3713 December, 1963 ST 6

J ournal of the
STRUCTURAL DIVISION
Proceedings of the American Society of Civil Engineers

MATRIX ANALYSIS OF SEMI-RIGIDLY CONNECTED FRAMES

By G. R. Moruorton1 and T. S. Wu, 2 A. M. ASCE

SYNOPSIS

Frames wíth semi-rigid connections are investigated by using matrix al-

gebra. A method of analysis which is readily applicable to digital computa-
tion is developed. Relationships between forces and displacements at the
ends of a member with elastically restrained ends are derived. The force
components, in terms of the end displacements, are arranged in matrix form;
i.e. , the displacement method is the basis for the proposed analysis. Stiff-
ness matrices of a member with elastic restraint at the ends are presented
in the form of the stiffness matrices for members with rigid connections,
modified by a correction matrix whose elements are functions of two param-
eters, designated as "fixity factors" of the member. A formula, derived
from the joint equilibrium equation, for the force components at the ends of
all members of a frame, is established. The evaluation of the force compo-
nents involves matrix operations that can be performed readily by any digital
computer. The adaptibility of digital computation to solve problems by the
proposed method is demonstrated, and severa! numerical examples are
solved. A convenient sign convention is introduced.

Note .-Discussion open until May 1, 1964. To extend the closing date one month, a
v.'l'itten r equest must be filed with the Executive Secretary, ASCE. This paper is part
of the copyrighted J ournal of the Structural Division, Proceedings of the American So-
ciety of Civil Engineers, Vol. 89, No. ST6, December, 1963.
1 Lecturer , Dept. of CiV. Engrg., Univ. of Windsor, Windsor, Ontario, Canada.
2 Assoc. Prof. of Civ. Engrg., Univ. of Windsor, Windsor, Ontario, Canada.
13
14 December, 1963 ST 6

INTRODUCTION

In the conventional analysis of steel structure~, the beam, or girder to

column connection and the end connection of a member are considered either
as perfectly hinged or rigidly fixed. These assumptions are not entirely con-
sistent with the conditions often encountered in practice; however, they have
been adopted because of the simplicity in analysis and design. Although a
more economical design would result ü the effect of the semi-rigidity of
connections were included in analyzing a frame , it has been almost entirely
neglected because of the greater amount of time required, and because of the
lack of a systematic method of performing the analysis on more complex
types of structures.
Extensive experimental research has been sponsored, both in Great Britain
and the United States, to enhance the possibility of including the elastic re-
straint of connections in the design of structural framework. In the 1930's,
C. Batho and H. C. Rowan, 3 and J. C. Rathbun4 conducted tests to find a re -
lationship between the moment applied at a riveted connection and the cor-
responding rotation. A series of tests to compare the rigidity of welded and
riveted connections were conducted by C. R Young, F. ASCE, and K. B.
Jackson5 in 1934. J. L. Brandes and R M. Mains6 reported tests of welded
top-plate and seat connections in 1944. A progresa report,7 published in 1947
by the American Institute of Steel Construction, recommended that a depend-
able percentage of restraintfor severa! types of semi- rigid connections could
be used in design.
The findings of these research groups indicate that an approximate linear
relationship exists within a specific region between the applied moment and
the relative rotation of the beam and column, as shown in Fig. l. For prac-
tica! purposes, !/J = M>. may be considered as the acceptable relationship in
the design of frames with semi -rigid connections. The inverse of the slope
of the assumed straight-line portion of the moment-rotation curve is defined
as the semi-rigid connection factor, >., and its magnitude depends on the type
of connection of the members. Computation of the semi-rigid connections

3 "The Analysis of the Moments in the Members of a Frame Having Rigid or Semi-
Rigid Connections, Under Vertical Loads," by C. Batho and H. C. Rowan, Second Report,
Steel Structures Research Committee, HMSO, London, England, 1934.
4 " Elastic Properties ofRiveted Connection, " by J. C. Rathbun, Transactions, ASCE,
Vol. 101, 1936, pp. 524-563.
5 "The Relative Rigidity of Welded and Riveted Connections," by C. R. Young and
K. B. Jackson, Canadian Journal of Researc h, National Research Council of Canada,
Ottawa, Canada, Vol. 11, No. 1, 1934, pp. 62-100 and Vol. 12, No. 2, 1934, pp. 101-134.
6 "Report of Tests of Welded Top-Plate and Seat Building Connections," by J . L.
Brandes and R. M. Mains, Welding Journal, American Welding Society, New York, N. Y. ,
Vol. 23, No. 3, 1944, pp. 146s-165s.
7 "Riveted and Semi-Rigid Beam to Column Building Connections," by R. A. Hecht-
man and B. G. Johnston, Progress Report Number I, American Institute of Steel Con-
struction, American Institute of Steel Construction, New York, N. Y., 1947.
ST 6 MATRIX ANALYSIS 15

