2/23/2021

Bahir Dar Institute of Technology

Department Of Civil Engineering
(Structural Engineering Stream)

Matrix Methods of Structural Analysis

1. Introduction - Part two

Flexibility and Stiffness: Characteristics of Structures

Seyfe N.

2.1. Force–Displacement Relation of a Structure

 The force–displacement relation of a structure is linear if it satisfies the following three

conditions:
(i) The material of the structure follows Hooke’s law, i.e., the stress–strain relation is linear,
(ii) The displacements of the structure are small, and
(iii) There is no interaction between the flexural and axial affects in the constituent elements.
 The force–displacement relation is necessary for the analysis of the structure.
 The relation can be written either in terms of flexibility or stiffness coefficients.
 These coefficients are the characteristics of the given structure and its coordinate system.
 HOW IT IS DETERMINED?

Introduction

Seyfe N. 1
 2/23/2021

2.1. Force–Displacement Relation of a Structure

Structures with Single Coordinate

 The figure shows a structure with a single coordinate(the term coordinate indicates the direction of the
displacement and the corresponding force at a point), the linearly elastic spring is stretched by a force P
and the displacement of the spring is D.
 The relation between P and D can be written using the displacement equation as

 where F is the flexibility of the spring defined as the displacement caused by a unit value of the force P.
 From the equation, it can be seen that the flexibility F helps to transform the information in terms of
force to the information in terms of displacements at the coordinate.

Introduction

2.1. Force–Displacement Relation of a Structure

Structures with Single Coordinate
 Alternatively, the force–displacement relation of the spring can be written using the force
equation as ; P=KD
 where K is the stiffness of the spring defined as the force required to cause unit displacement.
 In the equation, K transforms the information in terms of displacement to information in terms
of force.
 It can be seen that the flexibility and stiffness of the spring are inverse to one another, i.e.,

Introduction

Seyfe N. 2
 2/23/2021

2.1. Force–Displacement Relation of a Structure

Structures with Single Coordinate

Introduction

2.1. Force–Displacement Relation of a Structure

Structures with Multiple Coordinates

 Consider a structure with three coordinates
with the forces (P1, P2, and P3) and
displacements (D1, D2, and D3) are coordinates
assumed to be positive, if they are in the
same direction of the coordinates.

forces

Introduction displacements

Seyfe N. 3
 2/23/2021

2.1. Force–Displacement Relation of a Structure

Structures with Multiple Coordinates

Flexibility Matrix
 Since the force–displacement relationship is linear,
the principle of superposition can be used.
 Using this principle, it is observed that the response
of the structure subjected to the loads P1, P2, and
P3 is equal to the sum of the response of the
structure subjected to the loads P1, P2, and P3
acting separately.

Introduction

2.1. Force–Displacement Relation of a Structure

Flexibility Matrix
 Thus, the displacements can be written as the
sum of displacements caused by individual
loads.
 For example, the displacement along the first
coordinate D1 is given by

 where D11, D12, and D13 are the displacements

along the first coordinate due to loads acting at
the coordinates 1, 2, and 3, respectively.

Introduction

Seyfe N. 4
 2/23/2021

2.1. Force–Displacement Relation of a Structure

Flexibility Matrix
 In general, Dij is the displacement at the ith coordinate due
to loading at jth coordinate and the loads at the other
coordinates are equal to zero.
 Similarly, the displacements D2 and D3 are

Introduction

2.1. Force–Displacement Relation of a Structure

Structures with Multiple Coordinates
Flexibility Matrix
 When unit load acting at the first coordinate the deflection
of the structure becomes ;
𝐷 =𝐹 𝑃 ,𝐷 = 𝐹 𝑃 , and 𝐷 =𝐹 𝑃
 Fij (i, j = 1 to 3) is the displacement at the ith coordinate
due to a unit load at jth coordinate and the loads at all
other coordinates are equal to zero.
𝐷 =𝐹 𝑃 +𝐹 𝑃 +𝐹 𝑃
𝐷 =𝐹 𝑃 +𝐹 𝑃 +𝐹 𝑃
𝐷 =𝐹 𝑃 +𝐹 𝑃 +𝐹 𝑃
Introduction

Seyfe N. 5
 2/23/2021

2.1. Force–Displacement Relation of a Structure

Flexibility Matrix
 Thus, for a structure having n coordinates, the above displacement equations can be written
as
𝐷 =𝐹 𝑃 +𝐹 𝑃 +𝐹 𝑃 + . . . +𝐹 𝑃
𝐷 =𝐹 𝑃 +𝐹 𝑃 +𝐹 𝑃 + . . . +𝐹 𝑃
𝐷 =∑ 𝐹 𝑃
…..…………………………………
𝐷 =𝐹 𝑃 +𝐹 𝑃 +𝐹 𝑃 + . . . +𝐹 𝑃

where P1, P2, …, Pn and D1, D2, …, Dn are the forces and displacements along the n
coordinates.
Introduction

