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Prof. Suvranu De
Development of Truss
Equations
Reading assignment:
Summary:
Gusset plate
1
Ideal trusses:
Assumptions
• Ideal truss members are connected only at their ends.
• Ideal truss members are connected by frictionless pins (no
moments)
• The truss structure is loaded only at the pins
• Weights of the members are neglected
member in
tension
Connecting pin
Step 2: Describe the behavior of each bar element (i.e. derive its
stiffness matrix and load vector in local AND global coordinate
system)
2
Stiffness matrix of bar element
E, A
L: Length
L L h off bar
b
A: Cross sectional area of bar
E: Elastic (Young’s) modulus of bar
û(x̂) :displacement of bar as a function of local coordinate x̂ of bar
The strain in the bar at x̂ dû
ε(x̂)
dx̂
The stress in the bar (Hooke’s law)
(x̂) E ε(x̂)
d̂ 2x
Tension in the bar
T(x̂) EAε x̂ x̂
û(x̂) 1 d̂1x d̂ 2x
x̂ d̂1x x̂
L L
L
Assume that the displacement û(x̂) is varying linearly along the bar
x̂ x̂
û(x̂) 1 d̂1x d̂ 2x
L L
dû d̂ 2x d̂1x
Then, strain is constant along the bar: ε
dx̂ L
Stress is also constant along the bar:
E
Eε d̂ 2x d̂1x
L
Tension is constant along the bar: T EAε
EA
L
d̂ 2x d̂ 1x
k
Two nodes: 1, 2
Nodal displacements: d d̂1x
1 dd̂ 2x
2
Nodal forces: f̂1x f̂ 2x
EA
Spring constant: k
L
Element stiffness matrix in local coordinates
f̂1x k - k d̂1x
f̂ k̂ d̂
f̂ 2x - k k d̂ 2x
Element force Element nodal
Element displacement f̂ k̂ d̂
vector
stiffness vector
matrix
3
What if we have 2 bars?
E1, A1
E2, A2
L1 L2
PROBLEM
4
To calculate the stresses:
For element #1 first compute the element strain
d 2 x d1x d 2 x P
(1)
L L 3EA
and then the stress as
P
(1) E (1) (element in tension)
33A
A
Similarly, in element # 2
d3 x d 2 x d P
(2) 2x
L L 3EA
P
(2) E (2) (element in compression)
3A
member in
compression
member in
tension
Connecting pin
5
d 2y , f 2y
x̂
dˆ 2y , fˆ2y 0 d̂ 2x , f̂ 2x
y ŷ
d 2x , f 2x
d1y , f1y
dˆ 1y , fˆ1y 0 θ
d̂1x , f̂1x d1x , f1x
x
At node 1: At node 2:
d̂1y d̂ 2y
d1y d 2y
θ d̂1x θ d̂ 2x
d1x d 2x f̂ 2y 0
f̂1y 0
f1y f 2y
θ f̂1x θ f̂ 2x
f1x f 2x
f k d
41 44 41
6
NOTES
NOTES
5. In local coordinates we have f̂ k̂ d̂
41 4 4 41
y vx v y cos θ Angle is
ŷ x̂
measured positive
v̂ x
v̂ y
θ in the counter
v v x sin θ clockwise direction
vy
from the +x axis)
θ
v y sin θ x
v x cos θ
The vector v has components (vx, vy) in the global coordinate system
and (v^x, v^y) in the local coordinate system. From geometry
v̂ x v x cos θ v y sin θ
v̂ y v x sin θ v y cos θ
7
In matrix form
v̂ x cos θ sin θ v x
v̂ y sin θ cos θ v y
Or Direction cosines
v̂ x l m vx l cos
where
v̂ y m l v y m sin
d̂1x l m 0 0 d1x
d̂1y m l 0 0 d1y T *
T
0
*
44
0 T
d̂ 2x 0 0 l m d 2x
d̂ 0
0 m l d 2y
2y
T d
d̂
f̂1x l m 0 0 f1x
f̂1y m l 0 0 f1y T *
T
0
*
44
0 T
f̂ 2x 0 0 l m f 2x
f̂ 0
0 m l f 2y
2y
T f
f̂
8
Important property of the transformation matrix T
1
T T
T
x̂ f̂ T f
y ŷ d̂ 2y , f̂ 2y
d̂ 2x , f̂ 2x d̂ T d
θ f̂ k̂ d̂
d̂1y , f̂1y
d̂ˆ 1x , f̂ˆ1x
Tf k̂ Td
x
f T k̂ T d
1
The desired relationship is f k d k
41 4 4 41
l m 0 0 k 0 -k 0
m l 0 0
0 0 0 0
T k̂
0 0 l m - k 0 k 0
0 0 m l 0 0 0 0
l2 lm l 2 lm
EA lm m2 lm m 2
k T k̂ T
T
L l 2 lm l2 lm
lm m
2
lm m2
9
Computation of the direction cosines
2 (x2,y2)
x2 x1 L
l cos
L
y y θ
m sin 2 1
L 1 (x ,y )
1 1
x1 x2 1 (x1,y1)
l ' cos l L
L
y y
m' sin 1 2 m θ
L 2
(x2,y2)
Question: Does the stiffness matrix change?