factor by formula was first suggested by J. E. Lothers, F. ASCE, 8, 9 and

theoretical investigation to derive the elastic equation for different types of
semi-rigid connection has been done at the Oklahoma State University, Still-
water, Okla.
The slope deflection and moment distribution methods were both applied
to frames with semi-rigid connections in the 1930's by J . F. Baker, M.
ASCE,lO in England, and by J. C. Rathbun,ll in the United States. In 1942,
B. G. Johnston, F. ASCE, and E. H. Mount12 refined Baker's analysis by con-
sidering the effect due to the width of the members. A beam-line method for
analyzing frames with semi-rigid connections was introduced by Batho and
Rowan, 13 in 1936. The method was extended to consider the unsymetrical
loading and restraints in another paper by Batho.14 The treatment of sway
problems was examined by Baker and E. L. Williams, 15 and by B. Souroch-
nikoff. l6 The preceding methods are sufficient for simple frames. A sys-
tematic method that is suited to the analysis of highly redundant frameworks
will be presented herein.
Notation.-The letter symbols adopted for use in this paper are defined
where they first appear and Usted alphabetically in Appendix 11.

FORCES AND DISPLACEMENTS RELATIONSHIP

The moments at the elastically restrained ends of a loaded member consist

of the following contributing sources: (1) That dueto the fixed end moments;
(2) that dueto the rotation at the ends of the member; and (3) that dueto the
relative displacement of the ends of the member. An additional element, the
semi- rigid connection factor, also contributes moments to the ends of the
member. This element is interdependent on the preceding three sources.
For this reason, it is not possible to apply the method of superposition for
deriving the force and displacement relationship, which is the customary
procedure for the case of rigid connections.
The following derivation of the relationship between the forces and dis-
placements at the ends of a member, in the x -y plane, with semi- rigid con-
nection, is based on the conjugate beam method, as shown in Fig. 2. The

8 "Eiastic Restraint Equatioñs for 8emi- Rigid Connections, • by J. E. Lothers, Trans-

actions, ASCE, Vol. 116, 1951, pp. 480-494. ---
~dvanced Design in Structural Steel, • by J. E. Lothers, Prentice Hall, Inc., Engle-
wood Cliffs, N. J ., 1960, pp. 390-391.
lO "Methods of Stress Analysis, • by J. F. Baker, First and second Reports, Steel
Structures Research Committee, HMSO, London, England, 1931 and 1934.
11 "Elastic Properties ofRiveted Connection, • by J. C. Rathbun, Transactions, ASCE,
Vol. 101, 1936, pp. 524- 563.
12 "Analysis of Building Frames With 8emi-Rigid Connections, • by B. G. Jolmston
andE. H. Mount, Transactions, ASCE, Vol. 107, 1942, pp. 993-1019.
13 "The Analysis of the Moments in the Members of a Frame Having Rigid or Semi-
Rigid Connections, Under Vertical Loads, • by C. Batho and H. C. Rowa.n, 8econd Report,
Steel Structures Research Committee, HMSO, London, England, 1934.
14 "The Analysis and Design of Beams Under Given End Restraints , • by C. Batho,
Final Report, Steel Structures Research Committee, HMSO, London, England, 1936.
15 "The Effect of Wind Loads on Frames With 8emi- Rigid Connections," by J. F.
Baker andE. L. Wiiliams, Final Report, Steel Structures Research Committee, HMSO,
London, England, 1936.
16 "Wind Stress es in Semi-Rigid Connections of Steel Framework, • by B. Souroclmi-
koff, Transactions, ASCE, Vol. 115, 1950, pp. 382-393.
16 December, 1963 ST 6

Test Behovior of
1-
z Se mi-Rig i d Conn·
w
:::¡;
o
:::¡;
(!)
z
o
z
w
m

RELATIVE ANGLE CH,ÁNG E ,4l

FIG. 1.- MOMENT-ROTATION CURVE FOR

SEMI- RIGID CONNECTION

adopted sign convention is shown in Fig. 3. The x axis coincides with the
longitudinal axis of the member. The arrow is arbitrary, chosen along the
axis of the member and the ends, i and j, denote the tail and head of the
arrow, respectively. Because the shears at the ends of the conjugate beam
are equal to the net angle changes at the ends of the actual beam, then

(la)

and

M. L M. L A
V.
]
= 9~-
]
<f¡. - R
] ( ~
z )
- ( 6~Iz
z )
- (Erz\) ...... (lb)
ST6 MATRIX ANALYSIS 17
q

COIOXIS ~ ~col· oxis

1•
1 1
Y¡

YJ·
z
-& ¡

(o) Member Under Looding

_M_
~1
E lz

(b} Con jugo te Be om ond L ood ing

F IG. 2. -CONJUGATE BEAM FOR SEMI- RIGID CONNECTIONS

Substituting ~ i = Mf ~ and ~ j = Mj ~'j into Eqs. la and lb and rearranging

the terms yields

( L + 3 E Iz \ )
Miz
L
[
= 3 E Iz
(8iz - R) ]
L + + -(~) ....
( M.z) 3Ab
(2a )
18 December, 1963 ST 6

z z

y y

Force Components D i splocement Component s

My
J
y, Y.
1 J

Forces Act i ng At The Ends Of A Member

FIG. 3.-SIGN CONVENTION

and

lntroducing two dimensionless parameters,

. . . . . . . . . . . .. ... (3a)

and

. . . . . . . . . . . . . . . . (3b )
ST 6 MATRIX ANALYSIS 19
into Eqs. 2a and 2b and solving for Mf and Mf yields