2.1. Force–Displacement Relation of a Structure

Flexibility Matrix
In matrix notation, • {D} is the displacement vector of order n × 1,
• [F] is a square matrix of order n known as the
flexibility matrix and
• {P} is the force vector of order n × 1.
 The coefficients F11, F12, …,in [F] are known as
the flexibility coefficients.
 The flexibility coefficients along the principal
diagonal of [F] are F11, F22, … (Fij, i = j) and
they are the direct flexibility coefficients. The
other flexibility coefficients (Fij, i≠j) are the cross
flexibility coefficients.
Introduction

Seyfe N. 6
 2/23/2021

2.1. Force–Displacement Relation of a Structure

Stiffness Matrix
 Consider the response of the structure
subjected to displacements D1, D2, and D3
 By the principle of superposition, this
response is equal to the sum of response of
structure subjected to displacements D1, D2,
and D3 acting separately
 In the figure, additional supports are
introduced at the coordinates (A, B, and C) so
as to get the appropriate deformed shape of
the structure.

Introduction

2.1. Force–Displacement Relation of a Structure

Stiffness Matrix
 The forces acting at the coordinates are
written as the sum of forces caused by the
displacements D1, D2, and D3 applied one at
a time.
 In the figure, Pij (i, j = 1 to 3) is the force
developed at the ith coordinate due to the
displacement at the jth coordinate, while the
displacements at all other coordinates are
equal to zero.
 In fact, Pij are the reactions developed at the
additional supports.
Introduction

Seyfe N. 7
 2/23/2021

2.1. Force–Displacement Relation of a Structure

Stiffness Matrix
 Thus, we have

 The forces Pij can be written in terms of

forces (Kij) caused by unit displacements at
the coordinates
 Kij (i, j = 1 to 3) is the force developed at the
ith coordinate due to unit displacement at the
jth coordinate, while the displacements at
other coordinates are zero.
Introduction

2.1. Force–Displacement Relation of a Structure

Stiffness Matrix
 The forces Kij can be also interpreted as the
forces required to maintain the deformed
configuration of the structure or as the
reactions developed at the additional supports
due to the application of unit displacement at
a coordinate.
P11 = K11D1, P21 = K21D1, and P31 = K31D1

Introduction

Seyfe N. 8
 2/23/2021

2.1. Force–Displacement Relation of a Structure

Stiffness Matrix In matrix form,
 For an n coordinate system, Eq.
can be written as

• [K] is a square matrix of order n and is the stiffness

matrix of the structure.
• The coefficients Kij are the stiffness coefficients.
• If i = j, then the stiffness coefficients are known as
the direct stiffness coefficients, else they are called
cross stiffness coefficients
Introduction

2.1. Force–Displacement Relation of a Structure

 In the case of the flexibility method, the primary structure is a statically determinate and
stable structure (i.e., DSI = 0).
 In the case of the stiffness method, the primary structure is a kinematically determinate
structure (i.e., DKI = 0).
 To get this primary structure, it is necessary to introduce additional supports at the
coordinates.
 The reactions developed at these additional supports due to unit displacement are the
stiffness coefficients.

Introduction

Seyfe N. 9
 2/23/2021

2.1. Force–Displacement Relation of a Structure

Development of Flexibility and Stiffness Matrices
 For a structure having n coordinates, the flexibility and stiffness matrices are square
matrices of order n.
 Both flexibility and stiffness matrices are developed column wise.
 To get the elements of jth column of [F], apply a unit force at the jth coordinate while
the forces at the other coordinates are zero.
 The displacements at all the coordinates due to this load will be the elements of jth
column.
 Thus, the element located at the ith row and jth column of [F], Fij, is the
displacement at the ith coordinate due to unit force at jth coordinate while the forces
at other coordinates are zero.
Introduction

2.1. Force–Displacement Relation of a Structure

Development of Flexibility and Stiffness Matrices
 To get the elements of jth column of [K], apply a unit displacement at the jth coordinate and
the displacements at other coordinates are zero (i.e., displacements are prevented by
introducing additional supports).
 The forces developed at the coordinates (reactions developed at the additional supports) are
the elements of jth column.
 Therefore, the element Kij located at the ith row and jth column of [K] is equal to the force
developed at the ith coordinate due to unit displacement at the jth coordinate, while the
displacements at all other coordinates are zero.

