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1) 8‐10 storeys : Simple frames (gravity + lateral
loads)
2) 8‐10 storeys onwards : Frames + Shear walls
(upto 20 storeys) (Lift core)
Lift Shear
core wall
3) Very tall structures
Tube
structure
MATRIX FORMULATIONS FOR 3D
STRUCTURES (DONE TILL NOW)
7 10
Local Rotations
x’ 1
4
Displacements
Displacements
z
Rotations y
slab
1) Distribution of vertical loads to beams
through bending.
Usual 3D analysis
2) Distribution of lateral loads by in plane
action.
Ignores presence of slab
HOW DOES THE PRESENCE OR ABSENCE OF
SLAB AFFECT THE VERTICAL AND LATERAL
LOAD ANALYSIS??
9Under vertical loads
9Under horizontal loads
F
Symmetrical Building without slab
9Uniform translation
9No rotation of floor
F 9Forces will be distributed in
proportion to stiffness of frames
Symmetrical Building with slab
What will happen in above two cases if the force “F”
were acting unsymmetrically
1
9Uniform translation
2
9No rotation of floor
F 3
9Forces will be distributed in
Symmetrical Building proportion to stiffness of frames
A SIMPLIFIED ANALYSIS APPROACH
Rigid link elements
F 1 2 3
Need full 3D
Not valid
analysis rigorously
1 Unsymmetrical lateral loading (Torsion) taking the effect of
2 Building/structural system is not symmetrical slab
y
x
3D ANALYSIS TAKING RIGIDY OF FLOOR SLAB INTO ACCOUNT
ASSUMPTIONS Valid for RC
1 Slab is monolithic with beam and cols. structures with
2 Continuous slab NO LARGE CUTOUTS floor slab (Not
3 All joints (unrestrained joints) lie on floor slabs HOW?? valid for steel
frames with
4 Slab sufficiently thick so that rigid diaphragm action results
sheet based
5 All other assumption of direct stiffness approach
roof)
Basically need the translation
and rotation at a reference
Implications:
point 1 Points lying on slab undergo rigid
body translation and rotation.
y
2 Beams cannot have any bending
x in plane of slab.
3 No axial deformation in beams.
Formulations will implement (1) to (3)
NUMBERING APPROACH TO
TAKE CARE OF SLAB ACTION
Floor
o2 dof
x
JOINT DOF C
1 3
2 o1
MARKING EXERCISE…
z
y Soln. in next slide
x
Ref.point
31‐36
NUMBERING APPROACH TO
TAKE CARE OF SLAB ACTION 22
24 19
21
13
15 23 29 B 20
30
14 28 16 18 Floor
o2 dof
y
17
10 7
12 7 9
x JOINT DOF C
1 11 26
8
3
27
25
2 o1 4 6
z
y
x 49‐54 43‐48
Ref.point
31‐36 37‐42
Choice of references O1 and O2 is arbitrary…All displacements and
forces shall be transformed to this point…
TOTAL DEGREES OF FREEDOM OF STRUCTURE
22
24 19
21
13 23 29
15 20
30 16
14 28 18 Floor
y o2 dof
17
10 7
12 9
x JOINT DOF
1 11 26 8
3
27
25 4
2 o1 6
5
z
y
x 49‐54 43‐48
Ref.point
31‐36 37‐42
No. of
unrestrained joints No. of floors
Rφ θ xjφ
y (xj,yj)
φ j
x θ
o1 φ = Rigid body rotation
Ref.point
(Origin)
Rφ θ xjφ
y (xj,yj)
φ j
x θ
o1 φ = Rigid body rotation
Ref.point
(Origin)
EXPRESSING DISPLACEMENTS OF POINT “j” IN TERMS OF
DISPLACEMENTS OF REFERENCE PONT “. O1”
Joint j Ref. O1
⎡28⎤ member 1 D1
D2 D10
⎢29⎥
13
15 29 D6 i Member dof
D5
⎢ ⎥
14 19
30 21
28
i o D4
⎢13 ⎥ 16 2 20
18 10 u30
⎢ ⎥
12 u24