10
l m 0 0
m l 0 0
1
ε 1 0 1 0 d
L 0 0 l m
0 0 m l
1
l m l md
L
d 1x
d
1
l m l m 1y
L d
2x
d 2y
Eε
E
L
E
d̂ 2x d̂1x l m l md
L
Recall that the element tension is
EA
T EAε l m l m d
L
bl the
St 33: Assemble
Step A th element
l t stiffness
tiff matrices
ti to
t form
f the
th
global stiffness matrix for the entire structure using the
node element connectivity table
11
Node element connectivity table
3 3 1
1 2 (x2,y2)
L
El 1 60
El 3
θ
2 60 60 3 1
(x1,y1)
El 2
(1)
k
Global stiffness matrix
d1x d1y d2x d2y d3x d3y
d1x
( 2)
d1y k
d2x
K d2y
d3x
( 3)
k
d3y
66
12
Example 2 The length of bars 12 and 23 are equal (L)
y E: Young’s modulus
3
El#2 P2 A: Cross sectional area of each bar
Solve for
P1 (1) d and d
2x 2y
3 0 2Lsin45
13
Stiffness matrix of element 2
d2x d2y d3x d3y
1 1 1 1 d2x
(2) EA 1 1 1 1 d2y
k
2L 1 1 1 1 d3x
1 1 1 1 d3y
3
1 1 1 1 0 0
1 1 1 1 0 0
EA 1 1 2 0 1 1
K
2L 1 1 0 2 1 1
0 0 1 1 1 1
0 0 1 1 1 1
EA 2 0 d2x P1
2 L 0 2 d 2 y P2
14
Step 5: Solve for unknown displacements
P1 L
d2x E A
d2y P2 L
E A
Step 6: Obtain stresses in the elements 0
Multi-point constraints
15
Problem 3: For the plane truss
P=1000 kN,
y L=length of elements 1 and 2 = 1m
P El#2 3 E=210 GPa
A = 6×10-4m2 for elements 1 and 2
2 = 6 2 ×10-4 m2 for element 3
El#1
El#3
Determine the unknown displacements
45o and reaction forces.