M~ =e : Iz )[(4 _Y:i Yj)J [ 2 e~+ Y¡ e; - (2 + Yj)RJ

- (6Ln [(4 -y~i Yj) J (2 b - yj a) . .. . . . . . . . . . (4a)

and

-Y.~i Yj)J [ 2 e;+yj e~ - (2 + yi) R]

6
M; =( : Iz)[(4

+ ( 6L~) [ (4 -y~i Yj) J (2 a -Y¡ b) . . . . . . . . . . . . (4b)

Eqs. 4a and 4b can be designated as the slope deflection equations for a

member with semi-rigid connections. The last term on the right side of both
equations is defined as the modified fixed end moment, and the sign preceding
this term follows the adopted sign convention. Formulas have been evolved
for the modified, fixed end moments for various loading conditions and these
appear in Appendix L
The dimensionless parameters, Yi and Yj , are designated as "fixity factors"
of the member. The value of y depends on the known semi-rigid connection
factor and the geometrical and elastic properties of the member. It varies
from zero for a frictionless pin connection to unity for a perfectly rigid
connection.
The interna! forces acting at the ends of a member in terms of the end
displacements are shown as follows: (a) The moments at the ends are

Mz 4_
= _
(
z)
E I_ [ 3 y.1 ~ ez + (6_E_
Iz )
yi
i L (4-y¡'j) i L2

(
Iz ) [
2 E_
+ _
L ( 4 -Y¡ Yj)
J
3 y,1 y J. e~ _

J
(6_E_
L2
Iz) . . . . (5a)

and
20 December, 1963 ST 6
(b) The shear forces at the ends are

6 E
+ ( - 2-
lz~y. (4(2- + Yí))J z (12 E
6 · - - 3-
lz)~yi (4-
+ Yi Yj + Yj)J
) y.l · · · ( 6 a )
L l yi yj l L yi yj

and

y
j
= _
( L2
)~
6_ E_1z Y (2 + Y·)
J
i(4-yiyj)
J 6
z _(12
i
_ __E 1z
L3
)~(Y·1 + y.1 y.J + Y·)J
(4-yiyj)
Jy
i

6 E lz)[ Yi)J 6 z (12 E lz)~(Yi + Yi Yj + Yj)J

- ( - 2-
L
y.
l
(4(2- +YiYj ) l· + - -L
3- (4 - Y¡Yj ) y . . . . (6 b)
l

(e) The axial forces at the ends are

and

Xj = -(ELA)(x1 -xj) . . . . . . . . . . . . . . . . (7b)

MODIFIED STIFFNESS MATRICES

Eqs. 5a to 7b may be written in matrix form as

(Sa)

and

Fj = Kji Di + Kjj Dj . . . . . . . . . . . . . . . (Sb)

in which the components of these equations are shown in Fig. 4. Eqs. Sa and
Sb represent the interna! forces due to end displacements at the ends of a
member with partial restraint. The K matrices in Eqs. Sa and Sb are the
stüfness matrices of a member with elastically restrained ends and will be
referred to as the modüied stüfness matrices of the member. The K ma-
trices can be written in the following form:

K = S C . . . . • . •. •. . . . . . . . . . (9)
ST 6 MATRIX ANALYSIS 21

in which S is the stiffness matrices of a member with rigidly restrained ends,

or simply the stüfness matrices of the member, and C is defined as the cor-
rection matrices for semi-rigid connection. The matrices S and C are shown

EA o o
L
o

o
•, . [:; ]
-EA o o
T

o
-12Elz r 1+rtr 1rJ
L; 4-rirJ
-6Eiz r 1(2+r J)

L
2
4-r1rJ
., . [:; ]
-EA o o
T
o

EA o o
L"
o -6EI
z
7 D •
J
4EI
o z
-L-

FIG. 4 .-COMPONENTS OF EQUATIONS 8a AND 8b

in Fig. 5. Substituting Eq. 9 into Eqs. Sa and Sb yields

F. S.. C .. D. + S .. C . . D. . . . . . . (lOa)
1 11 11 1 1] 1] J

and

:E'i
S .. C .. D. + S .. C .. D. . . . . . . . . . . . (lOb)
]1 ]1 1 JJ JJ J
22 December, 1963 ST 6