17
⎢14 ⎥
2 26 11
Structural dof u23
1 27 7
9
⎢15 ⎥
3 25
o u22
1 8 u29
2
⎢ ⎥ u28
⎢30 ⎥ 4
u30
u15 u13
u29
⎢ 28⎥ 6
u14 u28
⎢ ⎥
5
49‐54
D1 = u28 ‐ yi u30 D1*
⎢29⎥
31‐36 43‐48
⎢22⎥ 37‐42
D2 = u29 + xi u30
D6 = u30
D2*
⎢ ⎥
⎢ 23⎥ z
y u29
D6*
⎢ ⎥
⎢24⎥ x
*u 30
u28
D7 = u28 ‐ yj u30 D7*
D8 = u29 + xj u30
⎢⎣30 ⎥⎦ Global
D12 = u30
D12 * D8*
TRANSFORMATION OF DISPLACEMENTS FOR BEAM
*Indicates that the
Displacement has
D1
1 0 0 0 0 ‐yi 0 0 0 0 0 0 D1* u 28 been transformed
to the reference
D2 0 1 0 0 0 xi 0 0 0 0 0 0 D2* u29 point
D3 0 0 1 0 0 0 0 0 0 0 0 0 D3
D4 0 0 0 1 0 0 0 0 0 0 0 0 D4
D5 0 0 0 0 1 0 0 0 0 0 0 0 D5
D6 0 0 0 0 0 1 0 0 0 0 0 0 D6* u30
D7 0 0 0 0 0 0 1 0 0 0 0 ‐yj D7* u28
D8 0 0 0 0 0 0 0 1 0 0 0 xj D8* u29
D9 0 0 0 0 0 0 0 0 1 0 0 0 D9
D10 0 0 0 0 0 0 0 0 0 1 0 0 D10
D11 0 0 0 0 0 0 0 0 0 0 1 0 D11
29
Axial force=0
30
My(lateral BM)=0
28
BEAM MEMBER FORCE TRANSFORMATION
Member end forces corresponding
too floor degrees of freedom F12
F6
should also be transformed
F2 F8
to point ‘O’ (reference point)
F7
F1
F1* = F1
F2* = F2
F6* = F6 ‐ yi F1 + xi F2
xi
F7* = F7 yi
F8* = F8 O1
F1* 1 0 0 0 0 0 0 0 0 0 0 0 F1
F2* 0 1 0 0 0 0 0 0 0 0 0 0 F2
F3 0 0 1 0 0 0 0 0 0 0 0 0 F3
F4 0 0 0 1 0 0 0 0 0 0 0 0 F4
F5 0 0 0 0 1 0 0 0 0 0 0 0 F5
F6* ‐yi xi 0 0 0 1 0 0 0 0 0 0 F6
F7* 0 0 0 0 0 0 1 0 0 0 0 0 F7
F8* 0 0 0 0 0 0 0 1 0 0 0 0 F8
F9
0 0 0 0 0 0 0 0 1 0 0 0 F9
F10
0 0 0 0 0 0 0 0 0 1 0 0 F10
F11
0 0 0 0 0 0 0 0 0 0 1 0 F11
F12*
0 0 0 0 0 0 ‐yj xj 0 0 0 1 F12
T
F* = C F
RIGID BODY MOVEMENT FOR BEAMS
1) No axial force
2) No lateral bending moment
θ
Δ
θ
Δ2
Δ1 B
A
M AB = 2EI/L(2θA + θB − 3Δ/L) ; Δ = θ L
=0
θ
D=CD*
12x12 Transformation matrix
For beam
1 K 12x12
L
T
2 K = T K T
G L
3 D = C D*
3
F = K g
D
= K
g
C D*
T
F* = C F
T
F* = C Kg C D*
Important Kg
Transform to take
Kg *
presence of slab into account
IMPLICATIONS ON BEAM
1 4
Beam Member effectively has 6 d.o.f
3 5
B
2 6
j However, we are achieving this effect on 12 x12
i
matrix through geometric transformation
TORSION
EXISTS…. 13
15
14 30 28 Floor
o2 dof
y
7
x JOINT DOF C
26
1 3
2 o1
4
5
B 6
z y
x
Ref.point
31‐36
TRANSFORMATION FOR COLUMNS
End points lie on different floors…..hence, unlike beams,
they shall be subjected to biaxial moments in addition
to axial forces
Member end forces and displacements need
to be transformed to the reference points.
T
C K C
g
Kg *
COLUMN IS A VERTICAL MEMBER….WHAT IS UNIQUE IN
TRANFORMATION????
IMPLICATIONS ON COLUMS
13
15
14 30 28 Floor j
o2 dof
y 9 12
11 8
7
10 7
x JOINT DOF C
1 26
3
C
2 o1
3 6
5 2
4 1
z
y
i
x
Ref.point
Column
Member has 12 d.o.f
31‐36
z 4
6
y 5
49‐54
31‐36 43‐48
x
Global 37‐42
TRANSFORMATION OF DIRECT JOINT LOADS RELATED TO
FLOOR D.O.F
Py
Mz
Px
O2
x
P x* = P x
P y* = P y
M z* = M Z - Y i P x + X iP y
BANDWIDTH
22
24 19
21
KTS 13
15 23 29
20
30
14 28 16 18 Floor
o2
KPP dof
17
10 7
12 7 9
JOINT DOF
1 11 26
8 FIND THE
3
27 BANDWIDTH
25
2 o1 4 6
DICTATED BY
THIS MEMBER
5
z
KPP
y
x 49‐54 43‐48
Ref.point
31‐36 37‐42
Band width is very large
We must follow alternate approach………….
