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Continuous beams
A continuous beam is a statically indeterminate multispan beam on hinged support. The
end spans may be cantilever, may be freely supported or fixed supported. At least one of the
supports of a continuous beam must be able to develop a reaction along the beam axis.
An example of a continuous beam is presented in Fig. 1a. The supports are numbered from left to
right 1, 2, 3 and 4. The moment of inertia remains constant within the limits of each span, but
varies from one span to another.
I. Method of forces.
2. Canonical equations
The canonical equations expressing mathematically that the angles of every two neighbouring
sections over the supports, one with respect to the other remain nil, takes the following form:
δ11 ⋅ X1 + δ12 ⋅ X 2 + δ13 ⋅ X 3 + Δ1 f = 0,
δ 21 ⋅ X1 + δ 22 ⋅ X 2 + δ 23 ⋅ X 3 + Δ 2 f = 0,
δ 31 ⋅ X1 + δ 32 ⋅ X 2 + δ 33 ⋅ X 3 + Δ3 f = 0.
The coefficients of all unknowns as well as the free term will be calculated by using the diagrams
of the bending moments induced by unit couples acting along the direction of each redundant
constraint (Fig. 1 c, d and e) and the diagram due to the actual external load (Fig. 1f). In that
respect:
M12 1 ⋅1 ⋅ 3 1
δ11 = ∑ ∫ ds = = ;
EI 3 ⋅ EI EI
M 22 1 ⋅1 ⋅ 3 1 ⋅1 ⋅ 5 1.8333
δ 22 = ∑ ∫ ds = + = ;
EI 3 ⋅ EI 3 ⋅ 2 EI EI
M2 1 ⋅1 ⋅ 5 1 ⋅1 ⋅ 6 2.8333
δ 33 = ∑ ∫ 3 ds = + = ;
EI 3 ⋅ 2 EI 3 ⋅ EI EI
M1 ⋅ M 2 1 ⋅1 ⋅ 3 0.5
δ12 = δ 21 = ∑ ∫ ds = = ;
EI 6 ⋅ EI EI
M ⋅ M3
δ13 = δ 31 = ∑ ∫ 1 ds = 0 ;
EI
M 2 ⋅ M3 1 ⋅1 ⋅ 5
δ 23 = δ 32 = ∑ ∫ ds = = 0.41667 ;
EI 6 ⋅ 2 EI
M1 ⋅ M 0f
Δ1 f = ∑ ∫ ds = 0 ;
EI
M 2 ⋅ M 0f 1⋅ 20 ⋅ 5 16.667
Δ2 f = ∑ ∫ ds = = ;
EI 3 ⋅ 2 EI EI
M 3 ⋅ M 0f 1⋅ 20 ⋅ 5 1⋅ ( 2 ⋅ 55 ) ⋅ 6 101.67
Δ3 f = ∑ ∫ ds = − =− .
EI 6 ⋅ 2 EI 6 ⋅ EI EI
The coefficient δ13 is zero. It could be concluded that all coefficients to the unknowns in the n-th
canonical equation with the exception of the coefficients δ n−1,n , δ n,n and δ n,n+1 are zero. That
simplifies considerably calculation of the basic unknowns Xi using the force method. This
simplification is entirely due to the chosen primary system.
For the continuous beam under consideration the canonical equations take the form:
1 ⋅ X1 + 0.5 ⋅ X 2 = 0
0.5 ⋅ X1 + 1.8333 ⋅ X 2 + 0.41667 ⋅ X 3 + 16.667 = 0
0.41667 ⋅ X 2 + 2.8333 ⋅ X 3 − 101.667 = 0.
Wherefrom the unknown moments become:
X1 = 10.386; X 2 = −20.773; X 3 = 38.937.
1.0 X2=1
d) M2
1.0 X3=1
e) M3
1.0 200
116.25
55
16.25
20
f) M 0f
10 100
X 1= 10.386
20 X 3 = 38.937
` g)
X 2 = 20.773
20.773
X 2 = 20.773
38.937
200
116.25
55
16.25
20
i) M base ≡ M 0f
Figure 1 Continuous beam. Bending moment diagrams due to the unit couples and applied loads.
