FINITE ELEMENT ANALYSIS OF FRAME STRUCTURES

A rigid frame is defined as the one where the elements (beams

and columns) are connected to each other with rigid
connections, which is capable of transferring bending moments
from one to another. A typical rigid connection is shown in the
figure below.

Rigid beam-column connection

Because of having such connections, each element of a rigid frame is subjected to axial
force; shear force and bending moments as shown in the figure below.

The analysis of a rigid frame necessitates finding the nodal displacements and internal
forces of its elements. Finite element method carries out this task. In the figure below the
deflected shape and bending moment diagram of two story-one bay rigid frame is
illustrated.
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In the figure on the right, the deflected shape of
a rigid frame is shown under the inclined load
action on one of its beams. It can be noticed that
those nodes (joints) which are not restricted
against any displacements moves and rotates
within the plane of the frame. Nodes C, D and E
moves along the global X-axis and also rotates.
Considering the axial deformations as well each
node (or joint) of a rigid frame has three degrees
of freedom (two translations and rotation)

Let us consider one story-one bay portal frame

subjected to point load at node 1 as shown in the
figure. Under this load, the frame deforms. The
exaggerated deflected shape is also shown in the
figure. Since nodes 3 and 4 are fixed supports,
there would not be any displacements and
rotations at these nodes. Nodes 1 and 2 are not
restrained in any direction; each of them would
have three degrees of freedom, which are also
shown in the figure. It is appropriate to state that
the sign convention for these displacements are
any displacement or force in global axis direction
is positive and any moment or rotation from X-
axis toward Y-axis is positive. Otherwise, they
have negative sign. In this case the nodal
displacement vector and corresponding nodal
load vector in global coordinate system would
have the following forms.
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 𝑢1 𝑊
𝑣1 0
𝜃
{𝑞} = 𝑢1 , {𝑃 } = 0
2 0
𝑣2 0
{𝜃2 } {0}

The member end forces in local and global coordinate systems are shown in the following
figures.

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 𝑢
̅̅̅1
𝑣
̅̅̅1
̅̅̅
𝜃1
The element ends nodal displacement vector in local coordinate system {𝑞̅} =
𝑢
̅̅̅2
𝑣
̅̅̅2
{̅̅̅
𝜃2 }
̅̅̅
𝑋1
𝑌̅1
̅̅̅̅1
𝑀
Similarly element ends nodal force vector in local coordinate system {𝐹̅ } =
̅̅̅
𝑋2
𝑌̅2
̅̅̅̅2 }
{𝑀
RELATIONSHIP BETWEEN ELEMENT END FORCES AND ELEMENT END DISPLACEMENTS OF
FLEXURAL ELEMENT IN LOCAL COORDINATE SYSTEM

(STIFFNESS EQUATIONS IN LOCAL COORDINATE SYSTEM FOR

INEXTENSIBLE BEAM ELEMENT)

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 In matrix notation {𝐹̅ } = [𝑘̅ ]{𝑞̅ } (5.15)

It is apparent that in general case, the frame element also has axial stiffness. Inclusion of axial
stiffness terms in the stiffness elements of a frame member in local coordinates increases its
dimension from 4 × 4 to 6 × 6 .

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RELATIONSHIP BETWEEN NODAL DISPLACEMENTS IN LOCAL COORDINATES AND
GLOBAL COORDINATES

In the analysis of trusses, the relationship 𝑢̅𝑗 = 𝑢𝑗 𝑐𝑜𝑠∅ + 𝑣𝑗 𝑠𝑖𝑛∅ was obtained.
Further to this equation from the figure 𝑣̅𝑗 = ̅̅̅ 𝑗𝐹 − ̅̅̅̅
𝐷𝐹 . In the j’EF right triangle
̅̅̅̅
𝑗′𝐹 = 𝑣𝑗 𝑐𝑜𝑠∅ and 𝐷𝐹 ̅̅̅̅ which is 𝑢𝑗 𝑠𝑖𝑛∅. Therefore,
̅̅̅̅ =𝐶𝐸