IMPLICATIONS ON
SOLUTION PROCEDURE 22
24 19
21
13 23 29
15 20
P KPP KPX uP 14
30
o2
28 16 18 Floor
dof
= 10
17
7
X KXP KXX uX
12
11 26
7 9
1 8
3
27
25
2 o1 4 6
PJ KJJ KJF
P= KPP= 43‐48
49‐54
Ref.point
PF KFJ KFF
31‐36 37‐42
J: Joint degrees of freedom
uJ F: Floor degrees of freedom
uP=
uF
SOLUTION :
Banded
P KPP KPX uP KJJ KJF
= KPP =
X KXP KXX ux KFJ KFF
Prescribed disps.
P= KPPuP + KPx ux
P * = KPPuP
uP = KPP‐1 P Displacements
This approach SHALL NOT BE effective/efficient
WHY???
Very large bandwidth……..hence computation not
effective
NUMBERING APPROACH TO
TAKE CARE OF SLAB ACTION
22
24 19
21
KTS 13
15 23 29
20
30
14 28 16 18 Floor
o2
KPP dof
17
10 7
12 7 9
JOINT DOF
1 11 26
8 FIND THE
3
27 BANDWIDTH
25
2 o1 4 6
DICTATED BY
THIS MEMBER
5
z
KPP
y
31‐36 37‐42
To take advantage of banded nature of KJJ K(ad not KPP) , we must use CONDENSATION,
i.e. condense the joint degrees of freedom into floor degrees of freedom
STATIC CONDENSATION:
ANALOGY WITH MODIFIED SLOPE
DEFLECTION EQUATIONS
In general, M AB = (2EI/L)[2θ A + θ B ]
M
M = (3EI/L)θ 1
θ2
θ2≠0 Its effect is automatically included
The complete matrix may include d.o.f more than required
Stiffness matrix Kpp can be condensed by eliminating the
unwanted d.o.f
Unwanted disps. are expressed in terms of prominent d.o.f
STATIC CONDENSATION
u2
K11 K12 K13 u1 P1
P1
u1 K21 K22 K23 u2 = P2
P2= P3= 0 Zero
u3 K31 K32 K33 u3 P3
CONDENSATION MEANS TO ACHIEVE
ux=0
K* u1 = P1*
K11 K12 u1 P1
= Zero
K21 K22 u2 P2 (usually) Such that effects of other
stiffness terms and disps. are
automatically taken care of
K11u1 + K12u2 = P1 1
K21u1 + K22u2 = P2 2
Can we eliminate u2 from above equations?
2
From K 22u2 = (P2 ‐ K21u1) u2 = K22‐1 (P2 ‐ K21u1) 3
Substitute equation into ‐‐‐
3 1 Dependent
DOF
K11u1 + K12 K22‐1 (P2 ‐ K21u1) = P1
Locking of
dof is The resulting matrix is compact and suitable
Not condensation
for dynamic analysis in this particular case
APPLICATION OF CONDENSATION FOR 3D
BUILDING WITH RIGID SLAB
P KPP KPX uP
=
X KXP KXX uX
Known
(P ‐ KPxux) = KPPuP
To be eliminated
P* = KPPuP
Can we eliminate uJ from above equations?
uJ = KJJ‐1 (P*J ‐ KJFuF) The whole matrix is
condensed in terms of
P*F = KFJKJJ‐1 (P*J ‐ KJFuF) + KFF uFF
the horizontal degrees
( P*F ‐ KFJKJJ‐1 P*J ) = (KFF ‐ KFJKJJ‐1 KJF ) uF of freedom of structure.
Suitable for dynamic
analysis of structure.
PF ** = K*FF uF
INVERSE OF KJJ
⎡ a11 a12 a13 a14 ⎤ ⎡b11 b12 b13 b14 ⎤ ⎡1 0 0 0⎤
⎢a ⎢b b24 ⎥⎥
⎢ 21 a22 a23 a24 ⎥⎥ ⎢ 21 b22 b23 ⎢0 1 0 0⎥⎥
⎢ a31 a32 a33 a34 ⎥ ⎢b31 b32 b33 b34 ⎥ ⎢
⎢ ⎥ ⎢ ⎥ ⎢0 0 1 0⎥
⎣a41 a42 a43 a44 ⎦ ⎣b41 b42 b43 b44 ⎦ ⎢ ⎥
⎣0 0 0 1⎦
⎡ a11 a12 a13 a14 ⎤ ⎡b11 b12 b13 b14 ⎤ ⎡1 0 0 0⎤
⎢a ⎢b b24 ⎥⎥
⎢ 21 a22 a23 a24 ⎥⎥ ⎢ 21 b22 b23 ⎢0 1 0 0⎥⎥
⎢ a31 a32 a33 a34 ⎥ ⎢b31 b32 b33 b34 ⎥ ⎢
⎢ ⎥ ⎢ ⎥ ⎢0 0 1 0⎥
⎣a41 a42 a43 a44 ⎦ ⎣b41 b42 b43 b44 ⎦ ⎢ ⎥
⎣0 0 0 1⎦
0
...