EA o o -EA o o
¡:- T
12El 6E l -12El GEl
su : o ~ ~
S lj o 7. ~

7 7 ---;;--- 7
o 6El

7
z
--·
~El

L
o
7
-6EI
• --·
2E1

-EA o o EA o o
T ¡:-
-12El -6El 12EI -6El
s1j e o • • s JJ = o :t
•
~ T 0 7
6EI 2El -6El 4El
o z ~ o • z
7 L T L

(a) Stt!fneu Mat rices

cU.cJ1• o
4-717 j
o
47 f 27 1•711 J -a ;•; ,_,
-717j
¡l
o 6 7 -7 } ~1(2-7J)

c 1 J • cJJ • o

o
¡; L7!7J

lí -717j

6 71-7
o
4y1-27 ( 717j

3
¡; lí -7 j
a

}
- 717j

'¡'','•'
-7 e j

~ J(2-71)
-717J
l
(b) Corr ec t1on Matrices

FIG. 5.-S ANO C MATRICES

ST 6 MATRIX ANALYSIS 23

The interna! !orces, due to end displacements, at the ends of a member in

space have the identical matrix form. The matrices S, e, F , and D are shown
in Figs. 6 and 7. In matrices e of Fig. 7, the fixity factors, 13¡ and i3j, of a
member of the x - z plane are given as follows:

L
. . . . . . . . . . . . (lla)

and

. . . . . . . . . . . . (llb)

Standard beam connections have negligible moment resisting capacity about

the y-axis, and thus /3 can be considered to be zero. For other than standard
beam connections, y and /3 will have finite values that can be determined by
experimental or analytical investigations. The parameters, a 1 and aj, are
defined as the fixity factors of a member in the y-z plane. For most con-
nections, the relative rotation at the joint about the x axis will be very slight,
and the value of a therefore can be taken as unity.

METHOD OF ANALYSIS

Structural problems can be solved by using the matrix methods, which

were thoroughly developed by J. H. Argyris and S. Kelsey.17 The force or
flexibility method takes forces and moments as unknowns. The strain energy
method is an example. The displacement, or stüfness method considers
linear and angular displacements as unknowns. The slope deflection method
is included in this category. These methods ha ve been advocated by many
others and are now accepted as signüicant advancements in structural anal-
ysis. Both the force and displacement methods have advantages and dis-
advantages, and therefore the choice of one method over the other is not
necessarily obvious. In structural frameworks , the member displacements
coincide with the joint displacements and, therefore, the unknown displace-
ments of the ends of all members meeting at a joint can be found in terms of
the joint displacements.
The total interna! forces at the ends of a member consist of those forces
dueto the end displacements and those forces due to the externa! span loading.
Thus,

P F + P¡ . . . . . . . . . . . . . . . . . (12a)
1 1

17 "Energy Theorems and Structural Analysis," by J. H. Argyris and S. Kelsey,

Aircraft Engineering, Bunhill Publications Ltd., London, Eng., Vol. XXVI, No. 308 and
309, 1954; Vol. XXVII, No. 312- 315, 1955.
24 December, 1963 ST 6

EA o o o o o
--¡;
12EI 6EI
o z o o o z
7 7
12EI - 6EI o
o o __;¡_ o __;¡_
L) L2
GI
su • o o o X o o
T
- 6EI 4El
o o __;¡_ o _J. o
L2 L

6El o o o 4El z
o z
-L-
7

-EA o o o o o
T
-12!1 6El
o z o o o z
~ 7
-12El -6El
o o ___:¡_ o __;¡_ o
L~ L2
-Gl o o
siJ • o o o X
-L-
6El 2El
o o
o o
-¡- _J.
L
-6EI 2El
o z o o o z
- L-
7
FIG. 6.-S MATRICES OF A MEMBER IN SPACE

and

P.= F. + pj •••••• o • • • • • • • • • • (12b )

J J

Substituting Eqs. lOa and l Ob for Fi and Fj and writing Eqs. 12a and 12b in
matrix form yields

l} [" o][e" oHol [o s ~ [c oJl'J f]

P.
]
O S..
J]
O C..
JJ
D.
J
S .. O
J1
1
o
1
,
cij Dj pj
.. (13 )
ST 6 MATRIX ANALYSIS 25

-EA o o o o o
T
o -12El -6EI
z o o o z
----;;--- T
o - 12El 6El
o _:t. o ___:t. o
L~ L2

o o o -Gl
sJ1 o o
- L- "
&

o -6EI 2El
o _1. o ___:t. o
L2 L
6El 2El
o z o o o z
- L-
7
EA o o o o o
¡:-
12El -6El
o z o o o z
----;) T
o 12El 6EI
o _1. o ___:t. o
L~ L2
Gl
sJJ • o o o o o
T"
681 4EI
o o ___:t. o ___:t. o
L2 L

o -6EI o 4EI
z o o z
- L-
7
FIG. 6. -CONTINUED

n[""
Because Cii = Cji and Cjj = Cij•

Pj
-
8

sji sjj
¡¡] [eo"o] cjj
[oj f]
o. pj
• . • . . . . . . . (14)

