ ∂v 2 ∂v 2 ∂v 2 ⎥⎢ ⎥ .
⎢ ⋅ ⎥=⎢ ⋅ ⋅ ⋅ ⋅ ⋅ ⎥⎢ ⋅ ⎥ (5-41)
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢ ⋅ ⎥ ⎢ ⋅ ⋅ ⋅ ⋅ ⋅ ⎥⎢ ⋅ ⎥
⎢ ⎥ ⎢ ∂p1 ∂p 2
⋅ ⋅
∂p n ⎥ ⎢ ⎥
⎣p n ⎦ ⎢⎣ ∂v n ∂v n ∂v n ⎥⎦ ⎣ v n ⎦
According to the definition, the above coefficient matrix forms the stiffness matrix
of the elastic body defined by its n nodes as illustrated in Figure 5.7.
A typical element of the stiffness matrix kij is given by:
∂p j
k ij = . (5-42)
∂v i
∂ ∂U ∂2U
k ij = ( )= . (5-43)
∂v j ∂v i ∂v j∂vi
135
136 Structural Mechanics: Graph and Matrix Methods
p 2,v2
p 1,v1
2 p3 ,v3
p n ,vn 1
n 3
i 4
p 4 ,v4
pi ,vi
Fig. 5.7 An elastic body, its nodal forces and nodal displacements.
Similarly:
∂p i ∂2U
k ij = = . (5-44)
∂v j ∂v j∂v i
Since the order of differentiation should not affect the result, we have,
which is proof of the symmetry of the stiffness matrices, both for a structure and
for an element.
A symmetric matrix S is called positive definite, if xtSx > 0 for every non-zero
vector x. The stiffness matrix K of a structure is positive definite since,
Consider a prismatic bar element as shown in its local coordinate system, Figure
5.8. According to the definition of such an element, only axial forces are present.
136
CHAPTER 5 Matrix Displacement Method 137
1 E EA 2
2 ∫∫∫
σ xx ε xx dxdydz = ∫∫∫ ε 2xx dxdydz =
2 ∫
U= ε xx dx (5-46)
2
∂u x
ε xx = strain = . (5-47)
∂x
_ _
_ _ r 4,u 4
_
r1 ,u1 x
i j
_
z
Since the strain is constant along the bar, ux can be expressed as:
u x = A1x + A 2 . (5-48)
u x = u1 at x = 0
u x = u 4 at x = L. (5-49)
u − u1
Hence: A1 = 4 and A 2 = u1. (5-50)
L
u − u1
ux = 4 x + u1 , (5-51)
L
137
138 Structural Mechanics: Graph and Matrix Methods
and from Eq. (5-46) the strain energy of the bar can be calculated as:
EA 2
U= [ u 4 − 2 u 4 u1 + u12 ]. (5-52)
2L
Hence:
∂ 2U EA ∂2U EA
k11 = = , k14 = k 41 = =− , (5-53)
∂u1
2 L ∂u1∂u 4 L
∂ 2U EA
k 44 = = , and k ij = 0 for all other components.
