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Introduction to Stiffness
(Displacement) Method
1
Learning Objectives
• To define the stiffness matrix
• To derive the stiffness matrix for a spring element
• To demonstrate how to assemble stiffness matrices into
a global stiffness matrix
• To illustrate the concept of direct stiffness method to
obtain the global stiffness matrix and solve a spring
assemblage problem
• To describe and apply the different kinds of boundary
conditions relevant for spring assemblages
• To show how the potential energy approach can be used
to both derive the stiffness matrix for a spring and solve
a spring assemblage problem
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The Stiffness (Displacement) Method
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The Stiffness (Displacement) Method
f1x f2x
u a1 a2 x
a
u 1 x 1 x 2 1
a2 2 x 1
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The Stiffness (Displacement) Method
We can express u as a function of the nodal displacements
ui by evaluating u at each node and solving for a1 and a2.
u( x 0) u1 a1
Boundary Conditions
u( x L ) u2 a2L a1
Solving for a2:
u2 u1
a2
L
Substituting a1 and a2 into u gives:
u u1 x x
u 2 x u1 1 u1 u2
L L L 8
The Stiffness (Displacement) Method
In matrix form: x x u1
u 1
L L u2
Or in another form:
u
u N1 N2 1
u2
u a1 a2 x
x x u1
u 1
L L u2
u
u N1 N2 1
u2
x
N1 1
L
N1 N2 1
x
N2
L
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The Stiffness (Displacement) Method
T T
T k
T f1x k u2 u1 f1x k u1 u2
T f2 x k u2 u1 f2 x k u1 u2
f1x k k u1
f2 x k k u2 12
The Stiffness (Displacement) Method
This formulation is valid as long as the spring deforms
along the x axis. The coefficient matrix of the above
equation is called the local stiffness matrix k:
k k
k
k k
F K d F Kd
T k k u2 u1
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The Stiffness Method – Spring Example 1
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The Stiffness Method – Spring Example 1
u3(1) u3(2)
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The Stiffness Method – Spring Example 1
k1 0 0 0 u2 f2(1)x
1 0 1 u3 f3(1)x
For element 2:
0 0 0 u1 f1x
(1)
k 2 0 1 1 u2 f2(1)x
0 1 1 u3 f3(1)x
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The Stiffness Method – Spring Example 1
f1(1)
x
0 F1x
(2)
0 f2 x F2 x
f (1) f (2) F
3x 3x 3x
The above equations give:
k1 0 k1 u1 F1x
0
k2 k 2 u2 F2 x
k1 k 2 k1 k2 u3 F3 x
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The Stiffness Method – Spring Example 1
Boundary Conditions
F2 x k2u3 k2u2
Solve for u2 and u3
F3 x k 2u2 k1 k 2 u3
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The Stiffness Method – Spring Example 1
F1x k1u3
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The Stiffness Method – Spring Example 1
k2 k 2 u2 F2 x
k k k u F k
2 1 2 3 3x 1
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The Stiffness Method – Spring Example 1
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The Stiffness Method – Spring Example 2
1 1 1 1 1 3
k (1) 1000 k (2) 2000
1 1 3
1 1 4
4 2
1 1 4
k (3) 3000
1 1 2
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The Stiffness Method – Spring Example 2
1000 0 1000 0
0 3000 0 3000 Element 3
K
1000 0 3000 2000
0 3000 2000 5000
Element 2
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The Stiffness Method – Spring Example 2
10 15
u3 in u4 in
11 11
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The Stiffness Method – Spring Example 2
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The Stiffness Method – Spring Example 2
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The Stiffness Method – Spring Example 2
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The Stiffness Method – Spring Example 3
1 1
k (1) k (2) k (3) k ( 4) 200 kN / m
1 1
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The Stiffness Method – Spring Example 3
200 200 0 0 0
200 400 200 0 0
K 0 200 400 200 0
0 0 200 400 200
0 0 0 200 200
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The Stiffness Method – Spring Example 3
The global force-displacement equations are:
200 200 0 0 0 u1 F1x
200 400 200 0 0 u2 F2 x
0 200 400 200 0 u3 F3 x
0 0 200 400 200 u4 F4 x
0 0 0 200 200 u5 F5 x
f2 x 1.0kN f3 x 1.0kN
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The Stiffness Method – Spring Example 3
Next, use the local element equations to obtain the force in
each spring.
For element 3: f3 x 200 200 0.01
f4 x 200 200 0.015
f3 x 1.0kN f4 x 1.0kN
f4 x 1.0kN f5 x 1.0kN
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The Stiffness Method – Spring Example 4
k k1 1 k k 2 2 k k3
k (2) 2
2
k (1) 1 k (3) 3
k1 k1 2 k 2 k 2 3
k 3 k3 4
k1 k1 0 0 1
k k k 2 k 3 k k 3 2
K 1 1 2
0 k 2 k2 0 3
0 k3 0 k3 4
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The Stiffness Method – Spring Example 4
k1 k1 0 0 1
k k k 2 k 3 k 2 k 3 2
K 1 1
0 k 2 k2 0 3
0 k 3 0 k3 4
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The Stiffness Method – Spring Example 4
P k1 k 2 k3 u2
P
Solving the equation gives: u2
k1 k 2 k3
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Potential Energy Approach to Derive Spring
Element Equations
One of the alternative methods often used to derive the
element equations and the stiffness matrix for an element is
based on the principle of minimum potential energy.
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Total Potential Energy
1 2
x
The total strain energy is: U dU kx dx kx
L 0
2
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Total Potential Energy
1 2
Therefore, the total potential energy is: p kx Fx
2
The concept of a stationary value of a function G is shown
below:
dG
0
dx
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Total Potential Energy
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Total Potential Energy
p p
0 i 1, 2,, n or 0
d i d
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Total Potential Energy – Example 5
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Total Potential Energy – Example 5
1 2
p U U kx Fx
2
p
The variation of p with respect to x is: p x 0
x
p
Since x is arbitrary and might not be zero, then: 0
x
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Total Potential Energy – Example 5
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Total Potential Energy
1
p
2
k u22 2u1u2 u12 f1x u1 f2 x u2
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Total Potential Energy
Recall: p p
0 i 1, 2,, n or 0
d i d
Therefore:
p k
2u2 2u1 f1x 0
u1 2
p k
2u2 2u1 f2 x 0
u2 2 58
Total Potential Energy
Therefore: k u1 u2 f1x
k u1 u2 f2x
f1x k k u1
f2 x k k u2 59
Total Potential Energy – Example 6
1
k1 u3 u1 f1x u1 f3 x u3
2
p(1)
2
p
0 k3u2 k3u4 f2 x (3)
u2
p
0 k1u3 k1u1 k 2u4 k 2u3 f3 x (1) f3 x (2)
u3
p
0 k 2u4 k 2u3 k3u2 k3u4 f4 x (2) f4 x (3)
u4
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Total Potential Energy – Example 6
f2 x (3) F2 x
f3 x (1) f3 x (2) F3 x
f4 x (2) f4 x (3) F4 x
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Total Potential Energy – Example 6
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End of Chapter 2
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