𝑣̅𝑗 = 𝑣𝑗 𝑐𝑜𝑠∅ − 𝑢𝑗 𝑠𝑖𝑛∅ = −𝑢𝑗 𝑠𝑖𝑛∅ + 𝑣𝑗 𝑐𝑜𝑠∅

Similarly, 𝑣̅𝑖 = −𝑢𝑗 𝑠𝑖𝑛∅ + 𝑣𝑗 𝑐𝑜𝑠∅

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In a matrix form for member r which is connected to node i and jType equation here.
𝑢̅𝑖
𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ 0 0 0 0 𝑢𝑖
𝑣̅𝑖
−𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ 0 0 0 0 𝑣𝑖
𝜃𝑖̅ 0 0 1 0 0 0 𝜃𝑖
𝑢̅𝑗 = 0 0 0 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ 0 𝑢𝑗
(5.24)
𝑣̅𝑗 0 0 0 −𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ 0 𝑣𝑗
{𝜃𝑗̅ } [ 0 0 0 0 0 1] {𝜃𝑗 }

In short notation
{𝑞̅𝑟 } = [𝑇𝑟 ]{𝑞𝑟 } (5.25)
The member end forces in global coordinates is related to member end forces in local
coordinates with the following matrix equation as proved in truss structures.
{𝐹𝑟 } = [𝑇𝑟 ]𝑇 {𝐹̅𝑟 } (5.26)

Applying the conservation of energy which states that work done by the external forces is
equal to the work done by the internal forces.
1 1
Using matrix notation {𝐹 }𝑇 {𝑞} = {𝐹̅ }𝑇 {𝑞̅}
2 2
1 1
Using relationship {𝑞̅} = [𝑇]{𝑞}, it follows {𝐹 }𝑇 {𝑞} = {𝐹̅ }𝑇 [𝑇]{𝑞} which can be
2 2
simplified to {𝐹 }𝑇 = {𝐹̅ }𝑇 [𝑇]
Taking transpose of both sides {𝐹 } = [𝑇]𝑇 {𝐹̅ }. Substituting {𝑞̅ } = [𝑇]{𝑞}, it follows
{𝐹̅ } = [𝑘̅ ][𝑇]{𝑞}. Substituting this expression into{𝐹 } = [𝑇]𝑇 {𝐹̅ }, it follows

{𝐹 } = [𝑇]𝑇 [𝑘̅ ][𝑇]{𝑞}

In short notation {𝑭} = [𝒌]{𝒒}

Where {𝐹 } is nodal forces vector in global coordinate system, {𝑞} is the nodal displacement
vector in global coordinate system and [𝑘 ] is the stiffness matrix of the truss bar in global
coordinates which equal to
̅][𝑻]
[𝒌] = [𝑻]𝑻 [𝒌 (12)

Where [𝑘 ] is called global stiffness matrix of member r. This matrix is obtained by carrying
out triple matrix multiplication, which is shown in the following. Notice that in the
following matrices the angle 𝛼 between the global X-axis and the member should be
replaced by ∅.

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This matrix can be simplified if the same terms are represented with parameters as shown in
the following.

𝑎 𝑏 𝑐 −𝑎 −𝑏 𝑐
𝑏 𝑑 𝑒 −𝑏 −𝑑 𝑒
𝑐 𝑒 𝑓 −𝑐 −𝑒 𝑔
[𝑘 ] = (5.28)
−𝑎 −𝑏 −𝑐 𝑎 𝑏 −𝑐
−𝑏 −𝑑 −𝑒 𝑏 𝑑 −𝑒
[ 𝑐 𝑒 𝑔 −𝑐 −𝑒 𝑓]
where
𝐸𝐴 12𝐸𝐼 𝐸𝐴 12𝐸𝐼
𝑎= 𝑐𝑜𝑠 2 ∅ + 3 𝑠𝑖𝑛2 ∅ , 𝑏 = ( − 3 ) 𝑠𝑖𝑛∅𝑐𝑜𝑠∅ ,
𝑙 𝑙 𝑙 𝑙
𝐸𝐴 12𝐸𝐼
𝑑= 𝑠𝑖𝑛2 ∅ + 3 𝑐𝑜𝑠 2 ∅
𝑙 𝑙
6𝐸𝐼 6𝐸𝐼 4𝐸𝐼 2𝐸𝐼
𝑐=− 𝑠𝑖𝑛∅. , 𝑒 = 𝑐𝑜𝑠∅ , 𝑓 = , 𝑔=
𝑙2 𝑙2 𝑙 𝑙

This is the general form of the stiffness matrix of a frame element in global coordinates. In
continuous beams, axial deformations are too small, and they are ignored in their analysis. In
that case, the global stiffness matrix for an inextensible frame element has the following form.