or

p = S e D + pm . . . . . . . . . . . . . . . (15)
m m m m

Eq. 15 represents the total internalforces at the ends i and j of any member m.
26 December, 1963 ST 6

o o o o o

o 47r271·717J o o o 7l(l-7Jl
-2L
•717j "·717j

o o 46 r26 1•6 1 ~j ~) o
4-616j "2 6 6
1 j

cU.cJl• o o o al o o

o o 6 6c6 o } 6t·6j) o
L' 4-6 1 ~J -616j

o 6 71• 7 o o o :5 7t·7J l
L' 4-7)J -717 j

o o o o o
o 47 1- 27 t7
11 J o o o 2L
7Jil-71l
L-717J •717 j

o o 461·26(616j o 6t·6 ) o
4-616j 2L 616j

c 1 J=cJJ . o o o aj o o
o o 6 111"6 o :5 6t·6i) o
¡; 4-61~j -616j

o 6 ~1- 7 J o o o :5 rt·71l
t -717j -reJ

FIG. 7.-C MATRICES OF A MEMBER IN SPACE

ST 6 MATRIX ANALYSIS 27

z'
.#' z
..... ..... o o o
lx m x nx
x'
1 ly m y ny o o o
1
1
lz mz Oz o o o
1
"'x T=
o o o
,
y
1
1

y'
o o o
o o o
lx
ly
lz
mx nx
my
mz
ny
Oz

(a) Fixed Co-ord inate System ( b ) Tr ansfor m a tion Matr ix

FIG. 8. - FIXED CO- ORDINATE SYSTEM AND TRANSFORMATION MATRIX

If a frame consisting of n members is considered, the total interna! forces

at the ends of all the members referred to their own axes may be expressed
in the form

pl s
1
o o o e
1
o o o Dl P¡

p2 o s2 o o o e2 o o 02 p2

-
p
m
=o o S
m
o o o e
m
o Dm + pm . ü6)

p
n
o o o S
n
O O o

or

P = seo + p • • • • • . . . . . . . . . . . . . (17)

for the whole frame.

Let D' represent k unknown joint displacements of a frame referred to
the fixed co-ordinate system shown in Fig. 8a, and let U be the matrix of
order, 6n x k, composed of the transformation matrix T, shown in Fig. 8b,
of each member such that

D =U D' • . . . . • • . • . . . . . . . . . . . (18)
28 December, 1963 ST 6

Substituting Eq. 18 into Eq. 17 yields

P =S e U D' + p . . . . . . . . . . (19)

Premultiplying both sides by the transpose of U we have

UT P = UT S e U D' + U T p . . . . . . . . . . . . (20)
uT P representa k sets of the sum of the components of interna! forces, in
the direction of D', at the joints where D' is induced. Be cause the structure

INPUT

COMPIITE

¡;.scu(UTSCU) " 1(UTp·p )

0

FIG. 9.-FLOW CHART

is in equilibrium, the sum of these components and the components of the

externa! loads acting at these joints must be equal to zero; thus,

UT P - P
o
=O . . . . . (21)

or

UTSeUD' + UTp- p = O •••.••••••••...•• (22)

0

Eq. 22 representa k equilibrium equations in terms of k unknowns. Solving

for D' gives

D' - (uT se u)- 1(uT p - p ) . • • . • • • • • • • • (23 )

0
ST 6 MATRIX ANALYSIS 29

5K
0 ·10 K/ft·
D 21 F

30 '
'
:><:
N

6
A E G
60' 5'

Xe

e
"' ' ... ...
...
'

-------u·, ~·,

1 Xe • 1/2 (X¡¡+ x0 )
1

1
1 Yc =3/4 (x8 - Xc)
1
1
1
1

FIG. 10. - T WO BAY FRAME WITH GABLE ROOF

30 December, 1963 ST 6

YBA o o o o o - l.bOOOO

9aA o o o o o +9.00000

Yse -555 o o o o o -l.boooo

9BC o o o o o -lo. S;;;

YcB -. }47 o o .9 01 o o - l . l~

9cB o o o o o +10. 8~}~

Yen - .901 o o . ;47 o o XB o o

9CD o o o o o EIB o o

Yoc o o o - .555 o o ee o o
9oc o o o o o
p S

o ' Po . o
~

YoE o o o -1 o o 9D o (•

9DE o o o o o o
"- y 25 . 0000

Yor o o o o o o - 1.00000

9DP o o o o o - ;;. }}}}}

Yro o o o o o o - 1.0000

ero o o o o o +; . }}}}}

Yr e o o o -l o o o
9 rc o o o o o o
or o • uo•
(a) TRANSFORMATION HATRIX (b) LOADINC MATRICES

F IG. 11 . - TRANSFORMATION ANO LOADING MATRICES (EXAMPLE 1)

