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Definition Definition
Stiffness coefficient sij is the action required along the DOF i to cause In the DSM the structure stiffness matrix is assembled directly from
a unit displacement along DOF j, while all other displacements of the element stiffness matrices relating actions and displacements of both
element/structure are set to zero. ends of the element written in a global (structure) coordinate.
While the stiffness matrix S/K is defined as the collection of all Sjj dunknown Aknown
possible stiffness coefficients of the given element/structure.
X
S x = Reactions
completed dknown Aunknown
Stiffness coefficient
Stiffness matrix
Finite Element Methods, AASTU Dr. Bedilu Habte 3 Finite Element Methods, AASTU Dr. Bedilu Habte 4
Direct Stiffness Method
• Set up the stiffness matrix for each element in the global coordinate.
• Assemble the structure stiffness matrix & form the structure stiffness
equation. n
>S @ " ¦ k ( e )" > A@ >S @>D @
e 1
• Form the structure nodal load & restrained displacement vectors. Partition
the structure equation and solve for the unknown nodal displacements.
ª Aj º ª S jj S jr º ª D j º
«A »
¬ r¼
«S
¬ rj Srr »¼ «¬ Dr »¼ >D @ >S @ >A @
j jj
1
j
I
Î1 , m̂ 1 I
Î 2 , m̂ 2
x̂ Beam with positive nodal
1 2 displacements, rotations,
f̂ 2y , d̂ 2y
forces, and moments.
f̂ 1y , d̂ 1y L
For all nodes,the sign convention is:
1. Moments and rotations are positive counterclockwise.
2. Forces and displacements are positive in the local y direction.
Finite Element Methods, AASTU Dr. Bedilu Habte
Finite Element Methods, AASTU Dr. Bedilu Habte 7 8
Beam Stiffness Beam Stiffness Matrix & Equation
ª 12 6 L 12 6 L º
« 4 L2 6 L 2 L2 »
> kˆ@ EI « 6 L
L3 « 12 6 L 12 6 L»
»
« »
¬ 6L 2 L2 6 L 4 L2 ¼
fˆ1 y ½ ª 12 6 L 12 6 L º dˆ1 y ½
° ° « ° °
° mˆ 1 ° EI « 6 L 4 L
2
6 L 2 L2 »» ° Iˆ1 °
®ˆ ¾ ® ¾
° f2y ° L3 « 12 6 L 12 6 L » °dˆ 2 y °
° mˆ ° « »
¯ 2¿ ¬ 6L 2L
2
6 L 4 L2 ¼ °¯ Iˆ2 °¿
Finite Element Methods, AASTU Dr. Bedilu Habte Finite Element Methods, AASTU Dr. Bedilu Habte
9 10
f̂1y f̂ 2y
m̂ 2
Î Equivalent Loads
1 2
m̂ 1
Actions & Displacements Inclined Truss Member Local Stiffness Matrix of Inclined Truss Member
x̂
d 2y , f 2y x̂ y ŷ d̂ 2y , f̂ 2y fˆ1x ½ ªk -k º dˆ1x ½
®ˆ ¾ «-k ® ¾
k »¼ ¯dˆ2 x ¿
d̂ 2x , f̂ 2x d̂ 2x , f̂ 2x
y ŷ ¯ f2 x ¿ ¬
d 2x , f 2x θ
d1y , f1y d̂1y , f̂1y
θ d̂1x , f̂1x
Components of a vector change
with coordinate transformation d̂1y
d̂1x , f̂1x d1x , f1x x
At node 1: At node 2:
d̂1y
