Introduction 19 1.10 Kinematic and Static Indeterminacy Depending on the method of analysis, there are two types of indeterminacy, namely degree of kinematic indeterminacy (DKI) and degree of static indeterminacy (DSI). If the stiff- ness method (or displacement method) is used, then determination of DKI is necessary. When the flexibility method (or force method) is used for analysis, it becomes necessary to consider DSI. 1.10.1 Degree of Kinematic Indeterminacy (DK) The nodal DOF can be grouped into two, namely the unconstrained DOF and constrained DOE. The unconstrained DOF (also known as active DOF or free DOE) are the unknown nodal displacements or unknown nodal DOF. However, the nodal forces corresponding to these DOF are known. The nodal forces are the loads acting on the structure which are known. The constrained DOF or restrained DOF are the known DOF (they are the restrained DOF at the supports). But the corresponding nodal forces are unknown. The nodal forces are the support reactions which are not known. In the stiffness method of analysis, the nodal displacements are the unknown quanti- ties. Thus, in this method, the unconstrained DOF are the basic unknowns. The number of unconstrained DOF or active DOF of a structure is the DKI of the structure. 1.10.2 Degree of Static Indeterminacy (DSI) In flexibility method, forces are treated as unknowns. A statically determinate structure is one in which all the unknown forces (support reactions and element forces) can be deter- mined using equations of equilibrium alone. In some structures, the equations of equilib- rium alone will not be sufficient to find the reactions and/or element forces. These types of structures are known as statically indeterminate structure. A structure can be statically indeterminate externally (in this case excess supports will be present) or statically indeter- minate internally (due to excess elements) or both (due to excess supports and elements). The DSI is equal to the number of equations in excess of equations of equilibrium nec- essary to find all the forces in the structure. It can be also found by finding the number20 Matrix Methods of Structural Analysis of supports and/or elements that can be removed from the structure so that a statically determinate and stable structure is obtained. Thus, we have DSI=DSI. +DSI, ay where DSI, is the external indeterminacy (number of excess reaction components) and DSI, is the internal indeterminacy (number of excess element forces) For simple structures, DSI can be determined by inspection. In general, DSI is deter- mined using the following equation: DSI=Ny—Net (1.2) where N, is the number of unknown forces (reactions and element forces) and Ny is the number of available equations (equations of equilibrium using the FBD of the nodes and equations of condition) DSI, is obtained by DSI, in — Nes 1.3) where Ng is the number of reactions and N;s is the sum of equations of equilibrium for the structure (.e, by considering the FBD of the complete structure) and the equations of condition Once DSI, is determined, DSI, is calculated using Eq. 1.1. Thus, we have SI; = DSI- DSI... Example 1.3 Determine the DKI and DSI of the structures shown in Figure 1.14a Solution The nodes, elements, and active coordinates (i.e, direction of displacements and forces along the active DOF) of the structures are shown in Figure 1:14b. The sequence of num: bering the DOF discussed in Section 1.6 is followed. In the figure, the reactions are indicated by arrows with slashed line. Structure T The axial deformations are usually neglected in the analysis of beams. Hence, there is only one active DOF (also see Table 11 to identify nodal DOF in different types of structures). Hence, DKI = 1 Let N,, = number of nodes, N, = number of elements, Nz = number of reaction compo- nents, and N,= number of unknown forces (element forces + reactions) 2,N,= Land Ny=3 Tn flexibility method, this statically determinate and stable structure is called the primary structure * Anegative value of DSI indicates an unstable structure and a zero value of DSI represent statically determi- nate structure, + Sometimes the elements of the structure are connected together by hinges or rollers ete. These connection conditions will provide additional equations for finding reactions. Such additional equations are known as equations of conditionIntroduction 2 Ss ee |-taam 1 Beam MBean srrstion aX Wy - Beam \ = Planets Vinee \t1~ Pentre siGURE 1448 ena Ina beam clement, the number of internal forces is two, namely bending moment and shear force. Hence, number of element forces = 2N, (also see Figure 1.3) 2N, +Ng=2+3=5 Assuming that the structure lies the X-Y plane, using FBD of each node of the truss, two equations of equilibrium, namely ZF, =0 and EM; =0, can be used to find the unknown forces. Hence, N; = 2N,, jp =2xN,=2x2=4 DSI=Ny-Ne=5-4=1 Structure II Since there is a change in the cross-section of the beam, the beam is modeled using two elements. DKI= number of active coordinates = 4 and) 3,.N, =2N, +Nx=(2x2)+2=6 DSI=Ny-Ne=6-6=022 Matrix Methods of Structural Analysis FIGURE 1.146 Nodes, elements, active coordinates, and reactions. (a) Considering axial deformation. (b) [Neglecting axial deformation, Hence, the structure is statically determinate. Structure IIL Ny =2Nq+Nq=(2x2)43=7Introduction 23 DSI=N,-N; =7-6=1 Structure IV In this structure, though the vertical deflection at node 2 (at internal hinge) is the same for elements 1 and 2, the rotations will be different for both the elements. Hence, two active coordinates (2 and 3) are indicated to represent rotations at node 2. DKI=4 N,=2N.4 Here, N,=1 (bending moment at internal hinge is zero) Hence, Np=2N, +N,=(2x3)+1=7 DsI=N,- The structure is statically determinate. Structure V DKI=3 Ne =3, 3,Ne Ina truss element, there is only one internal force, namely axial force. Hence, the num- ber of element forces = 1N,. Ng =(1x3)+3=6 Using FBD of the node of truss, two equations of equilibrium, ZF = 0, ZF, =0, are used to find the unknown forces. Hence, N; = 2N,, Therefore, DSI= Ny -N, 0 Structure VI DKI=9 N, =6,Ne=10,Nz=3 =1N,+Nq=1043=13 Np=2N, =2x6=12 DSI=13-12=1 The equilibrium equations using the FBD of the structure are EF and EMz = 0. Hence, Ay 5 = number of equilibrium equations for the structure =24 Matrix Methods of Structural Analysis Therefore, DSI, = Nx— Nes Thus, the truss is statically determinate externally, ie, the reactions can be deter- mined using equations of equilibrium: Ds DSI, = o=1 ‘The truss is statically indeterminate internally. Structure VII If axial deformations are considered, then DKI= 6. When the axial deformations are neglected, the elements cannot elongate (or shorten). Since the ends of the elements 1 and 3 are fixed, there cannot be displacement along the active coordinates 2 and 6 shown in Figure 1.14b, VIlfa). This is due to the fact that the length of the element does not change. Due to the same reason, the displacements along the active coordinate 1 will be the same as the displacement along the active coordinate 4, Hence, itis sufficient to consider only one active coordinate (either 1 or 4) to indicate sway of the frame, The active coordinates of the frame when the axial deformations are neglected are shown in Figure 1.14b, VII(b). In this case, DKI=3. 6 3,N, Ina frame element, three internal forces exist, namely axial force, shear force, and bend- ing moment. Hence, the number of element forces = 3N, Using the FBD of each node of frame, three equations of equilibrium EF; =0,2F, and 2M, =O are used to find unknown forces. Hence, Ne =3N, IN, =3x4=12 Therefore, DSI=