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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.
1. Statically determinate primary system.
The continuous beam in Fig. 1a has three redundant constraints. The statically determinate
primary system may be obtained by elimination of constraints considered as redundant. The most
intuitive primary system is a simply supported beam, obtained by elimination of internal supports
and elimination the constraint developing bending moment in the first fixed support. The most
effective (efficient) primary system for continuous beam is proposed by Clapeyron (French
engineer and physicist 1799-1864). His primary statically determinate system is obtained by
elimination of the constraints which prevent mutual rotation of two neighbouring sections over
the supports. With other words the primary system is obtained by putting a hinge at each internal
support as shown in Fig. 1b. In our case we should introduce a hinge in the first fixed support (if
this point were freely supported the hinges would be introduced over the internal supports only).
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:
11 X1 12 X 2 13 X3 1 0,
f 0,
21 X1 22 X 2 23 X3 0.
2 f
31 X1 32 X 2 33 X3
3 f
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:
M 12 11 3 1
11 ds ;
EI2 3 EI EI
M 11 3 11 5 1.8333
22 2 ds ;
EI 3 EI 3 2EI EI
M 32 11 5 11 6 2.8333
33 ds ;
EI 3 2EI 3 EI EI
M1 M 2 11 3 0.5
12 21 ds ;
EI 6 EI EI
2 f M2M
1 20 5 16.667
0 ds 3 2EI EI
f ;
EI
0M3 M 1 1 2 55 6
5 20 101.67
3 f
ds .
f
EI 6 2EI 6 EI EI
The coefficient 13 is zero. It could be concluded that all coefficients to the unknowns in the n-th
canonical equation with the exception of the coefficients n1,n , n,n and are zero. That n,n1
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 X3 16.667 0
0.41667 X 2 2.8333 X3 101.667 0.
Wherefrom the unknown moments become:
X1 10.386; X 2 20.773; X3 38.937.
1.0 X2=1
d) M2
1.0 X3=1
e) M3
1.0 200
116.25
55
16.25
20 M0
f) f
10 100
X 1 10.386
20 X 3 38.937
` g)
X 2 20.773
h) M ref
X 2 20.773
10.3
38.9
200
116.25
55
16.25
20 M base M 0
i)
f
Figure 1 Continuous beam. Bending moment diagrams due to the unit couples and applied loads.
2
106.
35.5
20.7
10.386
73
a) Mf
10.3
12.9
38.9
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 6 100 188.151188.151;
M 0 0 10.386 18.328 3 17.765 8 169.82314 20 10 6 11100 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
ref base
moment diagram during the summation of the ordinates of M and M .
EI
1 M1 M
f
If only one of the compatibility verifications is not fulfilled, say the second equation 2 0 , the
probable errors are:
Error in the derivation of mutual rotation 22 due to the unit moments X2=1;
Error in the derivation of mutual rotation 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 Z2 R2 f
R1 f
r21 Z1 r22 Z2
2011 S. Parvanova, University of Architecture, Civil Engineering and Geodesy - 8
Lecture notes: Structural Analysis
0, 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.
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 0.8EI
4i2=1.6EI
r 12 0.8EI r 22
Z2=1 0.5EI
d)
2i2=0.8EI 1.
3i3=0.5EI r 12 0.8EI 6EI
200 r 22 2.1EI
R1f
20 27.5 20
R 2 f 55
e)
55 R 1 f 20
R2 f 55
2
106.
10.386
35.5
20.7
73
) Mf
f
10.3
12.9
Figure 3 Slope and deflection method for static analysis of the continuous beam
2011 S. Parvanova, University of Architecture, Civil Engineering and Geodesy - 1
Lecture notes: Structural Analysis
3. Determination of coefficients to the unknowns of the canonical equations and the free
terms.
In the above equations r11is the reactive moment due to the rotation of joint 2 through an angle
equal to unity; r is the reactive moment in the imaginary constraint of joint 2 due to a unit
1
2
rotation of joint 3; is the reactive moment which arises in the second support when the joint 3
r22
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
M 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 Z2 20 0,
0.8EI Z1 2.1EI Z2 55 0.
Wherefrom the unknown rotations are:
Z1 15.579 / EI ; Z2 32.162 / EI.
The bending moment diagram is shown in Fig. 3f. This diagram is the same as that previously
obtained by the method of forces.
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=03 4
b) M1
R1
1.0 2
1 3 4
c) M2
Mm,2=0.5
1.0 R2
1 2 3 4
d) M3
Mm,3=0.5
R3
1.0
m
a)
I 2I I I
l1=3 R l2=5 l3=6 l4=2
b) 0
+ "M "
m
1.25
0.5
c) + 0
"Q "
0.5 m
d)
+ 0
"R
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:
X f , wherefrom:
X 1 f f .