Introduction

Seyfe N. 10
 2/23/2021

2.1. Force–Displacement Relation of a Structure

Development of Flexibility and Stiffness Matrices

Introduction

2.1. Force–Displacement Relation of a Structure

Properties of Flexibility and Stiffness Matrix
i. Both flexibility and stiffness matrices are square matrices of order n, where n is the
number of coordinates.
ii. Flexibility matrix is the inverse of stiffness matrix.

iii. The elements on the principal diagonal of flexibility and stiffness matrices (Fii and Kii)
are always positive, while the off-diagonal elements can be either positive or negative
quantities.
iv. Flexibility and stiffness matrices are symmetric matrices, i.e.,
v. Flexibility matrix exists only for stable structures

Introduction

Seyfe N. 11
 2/23/2021

2.3 Work and Energy

i. Work W
When the force is constant over the full
 The work dW of a force P acting through a range of displacement, then the work is
change in displacement dD in the direction of
the force is defined as the product PdD.
 For the total displacement Dm, the total work
W is

 The Equation represents the area between the

force–displacement curve and the
displacement axis.
Introduction
Work

2.3 Work and Energy

i. Work W
 For a linear force–displacement relation When the force is constant, then
the work is

 The above equations are applicable for a
structure having a single coordinate.
 For a structure having n coordinates, the
total work is
where {P}T is the transpose of the force
vector {P} and {D} is the displacement
vector.
For a linear force–displacement relation,

Introduction

Seyfe N. 12
 2/23/2021

2.3 Work and Energy

 Complementary Work W* The Equation is the area between the
 The increment of complementary work force–displacement curve and the force
dW* is the work done by the incremental axis
force dP

 For the total force Pm, the complementary

work W* is

Introduction

2.3 Work and Energy

 Complementary Work W* If the displacement is constant over the full
 If the displacement is constant over the range of forces, then
full range of force , then
 For a linear force–displacement relation

• where {D}T is the transpose of the

 For a system having n coordinates, the displacement vector.
total complementary work W* is
• For a linear force–displacement
relationship,

Introduction

Seyfe N. 13
 2/23/2021

2.3 Work and Energy

Strain Energy U
 Thus, we have
 Consider a linear elastic solid subject to load
the stresses acting on an elemental cube of
volume dV is shown in Figure.
• The strain energy U is defined as the
internal work of stresses acting
through incremental strains
integrated over the total strains and
over the volume. Hence,
 The independent stress components and the
corresponding strains are represented by the
column vectors {σ} and {ε}.

Introduction

2.3 Work and Energy

Complementary Strain Energy U*
for linearly elastic materials,
 The complementary strain energy U* is
defined as the internal work of strains acting
through incremental stress integrated over
the total stresses and over the volume.
Thus,we have

 In the case of linearly elastic materials

(σ–ε relation is linear)

Introduction

Seyfe N. 14
 2/23/2021

2.3 Work and Energy

Law of Conservation of Energy
Strain Energy in Terms of Flexibility and
 According to the principle of Stiffness Matrices
conservation of energy, the work done For linearly elastic structures,
by the loads W is equal to the strain
energy U stored in the structure. Hence, and
W=U
 Similarly, the principle of conservation But {D} = [F] {P} and {P} = [K] {D}
of complementary energy leads to the
condition
W* = U*

Introduction

2.3. Symmetry of Flexibility and Stiffness Matrices

Thus, the stiffness matrix of a structure is symmetric.

Hence, the flexibility matrix of a structure is also

symmetric.

Introduction

Seyfe N. 15
 2/23/2021

2.4. Relation between Stiffness and Flexibility Coefficients and Strain

Energy

 Consider the structure with three coordinates

 The strain energy U for the structure

Introduction

2.4. Relation between Stiffness and Flexibility Coefficients and Strain

Energy

 The partial derivative of U with respect to the Differentiating once again with respect
displacements gives to the displacements gives

• Since [K] is symmetric, K12 = K21 and K13 = K31

For an n coordinate structure

Introduction

Seyfe N. 16
 2/23/2021

2.4. Relation between Stiffness and Flexibility Coefficients and Strain

Energy

 For an n coordinate structure Similarly, it can be proved that

which is the Castigliano’s which is the Castigliano’s

theorem. theorem.