∂u 42 L
Therefore, the stiffness matrix of a bar element in the selected local coordinate
system is obtained, and
⎡ r1 ⎤ ⎡1 0 0 − 1 0 0⎤ ⎡ u1 ⎤
⎢r ⎥ ⎢0 ⎢ ⎥
⎢ 2⎥ ⎢ 0 0 0 0 0⎥⎥ ⎢ u 2 ⎥
⎢ r3 ⎥ EA ⎢ 0 0 0 0 0 0⎥ ⎢ u 3 ⎥
⎢ ⎥= ⎢ ⎥⎢ ⎥ (5-54)
⎢ r4 ⎥ L ⎢− 1 0 0 1 0 0⎥ ⎢ u 4 ⎥
⎢ r5 ⎥ ⎢0 0 0 0 0 0⎥ ⎢ u 5 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎣⎢ r6 ⎦⎥ ⎢⎣ 0 0 0 0 0 0⎦⎥ ⎣⎢ u 6 ⎦⎥
r = Tr (5-55)
and
u = Tu (5-56)
r = ku . (5-57)
138
CHAPTER 5 Matrix Displacement Method 139
r = ku. (5-59)
Comparison of Eq. (5-58) and Eq. (5-59) results in:
k = T t kT. (5-60)
Hence the stiffness matrix of a bar element in a global system, as shown in Figure
5.9, can be written as:
t
⎡T ⎤ ⎡T ⎤
k=⎢
T ⎥ k ⎢ T ⎥. []
⎣ ⎦ ⎣ ⎦
r5 ,u 5
y j
r4 ,u 4
r2 ,u2
r6 ,u 6
i r1 ,u 1
r3 ,u 3
O x
139
140 Structural Mechanics: Graph and Matrix Methods
⎡ T11 2 ⎤
⎢ 2 ⎥
⎢ T11T12 T12 sym. ⎥
EA ⎢ T11T13 T12 T13 2
T13 ⎥
k= ⎢ ⎥ . (5-62)
L ⎢ − T11 2
− T11T12 − T11T13 2
T11 ⎥
⎢ ⎥
⎢− T11T12 − T12 − T12 T13
2 2
T11T12 T12 ⎥
⎢⎣ − T11T13 − T12 T13 − T13
2
T11T13 T12 T13 2⎥
T13 ⎦
The entries of the above matrix can be found using Tij from Eq. (5.32). As an
example, the stiffness matrix of bar 1 in the planar truss shown in Figure 5.10, can
be obtained as:
x 21 1 2
T11 = 1
= = ,
2 2
2
( x12 + 2
y12 + z12
2 2
)
y 21 1 2
T12 = 1
=− =− .
2 2
2
( x12 + 2
y12 + z12
2 2
)
1 3
2 y L
1
x
L 2
Fig. 5.10 A planar truss and the selected global coordinate system.
Therefore:
⎡ 0.5 − 0.5 − 0.5 0.5 ⎤
⎢ 0.5 − 0.5⎥⎥
EA ⎢− 0.5 0.5
k1 = .
L 2 ⎢− 0.5 0.5 0.5 − 0.5⎥
⎢ ⎥
⎣ 0.5 − 0.5 − 0.5 0.5 ⎦
Consider a prismatic beam element as shown in Figure 5.11. The element forces
and the element distortions, are defined by the following vectors:
140
CHAPTER 5 Matrix Displacement Method 141
and
where r1 – r3 are the force components at end i and r4 – r6 are moment components
at end i. Also r7 – r9 are the force and r10 – r12 are the moment components,
respectively at the end j, and ui (i=1,...,12) are correspondingly the translations and
rotations at the ends i and j of the element.
_
y
i j _
x
_
z
Using energy methods, the stiffness matrix of the beam element in the local
coordinate system defined in Figure 5.11 can be obtained as:
⎡A 0 0 0 0 0 −A 0 0 0 0 0 ⎤
⎢ 0 12 I z / L
2
0 0 0 6I z / L 0 0 − 12 I z / L
2
0 0 6I z / L ⎥
⎢ 2 2 ⎥
⎢ 0 0 12 I y / L 0 − 6I y / L 0 0 0 − 12 I y / L 0 − 6I y / L 0 ⎥
⎢ 0 0 0 J / 2(1 + ν ) 0 0 0 0 0 − J / 2(1 + ν ) 0 0 ⎥
⎢ 0 0 − 6I y / L 0 4I y 0 0 0 − 6I y / L 0 2I y 0 ⎥
⎢ ⎥
E ⎢ 0 − 6I z / L
k=
6I z / L 0 0 0 4I z 0 0 0 0 2I z
⎥
L ⎢ ⎥
−A 0 0 0 0 0 A 0 0 0 0 0
⎢ 0 − 12 I z / L
2
0 0 0 − 6I z / L 0 12 I y / L
2
0 0 0 − 6I z / L⎥
⎢ ⎥
⎢ 0 0 − 12 I y / L
2
0 6I y / L 0 0 0 12 I y / L
2
0 6I y / L 0 ⎥
⎢ 0 0 0 − J / 2 (1 + ν ) 0 0 0 0 0 J / 2 (1 + ν ) 0 0 ⎥
⎢ 0 0 − 6I y / L 0 2I y 0 0 0 6I y / L 0 4I y 0
⎥
⎢ ⎥
⎣⎢ 0 6I z / L 0 0 0 2I z 0 − 6I z / L 0 0 0 4I z ⎦ ⎥
(5-63)
141
142 Structural Mechanics: Graph and Matrix Methods
In which Iy, Iz and J are the moments of inertia with respect to the y and z axes
and J is the polar moment of inertia of the section. E specifies the elastic modulus
and υ is the Poisson ratio. The length of the beam is denoted by L.
