Oe CHARTERS LATERAL-TORSIONAL BUCKLING OF BEAMS: 9.4 ELASTIC LATERAL-TORSIONAL BUCKLING Because structural design requires a thorough understanding of stability, the following development is presented of the basic equation for the elastic lateral-torsional buck- ling strength M,, of an I-shaped beam under the action of constant (uniform) moment acting in the plane of the web. More detailed treatment of this uniform moment case as well as other common loading cases is to be found in Timoshenko and Gere [6.67], Bleich [6.9], de Vries [9.2], Hechtman et al. [9.3], Austin et al. [9.4], Clark and Jombock [9.5], Salvadori [9.6], and Galambos [9.7]. Differential Equation for Elastic Lateral-Torsional Buckling Referring to Fig. 9.4.1, which shows the beam in a buckled position, it is observed that the applied moment My in the yz plane will give rise to moment components M,., M, and M.,, about the x'-, y’-, and z’-axes, respectively. This means there will be bend- az Section A-A (a) Top view © Direction Cosines (b) Side view Figure 9.4.1 [-shaped beam in slightly buckled position9.4 ELASTIC LATERAL-TORSIONAL BUCKLING 485 ing curvature in both the x'z’ and y’z' planes as well as torsional curvature about the z'-axis. Assuming small deformation, the bending in the y’z' plane (considering the direction cosine is 1 between y'- and y-, and z'- and z-axes) may be written (9.4.1) where v is the displacement of the centroid in the y direction (see Fig. 9.4.1b). Also, the curvature in the x'z’ plane is El, a = My = Mob (9.4.2) as is seen from Fig. 9.4.1c, where u is the displacement of the centroid in the x direction. The differential equation for torsion of I-shaped beams was developed in Chapter 8 as Eq. 8.5.10, as follows: 5 M. = os - EC, ee [8.5.10] From Fig. 9.4.1 and the direction cosines, the torsional component of My when the beam is slightly buckled is proportional to the slope of the beam in the xz plane: du M, = ~My (9.4.3) which gives for the torsional differential equation Ci, dd gto GIT ~ ECS (9.4.4) ‘Two assumptions are inherent in Eqs. 9.4.1 and 9.4.2, both of which relate to the assumption of small deformation, It is assumed that properties /,. and J, equal /, and J,, respectively; and also the /, is large compared to /,, so that Eq. 9.4.1 is not linked to Eqs. 9.4.2 and 9.4.4. Thus displacement v in the plane of bending does not affect the torsional function 4. Differentiating Eq. 9.4.4 with respect to z gives (9.4.5) From Eq. 9.4.2, du _ Mod dz El, which when substituted into Eq. 9.4.5 gives EC, ad = = (9.4.6) which is the differential equation for the angle of twist.486 © CHAPTER 9 LATERAL-TORSIONAL BUCKLING OF BEAMS. To obtain a solution for Eq. 9.4.6, divide by EC,, and let 25GT aA de= Fe and B= EET O47 Equation 9.4.6 then becomes ao Po _ = Zi 7 ar ~ BO =0 0.48) Let o = Ae” a s a = Ame" 4: apr a Be = Amie Substitution of Eqs. 9.4.9 into Eq. 9.4.8 gives Ae"(n* ~ 2am? — B) = 0 (0.4.1 Since e”* cannot be zero and A can be zero only if no buckling has occurred (a trivi solution) the bracket expression of Eq. 9.4.10 must be zero: m* — 2am? ~ B = 0 which gives for the solution Pera Beare or m=2VazVBr@ OAL It is apparent from Eq. 9.4.11 that m will consist of two real and two compl roots because VB +a0e>a Let m=a+VB+e@ (both real roots) 4.1 g =-a+VB +a? (real part of complex roots) O41 Using the four values for m, the expression for d from Eq. 9.4.9 becomes 6 = Aye™ + Ase + Age® + Aye 41 The complex exponential functions may be expressed in terms of circular fu tions, e'® = cos gz + isin gz = : (0.4.1 e'* = cos gz — isin9.4 ELASTIC LATERAL-TORSIONAL BUCKLING 487 By using Eqs. 9.4.15 and defining new constants A; and A, which equal (A, + A,) and (Axi — Agi), respectively, one obtains = Aje™ + Aye" + As cos gz + Ay sin gz (9.4.16) The constants A, and A, are determined by the end support conditions. For the case of torsional simple support, i.e., beam ends may not twist, but are free to warp, the conditions are ao =0 atz=0 and For $ = 0 at z = 0, Eq. 9.4.16 gives 0=A, + A, + As (9.4.17) 0, 0 = Ayn? + Ayn? — Ayg? (9.4.18) For d?$/dz? = 0 atz Multiplying Eq. 9.4.17 by n? and subtracting Eq. 9.4.18 gives 0 = Ax? +n”), Then, from Eq. 9.4.17, (9.4.19) Thus Eq. 9.4.16 becomes of = Aje™ — e") + Aq sin gz (9.4.20) which may be written = 2A, sinh nz + Ay sin gz (9.4.21) Atz = L, @ = 0; therefore , from Eq. 9.4.21, 0 =2A, sinh nL + Ay sin gL (9.4.22) Also, at z = L, d?