𝑀1 , 𝜃1 1 2 𝑀2 , 𝜃2
X
𝑌1 , 𝑣1
𝑌2 , 𝑣2

Horizontal element: 𝜑 = 0 , 𝑐𝑜𝑠𝜑 = 1 , 𝑠𝑖𝑛𝜑 = 0 , inextensible element (rigid element)

means no axial deformation. Therefore, in the above expressions there will be no terms related
with axial deformations; meaning area of the element is substituted as zero. A=0. Furthermore,
because there are no axial deformations relevant rows and columns are deleted from the global
stiffness matrix. This results in having the global stiffness of inextensible element as (4x4).
𝑑 𝑒 −𝑑 𝑒
𝑒 𝑓 −𝑒 𝑔
[𝑘 ] = [ ] (5.29)
−𝑑 −𝑒 𝑑 −𝑒
𝑒 𝑔 −𝑒 𝑓

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 12𝐸𝐼 6𝐸𝐼 4𝐸𝐼 2𝐸𝐼
Where 𝑑= , 𝑒= ,𝑓= ,𝑔 =
𝑙3 𝑙2 𝑙 𝑙
Vertical element: ∅ = 90 , 𝑐𝑜𝑠 ∅ = 0 , 𝑠𝑖𝑛 ∅ = 1 inextensible element (rigid element)
means no axial deformation. Therefore, in the above expressions there will be no terms related
with axial deformations meaning area of the element is substituted as zero. A=0. Furthermore,
because there are no axial deformations relevant rows and columns are deleted from the global
stiffness matrix. This results in having the global stiffness of inextensible element as (4x4).

𝑀1 , 𝜃1 Y

𝑋2 , 𝑣2

2
𝑎 𝑐 −𝑎 𝑐
𝑐 𝑓 −𝑐 𝑔
[𝑘] = [−𝑎 −𝑐 𝑎 −𝑐 ] (5.30)
𝑐 𝑔 −𝑐 𝑓

ℓ
12𝐸𝐼 6𝐸𝐼 4𝐸𝐼 2𝐸𝐼
𝑎= , c= − ,𝑓= ,𝑔 =
𝑙3 𝑙2 𝑙 𝑙

1
X
𝑋1 , 𝑣1
𝑀2 , 𝜃2

COMPUTATION OF GENERAL FRAME ELEMENT END NODAL FORCES

Element nodal forces are calculated using equation {𝐹̅ } = [𝑘̅ ][𝑇]{𝑞} which obtained by
substituting equation (5.25) inti (5.23a).

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 𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ 0 − 𝑐𝑜𝑠∅ − 𝑠𝑖𝑛∅ 0
𝑙 𝑙 𝑙 𝑙
12𝐸𝐼 12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 12𝐸𝐼 6𝐸𝐼
− 3 𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ − 3 𝑐𝑜𝑠∅ 𝑢1
𝑋1 𝑙 𝑙3 𝑙2 𝑙3 𝑙 𝑙2
𝑌1 6𝐸𝐼 6𝐸𝐼 4𝐸𝐼 6𝐸𝐼 6𝐸𝐼 2𝐸𝐼 𝑣1
𝑀1 − 2 𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ − 2 𝑐𝑜𝑠∅ 𝜃1
= 𝑙 𝑙2 𝑙 𝑙2 𝑙 𝑙
𝑋2 𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴 𝑢2
𝑌2 − 𝑐𝑜𝑠∅ − 𝑠𝑖𝑛∅ 0 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ 0 𝑣2
𝑙 𝑙 𝑙 𝑙
{𝑀2 } 12𝐸𝐼 12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 12𝐸𝐼 6𝐸𝐼 𝜃2 }
{
𝑠𝑖𝑛∅ − 3 𝑐𝑜𝑠∅ − − 3 𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ − 2
𝑙3 𝑙 𝑙2 𝑙 𝑙3 𝑙
6𝐸𝐼 6𝐸𝐼 2𝐸𝐼 6𝐸𝐼 6𝐸𝐼 4𝐸𝐼
[ − 𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ − 2 𝑐𝑜𝑠∅
𝑙2 𝑙2 𝑙 𝑙2 𝑙 𝑙 ]
(5.31)
In horizontal inextensible element the end nodal forces are calculated similar manner by cancelling
terms related with axial deformations. Remember that in horizontal element 𝜑 = 0 , 𝑐𝑜𝑠𝜑 =
1 , 𝑠𝑖𝑛𝜑 = 0.

