41

Basic Concepts of Direct

Computer·Oriented
StructuralMethod
Stiffness Analysis

1.1 Introduction.
4.1 This
In the book
precedingdescribes
chaptermatrix methods
the stiffness method for wasthe
developed
analysis of initially by superposition
framed structures with theofaid actions for thecomputer.
of a digital free displacement
Both the
flexibility
coordinatesand (Sec.stiffness
3.2). Thenmethods of structural
the method analysis are
was formalized andcovered,
extendedbut in
emphasis
Sec. 3.6 usingis placed upon the lattermatrix
the compatibility because C MJit and
is more suitablework
the virtual for computer
concept.
programming.
With this second While these methods
approach the complete are applicable
joint stiffness to discretized
matrix SJ structures
(for both
of
freealland
types, only framed
restrained structureswas
displacements) will be discussed.
assembled by theAftertriple mastering
matrix multi- the
analysis
plicationof framed
given structures,
as Eq. (3-32). theWhilereader
the will
formal be version
preparedistoenlightening
study the finite and
element methodit for
well organized, analyzing
involves a largemore elaborate
and sparse discretized
compatibility continua
matrix (see
containing
Chapter
terms that 7 and textbooks
are not easy toonevaluate
finite elements
correctly.listed in General
Neither References).
the generation of this
matrix norchapter
In this the multiplication
various preliminaryprocess matters
for assembly would be
are considered in suitable
preparation for
computer
for the matrixprogramming.
methods of later A better methodology
chapters. These subjects of drawing
consistsinclude ideas
descriptions
of
fromthe both
typesapproaches
of framed structures
and adding to abefewanalyzed and their deformations
computer-oriented techniquesdue to
to loadswhat
evolve and other
is knowncauses.
as the direct
Also stiffness
discussed aremethod.
the basic concepts of equilib-
rium, Thecompatibility,
primary objective of this chapter
determinacy, mobility, is tosuperposition,
further develop the stiffness
flexibility and
method into
stiffness a form that
coefficients, may be joint
equivalent readily programmed
loads, energy, and on avirtual
digitalwork.computer.
In fact, the procedures established in this chapter have their counterparts in
the form of flow charts in Chapter 5. In Sec. 4.2 the direct stiffness method
1.2 TypesandofanFramed
is described, outline Structures.
is presented forAlltheofpurpose the structures
of organizing that arethe
analyzed in later chapters are called framed structures
calculations into a sequence that is conducive to programming. Since member and can be divided
into six categories:
stiffnesses beams, plane
play an essential role intrusses, space trusses,
the analyses of all typesplane offrames,
framed grids,struc-
and space frames. These types
tures, this topic is treated next in Sec. 4.3. Then other aspects Fig.
of structures are illustrated in of the 1-1direct
and
described later in detail. These categories are selected
stiffness method common to all types of framed structures are discussed in because each repre-
sents
Sees. a 4.4
classthrough
of structures
4.7. having special characteristics.
These matters are demonstrated Furthermore,
with a familiar while
the basic principles
example that has been solved previously. The remaining sections of for
of the flexibility and stiffness methods are the same the
all types deal
chapter of structures, the analyses
with applications for these
to various six of
types categories
framed are sufficiently
structures. For
different
simplicity, in the
onlydetails to warrant
prismatic members separate
and discussions
the effects of of them.
applied loads are
Every framed structure consists of members
considered in this chapter. Methods for handling nonprismatic that are long in comparison
members,
to their cross-sectional
temperature dimensions.
changes, prestrains, support joints of a framed
Thedisplacements, and other structure
effects areare
points
describedof intersection
in Chapter 6. of the members, as well as points of support and free
ends of members. Examples of joints are points A, B, C, and D in Figs.
l-la4.2and Direct
l-ld. Supports
Stiffness may befixed,The
Method. as atkeysupport A in the beam
to simplifying of Fig.
the assembly
I-la, or pinned, as shown for support A in the plane
process for the joint stiffness matrix SJ is to use member stiffness matrices frame of Fig. l-ld, or
there may be roller supports, illustrated by supports
for actions and displacements at both ends of each member. If the member Band C in Fig. l-la.
In special instances
displacements the connections
are referenced between(global)
to structural members or betweenthey
coordinates, memberscoin-
and supports may be elastic (or semi-rigid). However,
cide with joint displacements. In that case all of the geometric complica- the discussion of this
possibility
tions must will be postponed
be handled locally,until
andlater
the (see Secs.of6.9
transfer and 6.15).
member Loads on
information to
a framed structure may be concentrated forces, distributed loads, or couples.

181
1

W. Weaver Jr. et al., Matrix Analysis of Framed Structures

© Van Nostrand Reinhold 1990
182 Chapter 4 Computer-Oriented Direct Stiffness Method

structural arrays is straightforward. That is, the stiffness matrix and the
equivalent load vector can be assembled by direct addition instead of by
matrix multiplication.
Thus, the assembly of the joint stiffness matrix, assuming m members,
may be stated as
m

SJ = L
i=1
SMSi (4-1)

In this expression the symbol SMSi represents the i-th member stiffness
matrix with end-actions and displacements (for both ends) taken in the
directions of structural axes. To be conformable for matrix addition, all
such member stiffness matrices should be expanded to the same size as SJ
by augmenting them with rows and columns of zeros. However, this oper-
ation can be avoided in computer programming by merely placing terms
from SMSi into SJ where they belong.
Similarly, an equivalent joint load vector AE can be constructed from
member contributions, as follows:
m
AE = - L A MSi (4-2)
i=l

In this instance AMS i is a vector of fixed-end actions in the directions of the

structural axes at both ends of member i. As before, it is theoretically nec-
essary to augment AMSi with zeros to make it conformable for matrix addi-
tion, but this step can be avoided in programming. The equivalent joint
loads in Eq. (4-2) will be added to actual loads applied at the joints to form
the total (or combined) load vector.
In order to separate terms pertaining to the free displacements of the
structure from those for support restraints, it is necessary to rearrange and
partition the stiffness and load matrices. This rearrangement of terms may
be accomplished after the assembly is completed. However, in a computer
program the rearrangement is more easily done when the information is
transferred from small member arrays to large structural arrays. *
After the stiffness and load matrices have been rearranged, the solution
proceeds in the manner already established in Sec. 3.6. Thus, the basic
solution for free joint displacements (see Eq. 3-35), due to loads only,
becomes
(4-3)
in which AFC is a vector of combined joint loads (actual and equivalent)
corresponding to DF • While it is symbolically convenient to imply inversion
of the stiffness matrix SFF in Eq. (4-3), it is not efficient to actually calculate
*While it is possible to solve the equations of equilibrium "in-place" without rearrange-
ment (see Appendix E), it is computationally more efficient to separate the independent equa-
tions from the dependent equations.