For a structure having n coordinate is Differentiating with respect to the force

Pj give

Thus, the stiffness coefficient Kij is equal to the second Thus, the flexibility coefficient Fij is equal to
partial derivative of strain energy U with respect to the the second partial derivative of strain energy
displacements Di and Dj. U with respect to the forces Pi and Pj.
Introduction

Castigliano 's Theorems

 Castigliano 's first theorem states that if the strain energy of an elastic body is expressed as a
function of a set of displacements, the first partial derivative of that function with respect to a
particular displacement is equal to the corresponding action.

 The Crotti-Engesser theorem states that if the complementary strain energy is written in terms
of a set of applied actions, the first partial derivative of such a function with respect to a
particular action is equal to the corresponding displacement.

Introduction

Seyfe N. 17
 2/23/2021

Principle of Virtual Work

 The principle of virtual work states that the external virtual work of the real actions A
multiplied by the virtual displacements δD is equal to the internal virtual work of the
real stresses s multiplied by the virtual strains δε, integrated over the volume.
 The external virtual work δW is given by
 the internal virtual work δU
 if the structure is in equilibrium when it is also subjected to compatible virtual
deformations

Introduction

Principle of Virtual Work

 If an action Aj is unknown (such as a reaction),

it can be found by letting 𝛿𝐷 = 1 while all If the value of a particular displacement Dj
other elements of δ𝐷 are zero. is desired, it can be found by introducing a
unit load 𝛿A j= 1 while all other elements
of 𝛿A are zero.

unit-displacement method
unit-load method

Introduction

Seyfe N. 18
 2/23/2021

Displacements by the Unit-Load Method

 The unit-load method is a very general and versatile technique for calculating displacements
of structures.
 Two systems of loading must be considered
1. The structure in its actual condition;(subjected to the actual loads, temperature changes, or
other effects)
2. The same structure subjected to a unit load corresponding to the desired displacement in
the actual structure.
 The unit load is (a virtual load) corresponding to the displacement is meant a load at the
particular point of the structure where the displacement is to be determined and acting in the
positive direction of that displacement.

Introduction

Displacements by the Unit-Load Method

External work Internal work

Introduction

Seyfe N. 19
 2/23/2021

Displacements by the Unit-Load Method

 Usually, not all of the terms given are required for the calculation of displacements.
 In a truss with hinged joints and with loads acting only at the joints, there will be no
bending, torsional, or shearing deformations.

 In a beam it is quite likely that only bending deformations are important.

 Therefore, the equation for the displacement simplifies to

Introduction

Displacements by the Unit-Load Method-Example

 For the truss shown in Figure, is subjected to loads P and 2P at joint A. Determine the
horizontal displacement of joint B (positive to the right) and the relative displacement
of joints A and D. All members of the truss are assumed to have the same axial rigidity
EA.
• Identify the members of the truss and their lengths
• Determine the axial forces NL , by static equilibrium
• Determine resulting axial forces Nu due to the unit load
corresponding to the displacement
• Finally, the products NU*NL*L are obtained for each
member ,sum up and divided by EA

Introduction

Seyfe N. 20
 2/23/2021

Displacements by the Unit-Load Method-Example

Introduction

Displacements by the Unit-Load Method-Example

Introduction

Seyfe N. 21
 2/23/2021

Displacements by the Unit-Load Method-Example

Introduction

Displacements by the Unit-Load Method-Example

Introduction

Seyfe N. 22
 2/23/2021

Displacements by the Unit-Load Method-Example

Introduction

Displacements by the Unit-Load Method-Example

Introduction

Seyfe N. 23
 2/23/2021

Displacements by the Unit-Load Method-Example

Introduction

Displacements by the Unit-Load Method-Example

Introduction

Seyfe N. 24
 2/23/2021

Displacements by the Unit-Load Method-Example

Introduction

Displacements by the Unit-Load Method-Example

Introduction

Seyfe N. 25
 2/23/2021

Displacements by the Unit-Load Method-Example

Introduction

Displacements by the Unit-Load Method-Example

Introduction

Seyfe N. 26
 2/23/2021

Displacements by the Unit-Load Method-Example

Introduction

Displacements by the Unit-Load Method-Example

Introduction

Seyfe N. 27
 2/23/2021

Displacements by the Unit-Load Method-Example

Introduction

Displacements by the Unit-Load Method-Example

Introduction

Seyfe N. 28
 2/23/2021

Displacements by the Unit-Load Method-Example

Introduction

Assignment Three

 Determine the
flexibility and
stiffness matrices
of the structures
shown in Figure

Introduction

Seyfe N. 29
 2/23/2021

Assignment 4

 Determine the slope and deflection at B in the beam shown below. Given E=200 kN/mm2

Introduction

Introduction

Seyfe N. 30