/dz? = 0, which gives 0 = 24;n? sinh nL — Aqg? sin gh (9.4.23) Multiplying Eq. 9.4.22 by q? and adding to Eq. 9.4.23 gives 2A\(n? + q?)sinh nL = 0 (9.4.24) Since (n? + q?) cannot be zero, and sinh nL can be zero only if n = 0, therefore A, must be zero: A, =A: =0 Finally, from Eq. 9.4.21, $= A, sin gL =0 (9.4.25) If lateral-torsional buckling occurs, A, cannot be zero, so that488 CHAPTER9 LATERAL-TORSIONAL BUCKLING OF BEAMS sin gL = 0 (9.4.26) ql = Nr where N is any integer. The elastic buckling condition is defined by Na Cte (9.4.27) which for the fundamental buckling mode N = 1. The value of M, which satisfies Eq. 9.4.27 is said to be the critical moment: q=V-at+VB+a=2 (9.4.28) ry Squaring both sides, and substituting the definitions of w and B, from Eqs. 9.4.7. GI) MB (2) -% 2c, * VEct, * \2EC,) ~P 0428 Solving for My = M., gives i @,. GLY _ (Gy M2, = EC, (Z + #) (S) ] (9.4.30) TEC, PELGI Mg = a + (9.4.31) Factoring 77/L from inside the root sign gives 7 aE\? == + EGS 4. Ma 2\(Z)eu .G. (9.4.32) Equation 9.4.32 is the elastic lateral-torsional buckling strength for an I-shaped section under the action of constant moment in the plane of the web over the laterally unbraced length L. To adjust for moment gradient, Eq, 9.4.32 may be multiplied by a factor C,. Thus, in general : Me = Cry (=) Col, + ElyGI (0.4.33) 9.5 INELASTIC LATERAL-TORSIONAL BUCKLING ‘When the moment strength is based on some of the fibers of the cross-section reaching a strain ¢(see Fig. 9.3.2) that is greater than e, (that is € > F,/E), buckling is m likely to occur than when the strain € < ¢,. When elements are inelastic the stiffness as related to the modulus of elasticity decreases; therefore, buckling strength de- creases. The larger the strain requirement the lower must be the slenderness ratios’ related to the various types of buckling. Studies of inelastic lateral-torsional buckling have been made by Galambos [9.8], Lay and Galambos [9.9, 9.10], Massey and Pitman [9.11], Trahair and490 Lateral Bracing Requirements In the Inelastic Range CHAPTER 9 LATERAL-TORSIONAL BUCKLING OF BEAMS To gain an idea of the type of lateral bracing requirements that are needed to achieve’ the strength and rotation capacity, one may use the elastic lateral-torsional buckling’ equation, Eq. 9.4.31, but redefine the rigidities EJ, and GJ to include values in the inelastic range. Since generally lateral support will be provided at locations where the’ plastic moment M, is expected to occur, and the distances between lateral support points will be relatively short, it has been determined [9.10] that the term involving torsional rigidity GJ may be neglected. Thus, Eq. 9.4.31, neglecting the second term, becomes (9.5.29 Since M,, must reach M,, substitute M, = Z, F, for M,.. Also, C, = 1h?/4, 1, = Ara, and replace L by L, representing laterally unbraced length, Eq. 9.5.2 then gives the maximum slenderness ratio L,/r, to achieve M,, ee) 7% V 2% iz (9.5.3) which applies for uniform bending moment. An upper limit to Eq. 9.5.3 is obtained if one assumes perfect elasto-plastic steel without residual stress. Taking in Eq. 9.5.3 a conservative (low) value of 1.5 for hA/Z, along with E = 29,000 ksi, gives Ly _ [ , /#29,00001.5) _ 460 re [LV is al a Experimental data [9.16, 9.17] show that a lower limit than Eq. 9.5.4 is necessary achieve adequate rotation capacity R (Fig. 9.3.2). Thus LRFD-F 1.2a has set the li L, fr, as L, 300 Se OS hy VE yy ksi ‘ Mp where F,, is the flange yield stress. The foregoing is for I-shaped members bent aboi the x-axis (i.e., strong axis) where the limit state is achievement of plastic mome strength M,, When the ability to absorb additional plastic strain is desired, the limit must lower. In terms of Fig. 9.3.2, L,/r, at the Eq. 9.5.5 limit will give rotation capaci somewhat greater than 6,. When more rotation is required as when plastic analysi as discussed in Chapter 10, is used the limit must be reduced. The LRFD and ASI Specifications [1.16, 1.5] are based on a rotation capacity factor R (Fig. 9.3.2) approximately 3 when plastic analysis is used. The elastic modulus of elasticity E in Eq. 9.5.3 should be replaced by strain-hardening modulus of elasticity E,, when the actual strain € approaches t *For SI, with Fin MPa, 5,