3.1.

ANALYSIS METHOD USING STIFFNESS MATRIX

Stiffness Matrix method is one of the most efficient means for solving a in-plane Elastic Structures
(frames and girders) type of problem based on following steps. It is easy to account for Boundary
Conditions, and self weight (Girder).
It is more versatile (multi-purposes) than the Finite Difference method, which requires a different
equation formulation for ends and the boundary conditions, and great difficulty is had if the Beam
elements are of different lengths.
Only the basic elements of the Stiffness Matrix Method will be introduce here, and the researcher is
referred to KassimAli (1999) (15) or Bowles (1974) if more background is required. This method was
interpolated to computer program which is given in appendix A. The program algorithm is explained
in details in chapter four and it conveniently coded for the user. Also the same program was used to
obtain the results of the numerical examples given in chapter four of this study.
3.1.1. GENERAL EQUATION AND THEIR SOLUTION
For the Beam Element, shown in Fig.(3.1), at any node (i) (junction of two or more members) on the
in-plane structure the equilibrium equation is:
Pi=Bi Fi ……………………Eq.(3.1)
Which states that the external node force P is equated to the internal member forces F using bridging
constants A. It should be is understand that (Pi, Fi) are used for either Forces (Shear) or Bending
Moments. This equation is shorthand notation for several values of Ai, Fi summed to equal the ith
nodal force.
For the full set of nodes on any in-plane structure and using matrix notation where P, F are Columns
Vectors and A is a Rectangular Matrix, this becomes:
{Pi }=[Bi ]{F i }……………………Eq.(3.2)

Fig.(3.1) Beam Element, global and local forces-deformations designation.

An Equation relating internal-member deformation e at any node to the external nodal displacements
is:
{ei }=[ Ai ]{ X i }………………………..(a)
Where both e and X may be rotations (in radians) or translations. From the Reciprocal Theorem in
structural mechanics it can be shown that the [A] matrix is exactly the transpose of the [B] matrix,
thus:
T
{ei }=[ B] { X i } ……………………..(b)
The internal-member forces {F} are related to the internal-member displacements {e} as:
{F i }=[ k ]{ei }…………………………(c)
These three equations are the fundamental equations in the Stiffness Matrix Method of analysis:
Substituting (b) into (c),
{ F i }=[ k ] {e i }= [ k ] [B]T X …………………………(d)
Substituting (d) into (a),
{ Pi }=[ B ] { Fi }=[ B] [ k ] [B]T X …………………………(e)
Note the order of terms used in developing Eqs. (d) and (e}. Now the only unknowns in this system of
equations are the X’s: so the BKBT is inverted to obtain
{ X i }=([B ][k ][ B]T )−1 {Pi }…………………………(f)
And with the X’s values we can back-substitute into Eq. (d) to obtain the internal-member forces
which are necessary for design. This method gives two important pieces of information: (1) design
data and (2) deformation data.
The BKBT matrix above is often called Overall assembly Matrix, since it represents the system of
equations for each P or X nodal entry. It is convenient to build it from one finite element of the
structure at a time and use superposition to build the global BKB T from the Local element EBKB T.
This is easily accomplished, since every entry in both the Global and Local BKBT with a unique set
of subscripts is placed into that subscript location in the BKBT; i.e., for i = 2, j = 5 all (2, 5) subscripts
in EBKBT are added into the (2, 5) coordinate location of the global BKBT.
3.1.2. DEVELOPING THE ELEMENT [B] MATRIX
Consider the in-plane structure, simple beam, shown in Fig.(3.2) coded with four values of P-X (note
that two of these P-X values will be common to the next element) and the forces on the element Fig.
(3.2). The forces on the element include two internal Bending Moments and the shear effect of the
Bending Moments. The sign convention used is consistent with the developed computer program
BEF.

Now at node (1), summing Moments (Fig.(3.2d))

P1=F 1+ 0. F 2
Similarly, summing forces and noting that the soil reaction (spring) forces are Global and will be
considered separately, we have:
F1 F 2
P 2= +
L L
P3=0. F 1+ F 2
−F 1 F 2
And P4 = −
L L
Placing into conventional matrix form, the Element Transformation Matrix [EB] in local coordinate
is:
F1 F2
P1 1 0
EB = P2 1/L 1/L
P3 0 1
P4 -1/L -1/L
In same manner the EA matrix for element (2) would contain P3 to P6.
 P1 P2

Force-Displacement relationships (P-X indexing)

(a) Local force-displacement relationships (F-e indexing)

FEM FEM

Fig.(3.2) In-plane structure divided into finite element, (b) Global coordinate system coding in (P-X) form,
(c) Local coordinate system coding in (F-e) form, (d) Summing of external and internal nodal forces.