x d̂ 2y fˆ1 x ½ ªk 0 -k 0º dˆ1 x ½ dˆ1 x ½
d 1y
d1 x ½ θ d̂1x
° ° «0 ° ° ° °
θ d̂1x
d1y d 2y
° fˆ1 y ° 0 0 0» ° dˆ1 y ° ° dˆ1 y °
°d °
° 1y °
d1x
θ d̂ 2x
®ˆ ¾ « »® ¾
«-k 0 k 0» °dˆ2 x ° dˆ ®ˆ ¾ d ®d ¾
d1x d 2x f̂ 2y ° f2x ° °d 2 x ° ° 2x °
d̂ 2y
f̂1y
° fˆ ° « »
¬0 0 0 0¼ °dˆ ° °dˆ ° °¯d 2 y °¿
f1y f 2y ¯ 2y ¿ ¯ 2y ¿ ¯ 2y ¿ θ d̂ 2x
d 2y
θ f̂1x θ f̂ 2x
f1x f 2x fˆ kˆ u dˆ d 2x
Finite Element Methods, AASTU Dr. Bedilu Habte 19 Finite Element Methods, AASTU Dr. Bedilu Habte 20
Transformation Matrix of Inclined Truss Member Truss Member Stiffness Matrix in Global Coordinate
fˆ1x ½
^ fˆ ` > kˆ@ ^ dˆ `
v̂ x ½ ª cos θ sin θ º v x ½ cos T
® ¾ « »® ¾
v̂ x ½ ª l m º v x ½
® ¾ «
l
° ° ª1 0 1 0 º d$1 x ½
Direction cosines »® ¾ where
° °
¯ v̂ y ¿ ¬ sin θ cos θ ¼ ¯ v y ¿ ¯ v̂ y ¿ ¬ m l ¼ ¯ v y ¿ m sin T ˆ « 0 0 0 »» ° d1 y °
°° f1 y °° AE « 0
®ˆ ¾ ® ¾
Transformation matrix for a single vector in 2D
° f2x ° L « 1 0 1 0» °d2 x °
T
* ª l mº
« m l »
¬ ¼
relates
*
v̂ T v where v̂
v̂ x ½ v x ½ are components of the
® ¾ and v ® ¾ same vector in local and
¯ v̂ y ¿ ¯ v y ¿ global coordinates,
°ˆ °
¯° f 2 y ¿°
«
¬0
»
0 0 0 ¼ °¯ d 2 y °¿ ^ fˆ ` > kˆ@> T @ ^d `
respectively.
dˆ1 x ½
°d̂1x ½°
® ¾ T ® ¾
°̄d̂1y °¿
* d1x ½
¯d1y ¿
° °
° dˆ1 y °
ª l m 0
« m l 0
0 º d1 x ½
0 » °° d1 y °° ªT * 0º
> T @^f ` > kˆ@> T @^d `
« »® ¾ dˆ T ud
> k @ > T @T > kˆ@ > T @
®ˆ ¾
T « *»
« 0 0 l m » °d 2 x °
4u 4
¬0 T ¼
°d 2 x °
^ f ` > T @T > kˆ@ > T @^d `
°d̂ 2x ½° * d 2x ½
°dˆ ° « »
® ¾ T ® ¾
°̄d̂ 2y °¿ ¯d 2y ¿
0 m l ¼ °¯d 2 y °¿
¬ 0444
¯2
1
2y ¿
3 1 24443 123 and fˆ Tuf
T d
dˆ
Finite Element Methods, AASTU Dr. Bedilu Habte
Finite Element Methods, AASTU Dr. Bedilu Habte 21 22
Steps in Direct Stiffness Method (1) Steps in Direct Stiffness Method (2)
1. Number the nodes in the model. 7. Partition the structure stiffness equations to restrain rigid body motions
2. Assign indices to the global direction displacements at each node (number DOFs). and apply Boundary conditions, ª Aj º ª S jj S jr º ª D j º
«A » «S S rr »¼ «¬ Dr »¼
3. Set up global stiffness matrix for each member. Index the rows and columns of ¬ r¼ ¬ rj
the element stiffness matrix using the values established in step 2.
8. Solve for the unknown displacements {Dr} using, Note: This partitioned
4. Assemble the global stiffness matrix for the structure – (**) selectively add form can be easily
stiffness coefficients based on the DOFs established in step 2. >A @ >S @>D @ >S @>D @
j jj j jr r
generated by numbering
the Dj components first and
the Dr components last.