200
106.51
35.532
20.773
10.386
0.773
a) Mf
10.386
12.953
38.937
10.386 18.328 17.765 169.823
100
+
7.942
b) + Qf
10.386
9.823
69.823
4. Verifications
4.1 Equilibrium verification
∑ V = 0 → − 10.386 + 18.328 − 17.765 + 169.823 − 10 ⋅ 6 − 100 = −188.151 + 188.151;
∑ M 0 = 0 → 10.386 − 18.328 ⋅ 3 + 17.765 ⋅ 8 − 169.823 ⋅14 + 20 + 10 ⋅ 6 ⋅11 + 100 ⋅16 = 2432.51 − 2432.51.
If the equilibrium verification is not fulfilled this means that some mistakes could have been
made in the bending moment diagrams due to the unit couples of moments or applied loads (in
the primary statically determinate system). Another error can be committed in the final bending
moment diagram during the summation of the ordinates of M ref and M base .
M1 ⋅ M f 1 ⋅ (2 ⋅10.386 − 20.773) ⋅ 3
Δ1 = ∑ ∫ ds = 0 → = 0;
EI 6 ⋅ EI
If only one of the compatibility verifications is not fulfilled, say the second equation Δ 2 ≠ 0 , the
probable errors are:
Error in the derivation of mutual rotation δ 22 due to the unit moments X2=1;
Error in the derivation of mutual rotation Δ 2 f due to the applied loads;
The obtained mutual displacements Zi do not satisfy second canonical equation (this
equation does not equal to zero).
2. Canonical equations
The bending moment diagrams due to the unit rotations of the fixed joints are presented in Figs.
3c and 3d. The bending moment diagram in the kinematically determinate primary system due to
the applied loads is shown in Fig. 3e.
The canonical equations of the displacement method are as follow:
r11 ⋅ Z1 + r12 ⋅ Z 2 + R1 f = 0,
r21 ⋅ Z1 + r22 ⋅ Z 2 + R2 f = 0.
The first equation expresses that in the real structure no reactive moment is developed at the
imaginary constraint which prevents the rotation of joint 2. The second expression means that the
reaction in the constraint introduced in joint 3, due to rotations of joint 2 and 3 (Z1 and Z2) and
due to the applied loads, is equal to zero.
2011 S. Parvanova, University of Architecture, Civil Engineering and Geodesy - Sofia 67
Lecture notes: Structural Analysis II
10 100
20
1 I 2 2I 3 I 4 I
l1=3 l2=5 l3=6 l4=2
b)
4i1=1.3333EI
r 11 1.6EI r 21
Z1=1 2i2=0.8EI
c)
2i1=0.66667EI 1.3333EI 0.8EI
4i2=1.6EI
r 11= 2.9333EI r 21= 0.8 EI
4i2=1.6EI
r 12 0.8EI r 22 0.5EI
Z2=1
d)
2i2=0.8EI 1.6EI
3i3=0.5EI r 12 = 0.8 EI r 22 = 2.1EI
200
R 1f R 2 f 55
20 27.5 20
e)
55
R 1 f = −20 R2 f = 55
200
106.51
35.532
20.773
10.386
0.773
f) Mf
10.386
12.953
38.937
Figure 3 Slope and deflection method for static analysis of the continuous beam
3. Determination of coefficients to the unknowns of the canonical equations and the free
terms.
In the above equations r11 is the reactive moment due to the rotation of joint 2 through an angle
equal to unity; r12 is the reactive moment in the imaginary constraint of joint 2 due to a unit
rotation of joint 3; r22 is the reactive moment which arises in the second support when the joint 3
is rotated to unity. The free term R1f is the reactive moment in the first imaginary constraint due
to the applied loads; R2f is the reaction in the second restraint due to the same loads. Z1 and Z2 are
basic unknowns of the slope and deflection method, namely the rotations of the rigid joints 2 and
3.
The coefficients to the unknowns and the free terms, in the case of continuous beam, should be
obtained isolating each of the fixed joints and forming the equilibrium equations of the type
ΣM = 0 . The coefficients to the unknowns rij are obtained in Figs. 3c and 3d next to the bending
moment diagrams. The free terms Rif are shown in Fig. 3e.