1
Solve using Chosleski’s 0
algorithm
X = ith col of A‐1
SUMMARY: SOLUTION APPROACH
can take advantage
and make banded
1 KJJ‐1 KJJ Banded matrix
use Cholesky’s algorithm, How? Already explained
4 9 PF **= KFF* uF
Condensed matrix
(corresponding to floor dof)
9 uF = KFF*‐1 Pf**
7 d = TD 8 f = KLd + fF
HOW TO OBTAIN INVERSE OF KJJ
Multiply a matrix with its inverse…..as an example
In order to get the jth column of the inverse , solve
the following equation using Cholesky’s approach
for unknowns X
P = KJJ X
⎡0 ⎤
X will be the jth
⎢0 ⎥ column of KJJ‐1
⎢ ⎥
⎢0 ⎥
⎢ ⎥ Convince yourself
⎢.⎥
⎢.⎥ mathematically!
where P=⎢ ⎥
⎢1⎥ At jth row Multiply a matrix
⎢0 ⎥
⎢ ⎥ with jth col its
⎢.⎥
⎢ ⎥ inverse (begin with
⎢.⎥
⎢⎣0⎥⎦ j = 1)
USE OF STANDARD SOFTWARE TO
RIGOROUSLY CONSIDER SLAB ACTION
16 18
17
10
12 7
JOINT DOF
1 11
3
2 4 6
z
y
x 49‐54 43‐48
Ref.point
31‐36 37‐42
USE OF STANDARD SOFTWARE TO
RIGOROUSLY CONSIDER SLAB ACTION
OPTION 1: INCLUDE PLATE ELEMENT IN ANALYSIS
z
y
x
USE OF STANDARD SOFTWARE TO
RIGOROUSLY CONSIDER SLAB ACTION
OPTION 2: ADD LINK ELEMENTS AS HORIZONTAL BRACES IN
ALL BAYS (ASSIGN HIGH STIFFNESS)
z
y
x
METHOD OF SUBSTRUCTURES
1) Ring like structures
2
3 Band width 12
1 1
4 1 1 2
7
6 b = 12 – 1 + 1 = 12
5
1 7
Join joints and
New b = 42 ‐ 1 + 1 = 42 KPP
2 3
4 6
b = 12 – 1 + 1 = 12
2) Sudden change of layout
12
KPP
24
20 21 22 25 26
27 b = 12 – 1 + 1 = 24
3) Very large structure to be analyzed on a small computer
METHOD OF SUBSTRUCTURES
Method of substructures means that instead of
solving the entire structure in one go, we divide the
structure into sub‐parts, analyze individually, and
then integrate, but without any approximation or
loss of accuracy in final results
2
4 6
b = 12 – 1 + 1 = 12
12
KPP
24
20 21 22 25 26
27 b = 12 – 1 + 1 = 24
COMPUTATIONAL APPROACH
C
N
Substr. I II C : Common nodes
C N : Nodes other than common
N
1 1
KNN KNC uN1 PN1 9
I 1 1 uC1 = Internal forces @ common nodes
KCN KCC PC1
?? (Unknown)
KPP
9 By process of static
2 2 uN2 PN2
KNN KNC
II 2 2 uC2
= ? ?
condensation, we
eliminate uN1 and uN2
KCN KCC PC2
Unknown
Compatibility uc1 = uc2 = uc
Equilibrium Pc1 = ‐Pc2
1 1
KNNuN1 + KNC uC1 = PN1
uC 1
uN1 = (KNN )‐1 PN1 ‐ KNC uC1
1
KCC1 uC1 = PC1 1 1 1
KCN uN1 + KCC uC1 = PC1
1 1 1
Similarly, KCC2 uC2 = PC2 2 Kcc1 = Kcc ‐ KCN (KNN )‐1 KNC
1 1
uC
PC1 = PC1 ‐ KCN (KNN )‐1 PN1
2
1
Add and 2 (KCC1 + KCC2 ) uC = PC1 + PC2 PC2 = (‐PC1 ) ‐ KCN (KNN )‐1 PN2
?
Solving uC = ?? PC1 + PC2 = known
Since PC1 and PC2 get
1 1 cancelled out
KNNuN1 + KNC uC1 = PN1
uC
Solve for uN1
Similarly, we can compute uN2
How to obtain Internal forces at common nodes??
PC1 = KCC1 uC
Known
L 1
PC1 = PC1 ‐ KCN
1
KNN PN1
determine
Similarly PC2 can also be computed