For the two-dimensional case the columns and rows corresponding to the third
dimension can easily be deleted, to obtain the stiffness matrix of an element of a
planar frame.
t
⎡T ⎤ ⎡T ⎤
⎢ ⎥ ⎢ ⎥
k=⎢
⎢
T
T
⎥ k ⎢
⎥ ⎢
T
T
⎥.
⎥
[] (5-64)
⎢ ⎥ ⎢ ⎥
⎣ T⎦ ⎣ T⎦
t
⎡T ⎤ ⎡T ⎤
k=⎢
T ⎥ k ⎢ T ⎥. [] (5-65)
⎣ ⎦ ⎣ ⎦
k11 = T11
2
α1 + T21α4
2 z
k 31 = T21α z2 , k 32 = T22 α z2 k 33 = α 3z
k 41 = −T11
2
α1 + T21α 4 , k 42 = −T21T22 α z4 − T12 T11α1 , k 43 = −T21α z2 ,
2 z
k 44 = −T21α z2 (5-66)
k 54 = T21T22α z4 + T12T11α1 2 z
k 55 = T22 2
α 4 + T12 α1
142
CHAPTER 5 Matrix Displacement Method 143
in which:
⎡ 1.25 ⎤
⎢ 0 200 sym . ⎥
⎢ ⎥
⎢ − 0 . 75 0 6 ⎥
k1 = 106 ⎢ ⎥,
⎢ − 1 .25 0 0.75 1 .25 ⎥
⎢ 0 − 200 0 0 200 ⎥
⎢ ⎥
⎣⎢− 0.75 0 3 0.75 0 6⎥⎦
y
2 3
2
1 4m
1
x
4m
143
144 Structural Mechanics: Graph and Matrix Methods
matrix of the structure K, using the process described in Section 5.2. This is
illustrated by the following simple example:
Let S be a planar truss with an arbitrary nodal and element numbering, as shown
in Figure 5.13. The entries of the transformation matrices of the members are
calculated using Eq. (5-32) and Eq. (5-33) as follows:
x 2 − x1 1 − 0 1 y − y1 3 −0 3
For bar 1: T11 = = = and T12 = 2 = = .
2 2 2 2 2 2
1 3
Similarly for bar 2: T11 = T12 = − , and for bar 3 T11 =1, T12 = 0.
2 2
30kN
20 kN
2 3 4
y 1 2 3m
1 x 3
1m 1m 1m
Fig. 5.13 A planar truss and the selected global coordinate system.
Now the stiffness matrices can be formed using Eq. (5-62) as:
⎡ 0.25 sym.⎤
⎢ 0.433 0.75 ⎥
EA ⎢ ⎥.
For bar 1: k1 =
2 ⎢ − 0.25 − 0.433 0.25 ⎥
⎢ ⎥
⎣− 0.433 − 0.75 0.433 0.75 ⎦
⎡ 0.25 sym.⎤
⎢− 0.433 0.75 ⎥
EA ⎢ ⎥.
For bar 2: k2 =
2 ⎢ − 0.25 0.433 0.25 ⎥
⎢ ⎥
⎣ 0.433 − 0.75 − 0.433 0.75 ⎦
144
CHAPTER 5 Matrix Displacement Method 145
⎡1 sym.⎤
⎢0 0 ⎥
EA ⎢ ⎥.
For bar 3: k3 =
2 ⎢− 1 0 1 ⎥
⎢ ⎥
⎣ 0 0 0 0. ⎦
The overall stiffness matrix of the structure is an 8×8 matrix, which can easily be
formed by planting the three member stiffness matrices as follows:
⎡∗ ∗ ⋅ ⋅⎤
⎢∗ ∗ ∗ ∗⎥⎥
D* = ⎢ .