The canonical system of equations becomes:
2.9333EI ⋅ Z1 + 0.8EI ⋅ Z 2 − 20 = 0,
0.8EI ⋅ Z1 + 2.1EI ⋅ Z 2 + 55 = 0.
Wherefrom the unknown rotations are:
Z1 = 15.579 / EI ; Z 2 = −32.162 / EI .
5. Verification
The verification of the slope and deflection method is the static equilibrium. In the case of a
continuous beam the equilibrium of moments acting at each of the rigid joints should be checked.
If the bending moments at one of the joints do not balance, this means that some mistakes could
have been made in computing the value of the corresponding reactions or just the relevant
canonical equation is not satisfied.
The equilibrium of the rigid joints is fulfilled, which could be seen in Fig. 3f.
1 2 Mm,1=0 3 4
b) M1
R1
1.0
1 2 3 4
c) M2
Mm,2=0.5
1.0 R2
1 2 3 4 M3
d)
Mm,3=0.5
R3
1.0
The influence lines for internal forces and required reaction in the primary statically determinate
system are shown in Fig. 5. These influence lines are derived as the respective lines in the simply
supported beams.
m
a)
I 2I I I
R
l1=3 l2=5 l3=6 l4=2
b) 0
"Mm "
+
1.25
0.5
0
c) " Qm "
+
0.5
d) " R0 "
+
1.0
Figure 5 Influence lines for the internal forces and the support reaction in the primary system
Now we proceed with influence lines construction for the basic unknowns of the method of
forces Xi. These unknowns are derived as a solution of the system of canonical equations, which
written in a matrix form is:
{ }
[δ ] ⋅ { X } = − Δ f , wherefrom:
[δ ]−1 ⋅ {Δ f } = [ β ] ⋅ {Δ f } .
{ X } = −
[β ]
The matrix [ β ] is the inverse matrix of the compliance matrix [δ ] multiplied by -1. Thus, in
order to obtain expressions for Xi, first we should compute the matrix [ β ] .
−1
⎛ ⎡1 0.5 0 ⎤⎞ ⎡ −1.1642 0.3285 −0.048309 ⎤
[ β ] = − [δ ] = − ⎜ ⎢0.5 1.83333 0.41667 ⎥⎥ ⎟⎟
−1 ⎜ 1 ⎢
= EI ⎢⎢ 0.3285 −0.657 0.096618 ⎥⎥
⎜ EI ⎢ 0 0.41667 2.8333 ⎥ ⎟ ⎢⎣ −0.048309 0.096618 −0.36715 ⎥⎦
⎝ ⎣ ⎦⎠
2. Influence lines for Δif
Next, we should construct the influence lines for the mutual rotations Δif in the simple statically
determinate system. Influence lines for displacements can be derived as elastic curve of the road
lane caused by a unit load (unit couple of moments) along the direction of required displacement.
The elastic curve of the road lane can be obtained as a bending moment diagram in a fictitious
conjugate beam loaded with the corresponding fictitious distributed and concentrated loads.
ground
1 2 3 4
a) M1
1.0
Conjugate beam
φ1 1/EI ∆φ2 ∆φ3 φ4
w4
b)
1/EI
Statically determinate conjugate beam
c)
d) " EI ⋅ Δ1 f "
+
0.35156
0.49219
0.5625
1/EI
1/2EI
e)
f) " EI ⋅ Δ 2 f "
+ +
0.49219
0.35156
0.48828
0.5625
0.68359
0.78125
1/EI
1/2EI
g)
2.0
h) " EI ⋅ Δ3 f "
+
0.48828
0.68359
+
0.78125
1.40625
1.96875
2.25
In order to derive " Δ1 f " we should first introduce a unit load (unit bending moment) in the
direction of required rotation and construct the corresponding bending moment diagram. This
diagram is M1 from Fig. 4b.
Next, the conjugate beam must be formed. Starting from left to right, along the beam axis, a
mutual rotation is possible between the ground and the left end of the beam at joint 1. Therefore,
the fictitious concentrated force must be introduced at the corresponding section of the conjugate
beam. This force is denoted ϕ1 , in accordance with its physical meaning, and is shown in Fig. 6b.