>k @
N
>S @ ¦ ** (e)
e 1
5. Assemble the structure actions vector using the indices assigned in step 2. Since displacements at support are often zero, {Dj} is determined as
6. The structure stiffness equation is complete and expressed as, > A@ >S @>D @ >D @ >S @ >A @
j jj
1
j
Finite Element Methods, AASTU Dr. Bedilu Habte 23 Finite Element Methods, AASTU Dr. Bedilu Habte 24
Steps in Direct Stiffness Method (3) Assembling the Structure Stiffness Matrix
9. Once the free displacements {Dj} are known, the support reactions are 2
Node – element connectivity table 1 1
computed,
> Ar @ >S @>D @
rj j ELEMENT Node 1 Node 2 1 3
4 6
1 1 2
2 3 3 5
10. The member end actions in the global coordinate system can then be 2 2 3
computed using, 3 3 1 2
>f @ i
4 x1
>k @ >D @
i
4x4 j
i
4 x1
>Amf @4 x1
d1x d1y d2x d2y
ª
«
º d1x
»
ª
«
d2x d2y d3x d3y
º d2x
»
d3x d3y d1x d1y
ª
«
º d3x
»
k
(1) « » d1y k
(2) « » d2y k
( 3) « » d3y
« » d2x « » d3x « » d1x
« » « » « »
¬ ¼ d2y ¬ ¼ d3y ¬ ¼ d1y
Finite Element Methods, AASTU Dr. Bedilu Habte 25 Finite Element Methods, AASTU Dr. Bedilu Habte 26
Example (1)
Node – element
connectivity table
ELEMENT Node 1 Node 2
1 2 1
2 4 1
3 3 4
4 3 2
5 3 1
6 4 2
Finite Element Methods, AASTU Dr. Bedilu Habte 28
Example (2) Example (3)
Finite Element Methods, AASTU Dr. Bedilu Habte 29 Finite Element Methods, AASTU Dr. Bedilu Habte 30
Finite Element Methods, AASTU Dr. Bedilu Habte 31 Finite Element Methods, AASTU Dr. Bedilu Habte 32
DSM for Plane Frames Local stiffness matrix & Transformation
A rigid plane frame is defined as a dˆ x̂ dˆ1x ½
°ˆ °
ª C S 0 0 0 0º d1 x ½ ª C S 0 0 0 0º
2y « S C 0 0 0 0» ° d ° « S C 0 0 0 0»
series of beam elements rigidly y ° d1 y ° « »° 1y ° « » Transformation matrix
ˆ °° Iˆ °° « 0 0 1 0 0 0» °° I1 °° « 0 0 1 0 0 0»
connected to each other. The original Iˆ 2 d 2
2x
®ˆ ¾
1
« »® ¾ >T @ « »
C cos T
°d 2 x ° « 0 0 0 C S 0» ° d 2 x ° « 0 0 0 C S 0»
°dˆ ° « 0 0 0 S C 0 » °d 2 y ° « 0 0 0 S C 0»
angles between members at the joints ŷ ° 2y ° « »° ° « » S sin T
¯° I 2 ¿°
ˆ ¬« 0 0 0 0 0 1¼» ¯° I 2 ¿° ¬« 0 0 0 0 0 1¼»
remain unchanged after deformation. Iˆ1
dˆ1 y where C1 = (AE)/L
Moments are transmitted from one L T fˆ1 x ½ ªC1 0 0 C1 º dˆ1 x ½
0 0
°ˆ ° « ° °
member to another at the joints. x ° f1 y ° 12C2 6C2 L 0 12C2 6C2 L » ° dˆ1 y ° and C2 = (EI)/L3
dˆ1x « »
Additionally, the element centroids 1 °° mˆ 1 °° « 4C2 L2 0 6C2 L 2C2 L2 » °° Iˆ1 °°
®ˆ ¾ « »® ¾ Stiffness matrix
and the applied loads lie in a common ° f2 x ° « symmetric C1 0 0 » °dˆ2 x ° in global coord.
A plane frame element with
>k @ >T @T >kˆ@>T @
° fˆ ° « 12C2 6C2 L» °dˆ2 y °
plane. Element stiffness coefficients local and global coordinates ° 2y ° « »° °
°¯ mˆ 2 °¿ symmetric 4C2 L2 ¼ ¯° Iˆ2 ¿°
are functions of E, A, I, L and T. ¬
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