⎢⋅ ∗ ∗ ⋅⎥
⎢ ⎥
⎣⋅ ∗ ⋅ ∗⎦
p = Kv
145
146 Structural Mechanics: Graph and Matrix Methods
⎡p f ⎤ ⎡ K ff K fc ⎤ ⎡ v f ⎤
⎢p ⎥ = ⎢K K cc ⎥⎦ ⎢⎣ v c ⎥⎦
. (5-67)
⎣ c ⎦ ⎣ cf
This equation has a mixed nature; pf and vc have known values and pc and vf are
unknowns. Kff is known as the reduced stiffness matrix of the structure, which is
non-singular for a rigid structure.
p f = K ff v f , (5-68)
As an example, the reduced stiffness matrix of the structure shown in Figure 5.13
can be obtained from K, by deleting the rows and columns corresponding to the
three supports 1, 3 and 4.
⎡20⎤ EA ⎡1.5 0 ⎤ ⎡u 2 x ⎤
⎢30⎥ = ⎢ ⎥⎢ ⎥.
⎣ ⎦ 2 ⎣ 0 1.5⎦ ⎣ u 2 y ⎦
40 40
u 2x = and u 2 y = .
1.5EA EA
The member distortions can easily be extracted from the displacement vector, and
multiplication by the stiffness matrix of each member results in its member forces
in the global coordinate system. As an example, for member 3 we have:
146
CHAPTER 5 Matrix Displacement Method 147
Example: The truss shown in Figure 5.14 has members each of the same cross
sectional area of 15000mm2, and elastic modulus 210 kN/mm2. Vertical loads of
10kN and 5kN are applied at node 3 and node 5, respectively. Determine the
forces in all members:
The force-displacement relationship for a planar bar member is obtained from Eq.
(5-23) as follows:
⎡Fix ⎤ ⎡ x⎤
⎡ T11 2
T11T12 − T11
2
− T11T12 ⎤ ⎢δi ⎥
⎢ y⎥ ⎢ ⎥ y
⎢ Fi ⎥ EA ⎢ T11T12 − T11T12 − T12 ⎥ ⎢δi ⎥
2 2
T12
⎢F x ⎥ = L ⎢ ⎢ x⎥ (5-69)
⎢ j ⎥ − T11
2
− T11T12 2
T11 T11T12 ⎥ ⎢δ j ⎥
⎢ ⎥
⎢Fjx ⎥
⎣ ⎦ ⎢⎣− T11T12 − T12
2
T11T12 2
T12 ⎥⎦ ⎢δ yj ⎥
⎣ ⎦
147
148 Structural Mechanics: Graph and Matrix Methods
For member 7:
Assembling the stiffness matrix of the entire structure and imposing the boundary
conditions δ1x = δ1y = δ 4x = δ 4y = 0 results in:
148
CHAPTER 5 Matrix Displacement Method 149
⎡ 0 ⎤ ⎡ 3632.13 ⎤ ⎡δ 2x ⎤
⎢ 0 ⎥ ⎢ − 530.02 4296.09 ⎥⎢ y ⎥
⎢ ⎥ ⎢ sym. ⎥ ⎢δ 2 ⎥
⎢ 0 ⎥ ⎢ 0 0 3822.08 ⎥ ⎢δ3x ⎥
⎢ ⎥=⎢ ⎥⎢ y ⎥
⎢− 10⎥ ⎢ 0 − 3600.0 − 588.18 4114.76 ⎥ ⎢δ 3 ⎥
⎢ 0 ⎥ ⎢− 1210.71 530.02 − 1575.0 0 2785.71 ⎥ ⎢δ x ⎥
⎢ ⎥ ⎢ ⎥⎢ 5 ⎥
⎣⎢ − 5 ⎦⎥ ⎣⎢ 530.02 − 232.03 0 0 530.02 232.03⎦⎥ ⎢δ y ⎥
⎣ 5⎦
Once the displacements are calculated, the member forces can easily be obtained
using member stiffness matrices.
The joint load vector of a structure can be computed in two parts. The first part
comes from the external concentrated loads and/or moments, which are applied at
the joints defined as the nodes of S. The components of such loads are most easily
specified in a global coordinate system and can be entered to the joint load vector
p.
The second part comes from the loads which are applied on members. These loads
are usually defined in the local coordinate system of a member. For each member
the fixed end actions (FEA) can be calculated using the existing classical formulae
or tables. A simple computer program can be prepared for this purpose. The fixed
end actions should then be rotated to the global coordinate system using the
transformation matrix given by Eq. (5-27). The FEA should then be reversed and
applied to the end nodes of the members. These components can be added to p to
form the final joint load vector. After p has been prepared and the boundary
conditions imposed, the corresponding equations should be solved to obtain the
joint displacements of the structure. Member distortions can be extracted for each
member in the reverse order to that used in assembling p vector.