Likewise mutual rotations are allowed between every both adjacent sections of the hinges at
joints 2 and 3. The fictitious concentrated forces corresponding to these rotations are Δϕ2 and
Δϕ3 . Considering the end of the beam mutual rotation and mutual vertical displacement is
allowed between the end section of the beam and the ground. These concentrated fictitious
moment and force must be introduced at the and of the beam respectively ϕ4 and w4 .
Sections of the road lane for which the vertical displacements are zero could be replaced by
hinges in the conjugate beam. These sections are joints 1, 2, 3 and 4, because there are vertical
supports at these points in the simple system. Thus, in the conjugate beam we can introduce
hinges at sections corresponding to these supports (Fig. 6b).
Finally, the conjugate beam must be loaded with the distributed transverse load
q fict = M1 / ( EI ⋅ cos α ) (Fig. 6b). In order to avoid the calculation of all fictitious concentrated
loads the conjugate beam could be supported as statically determinate system, as shown in Fig.
6c.
The bending moment diagram of conjugate beam, which coincides with required influence line
" Δ1 f " is shown in Fig. 6d.
4. Influence lines for the internal forces and support reaction of the original indeterminate
beam
Having influence lines for unknown moments Xi and internal forces in the statically determinate
system available, we can obtain required internal forces influence lines in the original continuous
beam. This will be done by the summation of relevant ordinates of the influence lines according
to the following expressions:
0
"Mm " = "Mm "+ 0.5 ⋅ " X 2 "+ 0.5 ⋅ " X 3 ";
0
" Qm " = " Qm "− 0.2 ⋅ " X 2 "+ 0.2 ⋅ " X 3 ";
1
" R " = " R 0 "+ ⋅ " X1 "− 0.53333R2 ⋅ " X 2 "+ 0.2 ⋅ " X 3 ".
3
The corresponding influence lines for the internal forces in section m and the support reaction at
joint 2 are given in Fig. 8.
10 100
20
I 2I I I
l1=3 l2=5 l3=6 l4=2
0.47011
0.45754
0.24762
0.10870
0.09511
0.06793
tgα=0.25362 " X1 "
0.09662
+
0.12738
0.20097
0.21890
0.43780
0.40195
0.25476
0.20788
0.18478
0.06929
0.19324
" X2 "
tgα=0.50726 +
0.13587
0.19022
0.21739
0.82609
0.72283
0.51630
0.21135
0.20380
0.11322
" X3 "
0.73430
tgα=0.072455
0.01019
0.02717
+
0.03057
10 100
20
I 2I I I
l1=3 l2=5 l3=6 l4=2
0.30435
0.26630
0.19022
0.08865
0.07880
0.02955
tgα=0.21014
"Mm "
0.27053
+
+
0.36741
0.39572
0.92542
0.45471
0.20870
0.19226
0.18261
0.13043
tgα=0.11305
0.18551
" Qm "
0.01590
0.04769
0.04239
+
0.26019
0.54529
0.31739
0.27772
0.19837
"R"
0.28213
+
0.13648
+
0.38757
0.44728
0.76419
0.78444
1.00872
1.0
Figure 8 Influence lines for internal forces and support reaction in the continuous beam
5. Verification
In order to verify the obtained influence lines for the given indeterminate continuous beam we
shall derive the bending moments over the supports (Xi), internal forces at section m (Mm and
Qm) and support reaction at joint 2 (R) by using their influence lines and we shall compare the
results with those previously obtained.
1
" X1 " = 20 ( −11⋅ 0 + 18 ⋅ 0.20097 − 9 ⋅ 0.21890 + 2 ⋅ 0.12738) −
6 ⋅1.25
2 ⎛0 0⎞
− 10 1.5 ⋅ ⎜ + 2 ⋅ 0.09511 + 0.10870 + 2 ⋅ 0.06793 + ⎟ + 100 ⋅ 0.09662 = 10.386;
3 ⎝2 2⎠
1
" X 2 " = −20 ( −11⋅ 0 + 18 ⋅ 0.40195 − 9 ⋅ 0.43780 + 2 ⋅ 0.25476 ) +
6 ⋅1.25
2 ⎛0 0⎞
+ 10 1.5 ⋅ ⎜ + 2 ⋅ 0.19022 + 0.21739 + 2 ⋅ 0.13587 + ⎟ − 100 ⋅ 0.19324 = −20.773;
3 ⎝2 2⎠
1
" X 3 " = −20 ( −11⋅ 0 + 18 ⋅ 0.11322 − 9 ⋅ 0.21135 + 2 ⋅ 0.20380 ) −
6 ⋅1.25
2 ⎛0 0⎞
− 10 1.5 ⋅ ⎜ + 2 ⋅ 0.72283 + 0.82609 + 2 ⋅ 0.51630 + ⎟ + 100 ⋅ 0.73430 = 38.937.