12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼

−
𝑙3 𝑙2 𝑙3 𝑙2
𝑌1 6𝐸𝐼 4𝐸𝐼 6𝐸𝐼 2𝐸𝐼
𝑣1
𝑀 − 𝜃1
𝑙2 𝑙2
{ 1} = 12𝐸𝐼
𝑙
6𝐸𝐼 12𝐸𝐼
𝑙
6𝐸𝐼 {𝑣 } (5.32)
𝑌2 − 3 − − 2
𝑀2 𝑙 𝑙2 𝑙3 𝑙2 𝜃2
6𝐸𝐼 2𝐸𝐼 6𝐸𝐼 4𝐸𝐼
[ 𝑙2 − ]
𝑙 𝑙2 𝑙

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 GLOBAL STIFFNESS MATRIX OF ELEMENT TYPES

TYPE 1: BOTH ENDS RIGIDLY CONNECTED

𝑎 𝑏 𝑐 −𝑎 −𝑏 𝑐
𝑏 𝑑 𝑒 −𝑏 −𝑑 𝑒
𝑐 𝑒 𝑓 −𝑐 −𝑒 𝑔
[𝑘] =
−𝑎 −𝑏 −𝑐 𝑎 𝑏 −𝑐
−𝑏 −𝑑 −𝑒 𝑏 𝑑 −𝑒
[ 𝑐 𝑒 𝑔 −𝑐 −𝑒 𝑓]

[𝑘̅][𝑇]=

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TYPE 2: HINGE CONNECTION AT THE FIRST END

[𝑘] =

[𝑘̅][𝑇]=

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TYPE 3: HINGE CONNECTION AT THE SECOND END

[𝑘̅][𝑇] =
[𝑘] =

TYPE 4: HINGE CONNECTION AT BOTH ENDS (AXIAL MEMBER)

𝑎 𝑏 0 −𝑎 −𝑏 0
𝑏 𝑐 0 −𝑏 −𝑑 0
0 0 0 0 0 0 𝐸𝐴 𝐸𝐴 𝐸𝐴
[𝑘] =
−𝑎 −𝑏 0 𝑎 𝑏 0
, a= 𝑐𝑜𝑠 2 ∅ , b= 𝑐𝑜𝑠∅𝑠𝑖𝑛∅ , c= 𝑠𝑖𝑛2 ∅
𝑙 𝑙 𝑙
−𝑏 −𝑐 0 𝑏 𝑐 0
[ 0 0 0 0 0 0]

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TREATMENT OF LOADED ELEMENTS

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 CONSTRUCTION OF THE GLOBAL STIFFNESS MATRIX OF A FRAME ELEMENT

Construction of the overall stiffness matrix of a frame structure is carried out similar to the truss
structure. Each frame element has four submatrices and they are placed at the locations related
with their end node numbers. The only difference is that each submatrix has three rows and
three columns instead of two. Consider a frame element connecting node i to node j.

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 SOLVED EXAMPLES
Beam Example 1(Page 122):

Using two beam elements to model the beam

structure shown in Fig. 5.6(a), find the
deflected shape and the shear force and
bending moment diagrams.

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BEAM EXAMPLE 2 (page 128)
Using three elements to model the beam
structure shown in the figure, find the
deflected shape, shear force and bending
moment diagrams.