3.1.3. DEVELOPING THE [k] MATRIX

Referring to Fig.(3.3) and using conjugate-beam (Moment Area Method)principle, the end slopes e1,
and e2 are:
F1 L F2 L
e 1= − ………………………(g)
3 EI 6 EI
−F1 L F2 L
e 2= + …………………….(h)
6 EI 3 EI
 Fig.(3.3) conjugate-beam method Moments and rotations of beam element.
Solving Eqs.(g) and (h) for F, obtaining:
4 EI 2 EI
F 1= e+ e
L 1 L 2
2 EI 4 EI
F 2= e+ e
L 1 L 2
Placing into matrix form, the Element Stiffness Matrix [ES] in local coordinate is:

e1 e2
4 EI 2 EI
F1
Ek = L L
2 EI 4 EI
F2
L L

3.1.4. DEVELOPING THE ELEMENT [kBT] AND [BKBT] MATRICES

The EkBT matrix is formed by multiplying the [Ek] and the transpose of the [EB] matrix (in the
computer program this is done in place by proper use of subscripting) A T goes always with e and X.
The EBkBT will be also obtained in a similar.
Multiplying [Ek] and [EBT] matrices and rearrange them, yields:

1 2 3 4
4 EI 6 EI 2 EI −6 EI
1 2 2
kB =
T
L L L L
2 EI 6 EI 4 EI −6 EI
2
L L2 L L2
Multiplying [EB] and [EkBT] matrices and rearrange them, yields:

X1 X2 X3 X4
4 EI 6 EI 2 EI −6 EI
P1
EBkB =
T
L L2 L L2
6 EI 12 EI 6 EI −12 EI
P2 2 3 2 3
L L L L
 4 EI 6 EI 4 EI −6 EI
P3
L L2 L2 L2
−6 EI −12 EI −6 EI 12 EI
P4 2 3 2 3
L L L L

From Fig.(3.4), summing of the vertical forces on a node 1 will produce:

F1 + F 2
P 2− =0.0
L
Since (F1+F2)/L is already included in the Global BkBT, we could rewrite above equation to:
T T
P2=BkB 2 X 2 X 2=[BkB 2 X 2 ] X 2
A check on the correct formation of the EBkB T and the global BkBT is that it is always symmetrical
and there cannot be a zero on the diagonal.

3.1.5. DEVELOPING THE P MATRICES

The P matrix (a column vector) consists in zeroing the array and then inputting those node loads that
are nonzero. The usual design problem may involve several different loading cases or conditions, as
shown in Appendix II, so the array is of the form P(I, J) where (i) identifies the load entry with respect
to the node and P-X coding and (j) the load case.
It is necessary to know the sign convention of the (P-X) coding used in forming the [EA] matrix or
output may be in substantial error. Therefore; the sign convention will be as follow: the joint
translations are considered positive when they act in positive direction of Y-axis, and joint rotations
are considered positive when they rotate in counterclockwise direction.
For columns that are intermediate between two nodes, we may do one of two things:
1. Transfer the column loads to adjacent nodes prier to make problem sketch using superposition
concept.
2. Transfer the column loads to adjacent nodes as if the element has Fixed-Ends Actions so the
values include Fixed-End moments and shears (vertical loads).This procedure is strictly correct but
the massive amount of computations is seldom worth the small improvement in computational
precision.
3.1.6. BOUNDARY CONDITIONS
The particular advantage of the Stiffness Matrix method is to allow boundary conditions of known
displacement (translations or rotations). It is common in foundation analysis to have displacements
which are known to be zero (beam on rock, beam embedded in an anchor of some type, etc.). There
are two major cases of boundary conditions:
a. When the displacements are restrained (zero) in any particular node then the corresponding
rows and columns in the overall stiffness matrix will be eliminated (substitute by zeros).
b. When the (i) displacements are known (δ) in any particular node then the opposite position in
load vector [p] will have this known value (δ), and corresponding rows and columns in the
overall stiffness matrix will be eliminated (substitute by zeros) except the location of (i,i)
which will have unit value of (1.0).