3 ⎝2 2⎠
2 ⎛0 0⎞
" M m " = 20 ⋅ 0.21014 − 10 1.5 ⋅ ⎜ + 2 ⋅ 0.26630 + 0.30435 + 2 ⋅ 0.19022 + ⎟ + 100 ⋅ 0.27053 =
3 ⎝2 2⎠
= 19.082;
2 ⎛0 0⎞
" Qm " = −20 ⋅ 0.11305 − 10 1.5 ⋅ ⎜ + 2 ⋅ 0.18261 + 0.2087 + 2 ⋅ 0.13043 + ⎟ + 100 ⋅ 0.18551 =
3 ⎝2 2⎠
= 7.9421;
1
" R " = 20 ( −11⋅1 + 18 ⋅1.00872 − 9 ⋅ 0.76419 + 2 ⋅ 0.38757 ) −
6 ⋅1.25
2 ⎛0 0⎞
− 10 1.5 ⋅ ⎜ + 2 ⋅ 0.27772 + 0.31739 + 2 ⋅ 0.19837 + ⎟ + 100 ⋅ 0.28213 = 18.329.
3 ⎝2 2⎠
IV. Appendix
Some expressions for numerical integration and differentiation are given in this section. These
expressions are applicable for functions with known numerical values in equal subintervals.
1. Numerical integration
The expressions presented below are valid for smooth functions in the interval into consideration.
When a square or cubic parabola is defined over three ordinates (respectively the interval is
divided into two equal subintervals), the area of the obtained figure (shaded area) is:
b
a
c
2λ ⎛ a c⎞
A= ⎜ + 2⋅b + ⎟ (1)
3 ⎝2 2⎠
λ λ
L
When a cubic parabola is defined over four ordinates (respectively the interval is divided into
three equal subintervals), the area of the generated figure (shaded area) is:
b
a
c d
3λ
A= (a + 3⋅b + 3⋅ c + d ) (2)
8
λ λ λ
L
By multiple application of equation (1), an expression valid for arbitrary even number of
subintervals can be derived. In case of six subintervals for example the area of the figure
becomes:
b c d
a e
f g
2λ ⎛ a g⎞
A= ⎜ + 2⋅b + c + 2⋅ d + e + 2⋅ f + ⎟ (3)
3 ⎝2 2⎠
λ λ λ λ λ λ
L
By multiple application of equation (2), an expression valid for number of subintervals divisible
by three can be derived (n/3 is a whole number /integer/, where n is the number of subintervals).
In case of six subintervals for example the area of the figure becomes:
b c d
a e
f g
3λ
A= (a + 3⋅ b + 3⋅ c + 2 ⋅ d + 3⋅ e + 3⋅ f + g ) (4)
8
λ λ λ λ λ λ
L
2. Numerical differentiation
When a square parabola is defined over three ordinates (the interval is divided into two equal
subintervals), the first derivative at point with ordinate a (the slope of the tangent line at this
point) could be obtained by the following expression:
y
φa
a b
c 1
x tg ϕa = ( −3 ⋅ a + 4 ⋅ b − c ) (5)
2⋅λ
λ λ
L
a
b 1
c x tg ϕb = ( −a + c ) (6)
2⋅λ
λ λ
L
In case of cubic parabola defined over four ordinates the first derivative at point with ordinate a
is:
1
tg ϕa = ( −11⋅ a + 18 ⋅ b − 9 ⋅ c + 2 ⋅ d ) . (7)
6⋅λ
The slope of the tangent line at point with ordinate b is:
1
tg ϕb = ( −2 ⋅ a − 3 ⋅ b + 6 ⋅ c − d ) . (8)
6⋅λ
References
DARKOV, A. AND V. KUZNETSOV. Structural mechanics. MIR publishers, Moscow, 1969