ST6 MATRIX ANALYSIS 31

(SJJ )AB o o o o o o o o

o o o o o o o
<su >sc< 5 tJ>sc
o (Sji)BC(Sjj)BC o o o o o o

o o o <su >co< 5 tj 1Cil o o o o

S • o o o (sJt>co<sJJ >co o o o o

o o o o o (Su loE o o o

o o o o o o (su>or <5 tJ>or o

o o o o o o (sJt>or< 5JJlDr o

o o o o o o o O (SH)FG

(e JJ l AB o o o o o o o o

o <cu>sc o o o o o o o

o o (cJJ>Bc o o o o o o
o o o (Culeo o o o o o

e • o o o o (Cjj )CO o o o o

o o o o o (Cii) DE o o o

o o o o o o (cu> or o o

o o o o o o o (CJJ)DF o

o o o o o o o o (Cii)FG

FIG. 12.-S ANO C MATRICES (EXAMPLE 1)

32 December, 1963 ST 6

Eq. 23 is a formula for the k unknown joint displacements of a frame re-

ferring to the fixed coordinate system. Replacing D' in Eq. 19 by Eq. 23
yields

P = p- se u(uT se u)- 1 (uT'P- p ) • •. •••• . . (24)

0

Eq. 24 is a formula for the interna! forces at the ends of the members of a
frame referring to their own longitudinal axes.
From Eq. 24, the following remarks can be made: (1) The matrix, P, is
the solution of the problem and is obtained by multiplication, inversion, addi-
tion, and subtraction of known matrices; (2) the matrix, S, depends only on
the geometric and elastic properties of the members; (3) the matrix, e , de-

TABLE 1.-END MOMENTS FOR VARIOUS VALUES OFYE

Moments, in foot- kips

Member
YE =O YE = 0.25 YE = 0.50 "e =o.75 )'E = 1.0

AB -34.9391 -33.7375 - 32.6622 -31.6967 - 30.8240

BA - 8.35308 - 7.95564 - 7.59986 - 7.28050 - 6.99169
BC + 8.35308 + 7.95564 + 7.59986 + 7.28050 + 6.99169
CB + 9.23427 +10.3097 +11.2712 +12.1348 +12.9154
CD - 9.23427 -10.3097 -11.2712 +12.1348 - 12.9154
oc - 2.24395 - 2.62445 - 2.96627 - 3.27255 - 3.55003
DE -18.0198 -18.6555 -19.2184 -19.7265 -20.1835
ED o - 6.47940 - 12.2799 -17.4864 -22.1948
DF +20.2638 +21.2799 +22.1846 +22.9990 +23.7335
FD +47.5937 +45.1619 +42 .9871 +41.0339 +39.2684
FG -22.5937 - 20.1619 - 17.9871 -16. 0339 -14.2684
GF -29.7900 - 26.7059 -24.0100 - 21.4727 -19.2347

pends only on the fixity factors and length of the members; (4) the matrices,
U and u T, depend only on the orientation of the members; (5) the matrix, p.
depends on the externa! loads on the span of the members and also upon their
fixity factors; (6) the matrix, p0 , depends only on the externa! loads at the
joints of the frame; and (7) the order of the matrix, uTseu, to be inverted
iskbyk.
In arranging the stiffness matrix, it is not necessary to include the forces
of all members of the frame. By considering only the forces required to
establish the equilibrium equations, the order of the matrices in Eq. 24 can
be reduced. Ji the effect due to the axial deformation of the member is neg-
lected, the order of the matrices can be further decreased. Because the
correction matrices are derived, based on the presence of both the shear and
moment at the ends of a member, the shearing force at the end of a member
must be included if the moment at that end is desired, and vice versa.
ST 6 MATRIX ANALYSIS 33

51

30 '

FIG. 13.-GRID FRAMEWORK

YBA o 7.10167
M;A o 4.15421

H:A o -80.5558
yllC o 7' 10905

~ o 4.15421
Mz o 80.6546
BC
YB 9.00000
YB! -5.00000 -5.21072
~ o
¡; . ~S o
;Po - ~ o p •
.098781

~! -20.:5200
o
-8.3(>842
y&
y!ll -10.0000 -9.78928
~ -4.00000
~8 o -.098781
~ o
~8 28.~ 9.98~45

YED o 5.ll884

~D o -4.99172

~D o ~7.17~1

YFE o 4.67044

~ o -4.99172

~ o -~~. 2719

F IG. 14.-LOADING ANO FORCE MATRICES (EXA MP LE 2)

34 December, 1963 ST 6

TABLE 2.-END MOMENTS ANO MAXIMUM POSITIVE MOMENT

Moments, in foot kips

Member
Semi-Rigid Hinged

Mx M~ M~ M~ M M
1 ) 1 J
AB -4.15421 4.15421 - 25.9692 - 80.5558
80.6546 105.000
BC 4.15421 -4.15421 80.6546 25.9811
BE .098781 - .09871 - 8.30842 9.98345 95.9060 100.000
ED -4.99172 4.99172 37.1731 14.0153
FE 4.99172 -4. 99172 - 13.4325 - 33.2719 37.1731 54.000