The matrix is the inverse matrix of the compliance matrix multiplied by -1. Thus, in
order to obtain expressions for Xi, first we should compute the matrix .
1 0.5 0
1 1.1642 0.3285 0.048309
1
1 0.5 1.83333 0.41667 EI 0.3285 0.657 0.096618
EI
0 0.41667 2.8333 0.048309 0.096618 0.36715
2. Influence lines for if
Next, we should construct the influence lines for the mutual rotations if 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
2011 S. Parvanova, University of Architecture, Civil Engineering and Geodesy - 1
Lecture notes: Structural Analysis
conjugate beam loaded with the corresponding fictitious distributed and concentrated loads.
1/EI
Statically determinate conjugate beam
c)
d) " EI 1 f
+
"
0.492
0.562
19
1/EI
1/2EI
e)
f) " EI 2 f
+ + "
0.351
0.562
0.488
0.683
0.781
56
1/EI
1/2EI
g)
2
0.683
0.781
1.406
2.
Lecture notes: Structural Analysis
Figure 6 Influence lines for if
in Figs. 6c and 6e. The distributed transverse load here is q fict M 2 / EI cos and this load
is presented in Fig. 6e. The influence line " 2 f " is obtained in Fig. 6f.
X1
1.1642 0.3285 0.048309 1 f
X EI 0.3285 0.657 0.096618 ,
2
2 f
X 0.048309 0.096618 0.36715 3f
or:
X1 1.1642 EI 1 0.3285 EI 2 0.048309 EI 3 f ,
f f
X 2 0.3285 EI 0.657 EI 2 0.096618 EI 3 f ,
1 f f
X 3 0.048309 EI 1 0.096618 EI 2 0.36715 EI 3 .
f
f f
The influence lines Xi are obtained by the summation of the ordinates of the "if " influence lines
previously multiplied by the coefficients of matrix in accordance with the above
expressions. These lines are drawn in Fig. 7.
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:
" M m " " M 0 " 0.5 " 2 " 0.5 " X3 ";
m
X
"Qm " "Q0 " 0.2 " " 0.2 " X 3 ";
m 2
X
0 1
" R " " R " " X1 " 0.53333R2 " X 2 " 0.2 " X3 ".
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
0.470
0.457
11
54
0.108
0.095
0.067
tgα=0.25362 " X1 "
+
0.096
0.127
0.200
0.218
0.437
0.401
0.254
0.1847
0.06929
0.193
"X2"
tgα=0.50726 +
0.135
0.190
0.217
0.826
0.722
0.516
0.211
0.203
0.113
"X3"
tgα=0.072455 +
0.734
0.010
0.027
19
17
10 100
20
I 2I I I
l1=3 l2=5 l3=6 l4=2
0.304
0.266
0.190
0.0295
0.078
80
5
tgα=0.21014
" Mm "
0.270
+
+
0.367
0.395
0.925
0.454
0.208
0.192
0.182
0.130
tgα=0.11305
"Qm "
0.185
+
0.0423
0.015
90
0.260
0.545
0.317
0.277
0.198
"R"
0.282
+
0.136
+
0.44728
48
0.387
0.78444
0.764
1.0
Figure 8 Influence lines for internal forces and support reaction in the continuous beam
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
6 1.25
11 0 18 0.20097 9 0.21890 2 0.12738
2 0 0
10 1.5 2 0.09511 0.10870 2 0.06793 100 0.09662 10.386;
3 2 2
10 1.5 0 0
32 2 0.72283 0.82609 2 0.51630 100 0.73430 38.937.
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 " 206 1.25 11118 1.00872 9 0.76419 2 0.38757
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
2 a c
A 2b (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
3
A a 3 b 3 c (2)
λ λ λ d
L 8
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 g
f
2 a
gA 2bc2de2f (3)
3 2 2
λ λ λλ λ λ
L
b c d
a e g
f
3
A a 3 b 3 c 2 d 3 e 3 f (4)
g
8
λ λ λλ 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
b
a
c x tga 1
λλ
3 a 4 b (5)
2
L c
In case of cubic parabola defined over four ordinates the first derivative at point with ordinate a
is:
tga 1
11 a 18 b 9 c 2 d . (7)
6
2011 S. Parvanova, University of Architecture, Civil Engineering and Geodesy - 2
Lecture notes: Structural Analysis
The slope of the tangent line at point with ordinate b is:
tgb 1
2 a 3 b 6 c d . (8)
6
References
DARKOV, A. AND V. KUZNETSOV. Structural mechanics. MIR publishers, Moscow, 1969