1 x
Solution
Step 1: Node element connectivity table
ELEMENT Node 1 Node 2
1 1 2
2 2 3
3 1 3
3 L L
3 L 2 1/ 2 1/ 2
16
Stiffness matrix of element 2 d2x d2y d3x d3y
1 0 1 0 d2x
0 0 0
(2) (210 109 )(6 10-4 ) 0 d2y
k
1 1 0 1 0 d3x
0 0 0 0 d3y
Stiffness matrix of element 3
d1x d1y d3x d3y
0.5 0.5 0.5 0.5 d1x
(3) (210 109 )(6 2 10-4 ) 0.5 0.5 0.5 0.5 d
k 1y
2 0.5 0.5 0.5 0.5 d
3x
0.5 0.5 0.5 0.5 d3y
17
y
x
F1 x y
F 3
1y P El#2
P 2
F
F2 y El#1
F3 x El#3
F 3 y 45o
x
1
Also, 3x 0
F in the local coordinate system of element 3
d 3 x l m d3x 1
l m
d 3 y m l d 3 y 2
1 1 1
d 3 x 2 2 d3x 2
d 3x d 3 y
1 1 d3y 1
d 3 y
2 2 2
d 3y d 3 x
d 3y 0 (Multi-point constraint)
1
d 3 y
2
d 3y d3x 0
1 1 1
3x
F 2 2 F3 x 2
F 3x F 3 y
1 1 F3 y 1
F 3 y F F 3 x
2
3y
2 2
3x 0
F
1
3 x
F
2
F 3y F3 x 0
F3 y F3 x 0 Eq (3)
18
Therefore we need to solve the following equations simultaneously
Kd F Eq(1)
d3y d3x 0 Eq(2)
F3 y F3 x 0 Eq(3)
1 1 0 d2x P
1 2 6 0 1 0 5 1 1 .5 0 .5 d 3 x F3 x
0 0 .5 0 .5 d F
3y 3y
1 2 6 0 1 0 5 ( d 2 x 3 d 3 x ) 0 using Eq(2)
d 2 x 3 d 3 x Eq(7)
1 2 6 0 1 0 5 (3 d 3 x d 3 x ) P
Plug this into Eq(4)
2520 105 d3x 106
d 3 x 0 .0 0 3 9 6 8 m
d 2 x 3 d 3 x 0 .0 1 1 9 m
19
Physical significance of the stiffness matrix
In general
k ij = keeping
Force at d.o.f ‘i’ due to unit displacement at d.o.f ‘j’
all the other d.o.fs fixed
20
Example The length of bars 12 and 23 are equal (L)
y E: Young’s modulus
3
El#2 P2 A: Cross sectional area of each bar
Solve for d2x and d2y using the “physical
P1 interpretation” approach
El#1 2
45o
x
1 Solution
k11 k12 d 2 x P1
k
21 k22 d 2 y P2
Where k11, k12, k21 and k22 will be determined using the
“physical interpretation” approach
k11 d 1
To obtain the first column
1 apply 2 x
y 2 1.cos(45)
2 21 y
k d2 y 0
3 F2y=k21
F2y=k21
F2x=k11 T2
El#2
2 F2x=k11
El#1 2’
T1 2
x 1 x
1 1 1.cos(45)
2
d2x=1
F k
EA
x 11 T1 cos(45) T2 cos(45) 0 T1 1
L
F k
y 21 T1 sin(45) T2 sin(45) 0 EA
T2 2
L
21
k12 d 0
To obtain the second column
apply 2 x
y k22 y d2 y 1
3 1
2 1.cos(45) F2y=k22
2
2’ T2
El#2 d2y=1
2 F2x=k12
El#1 T1 2
x 1 x
1 1 1.cos(45)
2
F k
EA
x 12 T1 cos(45) T2 cos(45) 0 T1 1
L
F k
y 22 T1 sin(45) T2 sin(45) 0 EA
T2 2
L
22
In local coordinate system f̂ k̂ d̂
f̂ 1x
k 0 0 k 0 0 d̂ 1x
f̂ 1y 0 0 0 0 0 0 d̂ 1y
f̂ 1z 0 0 0 0 0 0 d̂ 1z
f̂ 2x k 0 0 k 0 0 d̂ 2x
f̂ 0 0 0 0 0 0 d̂
2y 2y
0 0 0 0 0 0
f̂ 2z d̂ 2z
d̂ Td
T * 0
T *
f̂ Tf
66
0 T
k T k̂ T
T
23
l12 l1m1 l1n1 l1
2
l1m1 l1n1
2 2
1 1
l m m 1 m n
1 1 l m
1 1 m1 m1n1
EA l1n1 m1n1 n1
2 2
m1n1 n1 l1n1
k T k̂T
T
Notice that the direction cosines of only the local ^x axis enter the
k matrix
24