85 lb/m

F 8WF 27
" ' 300 G

8WF24 8WF2 4
85 1b·/ in·
'1 •100 '1 •1·00
14WF 30
r. 350 16WF36
't• 400
E H

8WF24 8WF24 26 '

16' '1•1·00 A L L o< • I·OO ~· 1 · 00

ALL BEAM ,6' • 0 ·00

AL L COL·# • 1· 00
A o
22 '

FIG. 15.-SPACE FRAME

ST 6 MA TRIX ANALYSIS 35

'~1
YBA 442. 56!;66 YFB - 1)260.000 -551.;>;>775

ZBA o ZFB o ZGH o

~A o H;B ll. 562}10 ~~~H o

~A 207 ,80}.16 ~B o H~H -24}496. 78

H:A 5852;>.781 ~B 207792 . 8o H~H -74409.614

YBC -7704.6082 Yco :.442. 56867 YFG -11219.894

ZBC o zeD o ZFG o

~e 10. ;>521;>7 Hx
CD
o ~G - 10.}521}6

~e o H~D 24;>496. 79 ~G o

~e - 58512.208 Hx
CD
-5477}.794 ~G -744211. 39:>

yeB -4595. ;>916 yeG - 17159.999 YGF - 11220.106

z.eB o zeG o ZGF o

H~B -10.;>521}} M~G 42.698146 M~F 10.}521}4

M~B o M~G o M~F o

H~B 547}1.08} M~G -24;>507 .10 M~F 74452.293

YBF -1)260.000 YGC -17159-999 YFE 581. 3377!'>

ZBF o ZGC o ZFE o

/
~F -11.562309 Hx
GC -42 . 696145 ~ o

~. j o "~e
Mz
o ~E -2078o}. 15

~F - 207792 . 8o GC 24}507 . ll ~E 74412.54;>

FIG. 16.-FORCE MATRIX (EXAMPLE 3)

36 December, 1963 ST 6
TABLE 3.-MAXIMUM ANO ALLOWABLE POSITIVE MOMENT

Mornent, in kips
Mernber
Serni-Rigid M Hinged M Allowable

BC 681.130 751.418 682.000

CG 1,094.97 1,338.48 1,126.00
BF 826.487 1,034.28 836.000
FG 666.081 740.520 682.000

~---------.-----------icr---30K

240"

180"

MEMBER AREA (in2 ) 1 (in~) S (in3 l

A8 5·00 6 · 70 2 · 60

8C 3· 8 3 2 ·62 1·31

eo 3 83 2·62 1·31

DA 3 ·83 2 ·62 13 1

AC 5 26 17 6 700

80 8 ·64 54·2 15-4

FIG. 17.-STATIC AL LY INDETERMINATE TRUSS

ST 6 MATRIX ANALYSIS 37

NUMERICAL EXAMPLES

When a problem is first presented, it is helpful to specify the sequence in

which the matrix operations are to be performed. In this respect, a flow
chart which outlines the optimum number of steps that will lead to the de-
sired solutions can be prepared. Fig. 9 shows the flow chart for the solution
of the internal forces and displacements given by Eqs. 23 and 24.
Example 1: Two Bay Frame with Cable Rooj.- Fig. 10 shows a two bay
frame with a gable roof on one of the bays. All of the joints are assumed to
be rigidly fixed, except the joint at the end E. The value of the fixity factor
at E is varied from O to l. The joint displacements and the transformation
and loading matrices are shown in Fig. 11. The S and C matrices are given in
Fig. 12. E Iz is taken as 1,000 kip-sq ft and the axial deformation is neg-
lected. Table 1 shows the end moments of the members.
Example 2: Grid Framework .-A grid frame, which is part of a •floor
system, is shown in Fig. 13. It is assumed that the sidesway at B and E is

TABLE 4.-PRIMARY ANO SECONDARY STRESSES

Stress, in pounds per square inch

Member Percentage
y= o y= 1 Secondary Stress

AB +4001. 79 +4878.00 +876.21 18.0

BC +3918.20 +4783.57 +865.37 18.1
CD -5219.60 - 6017.49 -797.89 13.3
DA +3918.20 +4156.51 +238.31 5.7
AC +4750. 73 +5083. 79 +333.06 6.6
BD -2894.81 -3006.22 ' -111.41 3.7

prevented and the axial deformation is neglected. Let us assume E Iz to be

100 kip-sq ft and G Ix to be two-tenths of E lz. The fixity factors are given
in Fig. 13. The loading and force matrices are given in Fig. 14. Table 2
shows the end moments and maximum positive moment of the members for
the semi-rigid and hinged cases.
Example 3: Space Frame.--Fig. 15 shows a simple space frame; the fixity
factors (Yi:Yj) and loadings are given therein. Neglecting the axial defor-
mation, there are sixteen unlmown displacement components:

8x . y z
DB: XB, ZB, B' 8B' 8B'
1
oe.· x =~
8x eY 8z
e ' zc, e' e' e'
X y z
DF: XF' ZF=ZB, 8F , 8F' 8F,

1
X y z
DG: XG=XF, ZG=Z'c, 8G' 8G' 8G'
38 December, 1963 S"' 6

Then there are S and e matrice of order 60 by 60, U matrix of order 60 by

16, p matrix of order 60 by 1, and Po matrix of order 16 by l. The force
matrix is given in Fig. 16. Table 3 gives the comparison of maximum posi-
tive moments in the girders for the semi -rigid and hinged cases.
Example 4: Statically lndeterminate Truss.-A truss which is statically
indeterminate to the first degree is shown in Fig. 17. Putting the fixity
factor y equal to zero, the solution for the primary stresses is determined.
By assigning the fixity factor y equal to unity, the problem becomes the in-
vestigation of the secondary stresses due to the rigidity of joints. E is taken
as 30,000 kips per square in ch. eomparison of the results is shown in Table 4.

eoNeLUSIONS

The method presented in this paper is straight-forward, systematic, and

ideally suited to high speed digital computation. The size of the problem that
can be solved by the derived method is limítless; the capacity of t he available
computer is the only restriction. By using the proposed method, the analysis
of frames with semi-rigid connections becomes a routine, rather than a
cumbersome procedure. The fixity factors of a member are defined such
that the analyst is able to solve frames having joints that vary from friction-
less pin to fixed-end connections. When the connections of a frame are
varied, only the matrices e and p need to be modified. The method is also
applicable to the analysis of trusses.

AeKNOWLEDGMENTS

The wr iters express gratitude to the National Research eouncil of eanada

for sponsorship of this project, as well as for financia! assistance.

APPENDIX l.- MODIFIED FIXED END MOMENTS

Uniformly Distributed Load (See Fig . 18).

b---91
.-h--- -··-- --·- ---t
F lG. 18

M.
1
=(w12L2)[3 _
(4(2- -yiYj)
y.
1 yj
) J . . ..... . . . . (25a )
ST 6 MATRIX ANALYSIS 39

and

. . . . . . . . . . . (25b)

Concentrated Load at Midspan (See Fig. 19).

;~ ~!
•• L/2 .l.
FIG. 19
L/2 ~·
.,

M= ( -p L)
i 8
[3 (2 - Y·)
l
Y¡ (4 - Y¡ Yj)
J . . . . . . . . . . . (26a)

and

Mi ·(PaL) [3 yll-,,y~) J .. ......... (26b)

Concentrated Load at Any Point (Se e Fig. 20).

'~
o
·t ..
b

~(
L
FIG. 20

and

M. -
J
-(P b)t
-
a2
L2
-
yjL(l-yi) + Yj a(2+yi)
(
a 4 -yi ~
)
J . . . . . . . . (27b)
40 December, 1963 ST 6

Moment on Span (Se e Fig. 21).

a b

FIG. 21

and

Triangular Distributed Load (See Fig. 22).

FIG. 22

M.
1
= ....>....::..=..+,--=-'---..--''"'- . . . . . . . . . . . . . . (29a)

and

M. = o o o o o o o o o o o o o o (29b )
)

APPENDIX ll. -NOTATION

The following symbols have been adopted for use in this paper:

A = Area under the simple beam moment diagram due to external

lateral loads;
ST6 MATRIX ANALYSIS 41
a,b distances from the centroid of area A to the ends, i and j, of
the member, respectively;
e correction matrix;
D matrix form of the displacements at the ends of a member,
referred to its longitudinal axis;
D' matrix form of the unknown joint displacements , referred toa
fixed set of axes;
E Young's modulus;
F matrix form of the interna! forces at the ends of a member due
to its end displacements;
G shear modulus;
i, j subscripts indicating the ends of a member;

moment of inertia about the x , y and z axes of a member;

modified stiffness matrix;
l, m,n direction cosines of the axis of a member, relative to a fixed
axis;
L length of a member;

bending moments about the x, y and z axes of a member;

maximum positive moment in the span of a member;
matrix form of the forces at the ends of a member with partial
restraint due to the externa! span loads;
matrix form of the externa! forces acting at the joints of a
frame;
p matrix form of the total interna! forces at the ends of the
members of a frame;
R angle of rotation of a member, due to the relative displace-
ment of its ends;
S stiffness matrix;
T transformation matrix for a single member;
u transformation matrix for the whole frame;
V shear at the ends of a conjugate beam;
x,y, z displacements at the end of a member in the x, y, and z
directions;
X,Y, Z forces at the end of a member, in the x, y, and z directions;
V, A semi-rigid connection factors of a member in the x - z planes;
a, {3,y fixity factors of a member in the y - x , x - z, and x - y planes;
42 December, 1963 ST 6

rotation about the x, y and z axes of the column axes at their

intersection with the beam axes; and
relative rotation of the beam and column axes.