𝜃2 1 2
𝜃 3
Nodal displacement vector {𝑞} = { 3 }
𝑣4
𝜃4
0
0
Nodal force vector {𝑃} = { }
−𝑃
0

Node 2 Node 3 Node 4

Node

1 ]
[𝑘22 2 ] 2 ]
+ [𝑘22 [𝑘23 [0]
2
Node

[𝑘 ] = 2 ] 2 ]
[𝑘33 3 ] 3 ]
[𝑘32 + [𝑘33 [𝑘34
3
Node

[0] 3 ]
[𝑘43 3 ]
[𝑘44
4

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 𝑣2 𝜃2 𝑣3 𝜃3 𝑣4 𝜃4
−𝑒1 𝑣2
𝑑1 + 𝑑2 −𝑑2 𝑒2 0 0
+ 𝑒2
𝜃2
−𝑒1 + 𝑒2 𝑓1 + 𝑓2 −𝑒2 𝑔2 0 0
−𝑒2 𝑣3
−𝑑2 −𝑒2 𝑑2 + 𝑑3 −𝑑3 𝑒3
+ 𝑒3
[𝑘 ] = −𝑒2 𝜃3
𝑒2 𝑔2 𝑓2 + 𝑓3 −𝑒3 𝑔3
+ 𝑒3
𝑣4
0 0 −𝑑3 −𝑒3 𝑑3 −𝑒3
𝜃4
0 0 𝑒3 𝑔3 −𝑒3 𝑓3

Noticing that 𝑣2 = 𝑣3 = 0, cancelling the corresponding rows and columns

𝜃2 𝜃3 v4 𝜃4
𝑓1 + 𝑓2 𝑔2 0 0 𝜃2
𝑔 𝑓2 + 𝑓3 −𝑒3 𝑔3 𝜃3
[𝑘 ] = [ 2 ]
0 −𝑒3 𝑑3 −𝑒3 𝑣4
0 𝑔3 −𝑒3 𝑓3 𝜃4

Beam Number (i) 𝑑3 𝑒3 𝑓3 𝑔3

12𝐸𝐼 6𝐸𝐼 4𝐸𝐼 2𝐸𝐼
1
𝐿3 𝐿2 𝐿 𝐿
12𝐸𝐼 6𝐸𝐼 4𝐸𝐼 2𝐸𝐼
2
𝐿3 𝐿2 𝐿 𝐿
12𝐸𝐼 6𝐸𝐼 4𝐸𝐼 2𝐸𝐼
3
𝐿3 𝐿2 𝐿 𝐿

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 8𝐸𝐼 2𝐸𝐼
0 0
𝐿 𝐿
2𝐸𝐼 8𝐸𝐼 6𝐸𝐼 2𝐸𝐼
−
[𝑘 ] = 𝐿 𝐿 𝐿2 𝐿
6𝐸𝐼 12𝐸𝐼 6𝐸𝐼
0 − 2 − 2
𝐿 𝐿3 𝐿
2𝐸𝐼 6𝐸𝐼 8𝐸𝐼
[ 0 𝐿
− 2
𝐿 𝐿 ]
The stiffness equations are written as in the following.

8𝐸𝐼 2𝐸𝐼
0 0
𝐿 𝐿
2𝐸𝐼 8𝐸𝐼 6𝐸𝐼 2𝐸𝐼 𝜃2 0
− 𝜃3
𝐿 𝐿
6𝐸𝐼 12𝐸𝐼
𝐿2 𝐿
6𝐸𝐼 { 𝑣 } ={ 0 }
0 − − 4 −𝑃
𝐿2 𝐿3 𝐿2 𝜃4 0
2𝐸𝐼 6𝐸𝐼 8𝐸𝐼
[0 𝐿
−
𝐿2 𝐿 ]
Solution is:

𝑃𝐿2
14𝐸𝐼
𝜃2 𝑃𝐿2
𝜃 −
{ 3} = 7𝐸𝐼
𝑣4 13𝑃𝐿3
𝜃4 −
21𝐸𝐼
11𝑃𝐿2
{− 14𝐸𝐼 }

Member end forces:

3𝑃
9𝑃
7 −
𝑌1 𝑃𝐿 𝑌2 7 𝑌3 𝑃
2𝑃𝐿
𝑀1 𝑀2 𝑀3 𝑃𝐿
{ }= 7
{ }= − 7 { }={ }
𝑌2 3𝑃
− 7 𝑌3 9𝑃 𝑌4 −𝑃
𝑀2 2𝑃𝐿
𝑀3 7 𝑀4 0
{ 7 } { −𝑃𝐿 }

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EXAMPLE:

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