149
150 Structural Mechanics: Graph and Matrix Methods
2
50kN
2 3
12kN/m 1 3 4m
1 4
5m
1600kN.m
74kN
Employing Eq. (5-66), the stiffness matrices for the members are obtained as
follows:
For member 1:
⎡0.008 ⎤
⎢ 0 0.75 sym. ⎥
⎢ ⎥
4 ⎢ − 1.5 0 400 ⎥
k1 = 10 ⎢ ⎥,
⎢0.008 0 1.5 0.008 ⎥
⎢ 0 − 0.75 0 0 0.75 ⎥
⎢ ⎥
⎢⎣ − 1.5 0 200 1.5 0 400⎥⎦
150
CHAPTER 5 Matrix Displacement Method 151
⎡ 0.6 ⎤
⎢ 0 0.004 sym. ⎥
⎢ ⎥
4⎢ 0 0.96 320 ⎥
k 2 = 10 ⎢ ⎥.
⎢− 0.6 0 0 0.6 ⎥
⎢ 0 − 0.004 − 0.96 0 0.004 ⎥
⎢ ⎥
⎣⎢ 0 0.96 160 0 − 0.96 320⎦⎥
For member 3:
⎡ 0.008 ⎤
⎢ 0 0.75 sym. ⎥
⎢ ⎥
4 ⎢ 1.5 0 400 ⎥
k 3 = 10 ⎢ ⎥.
⎢− 0.008 0 − 1.5 0.008 ⎥
⎢ 0 − 0.75 0 0 0.75 ⎥
⎢ ⎥
⎣⎢ 1.5 0 200 − 1.5 0 400⎦⎥
Assembling the stiffness matrices and imposing the boundary conditions results in
the following equations:
⎡ 7.4 ⎤ ⎡0.608 ⎤ ⎡δ 2x ⎤
⎢ 0 ⎥ ⎢ 0 ⎥⎢ y ⎥
⎢ ⎥ ⎢ 0.754 sym. ⎥ ⎢δ 2 ⎥
⎢160⎥ 4 ⎢ 1.5 0.96 720 ⎥ ⎢θ z2 ⎥
⎢ ⎥ = 10 ⎢ ⎥⎢ x ⎥
⎢ 0 ⎥ ⎢ − 0.6 0 0 0.608 ⎥ ⎢δ 3 ⎥
⎢ 0 ⎥ ⎢ 0 − 0.004 − 0.96 0 0.754 ⎥ ⎢δ y ⎥
⎢ ⎥ ⎢ ⎥⎢ 3 ⎥
⎣⎢ 0 ⎦⎥ ⎣⎢ 0 0.96 160 1.5 − 0.96 720⎥⎦ ⎢⎣ θ3z ⎥⎦
The main advantage of the displacement method is its simplicity for computer
programming. This is due to the existence of a simple kinematical basis formed on
151
152 Structural Mechanics: Graph and Matrix Methods
a special cutset basis known as cocycle basis of the graph model S of the structure.
Such a basis does not correspond to the most sparse stiffness matrix, however, the
sparsity is good enough, not to look for a better basis in more usual cases.
However, if an optimal cutset basis of S is needed, then the displacement method
has all the problems encountered in the force method, described in Chapter 6. The
algorithm for the displacement method is summarized in the following. The
coding for such an algorithm may be found in textbooks such as those of
Vanderbilt [242] and Meek [173].
Algorithm
Step 1: Select a global coordinate system and number the nodes and members of
the structure. An appropriate nodal ordering algorithm will be discussed in
Chapter 7.
Step 2: After initialisation of all the vectors and matrices, read the data for the
structure and its members. For multi-member regular structures, data can be
generated using the method of Chapter 10.
(c) form the member stiffness matrix k in its local coordinate system;
(d) form the member stiffness matrix k in the selected global coordinate
system;
(b) transform the fixed end actions to the global coordinate system and
reverse it to apply at joints;
(c) store these joint loads in the specified overall joint load vector.
(a) read the joint number and the applied joint loads;
152
CHAPTER 5 Matrix Displacement Method 153
y
P P P
2m
P P P
3@
4@2m
x
153