CE 579: STRUCTRAL STABILITY AND DESIGN

Amit H. Varma
Assistant Professor
School of Civil Engineering
Purdue University
Ph. No. (765) 496 3419
Email: ahvarma@purdue.edu
Office hours: M-W-F 9:00-11:30 a.m.
 Chapter 1. Introduction to Structural Stability

OUTLINE
 Definition of stability
 Types of instability
 Methods of stability analyses
 Examples – small deflection analyses
 Examples – large deflection analyses
 Examples – imperfect systems
 Design of steel structures
 STABILITY DEFINITION
 Change in geometry of a structure or structural component
under compression – resulting in loss of ability to resist loading
is defined as instability in the book.
 Instability can lead to catastrophic failure  must be accounted
in design. Instability is a strength-related limit state.
 Why did we define instability instead of stability? Seem strange!
 Stability is not easy to define.
 Every structure is in equilibrium – static or dynamic. If it is not in
equilibrium, the body will be in motion or a mechanism.
 A mechanism cannot resist loads and is of no use to the civil
engineer.
 Stability qualifies the state of equilibrium of a structure. Whether it
is in stable or unstable equilibrium.
 STABILITY DEFINITION
 Structure is in stable equilibrium when small perturbations do
not cause large movements like a mechanism. Structure
vibrates about it equilibrium position.
 Structure is in unstable equilibrium when small perturbations
produce large movements – and the structure never returns to
its original equilibrium position.
 Structure is in neutral equilibrium when we cant decide whether
it is in stable or unstable equilibrium. Small perturbation cause
large movements – but the structure can be brought back to its
original equilibrium position with no work.
 Thus, stability talks about the equilibrium state of the structure.
 The definition of stability had nothing to do with a change in the
geometry of the structure under compression – seems strange!
STABILITY DEFINITION
 BUCKLING Vs. STABILITY
 Change in geometry of structure under compression – that
results in its ability to resist loads – called instability.
 Not true – this is called buckling.
 Buckling is a phenomenon that can occur for structures under
compressive loads.
 The structure deforms and is in stable equilibrium in state-1.
 As the load increases, the structure suddenly changes to
deformation state-2 at some critical load Pcr.
 The structure buckles from state-1 to state-2, where state-2 is
orthogonal (has nothing to do, or independent) with state-1.
 What has buckling to do with stability?
 The question is - Is the equilibrium in state-2 stable or unstable?
 Usually, state-2 after buckling is either neutral or unstable
equilibrium
 BUCKLING

P<Pcr P=Pcr P>Pcr

P

P P P

 BUCKLING Vs. STABILITY
 Thus, there are two topics we will be interested in this course
 Buckling – Sudden change in deformation from state-1 to state-2
 Stability of equilibrium – As the loads acting on the structure are
increased, when does the equilibrium state become unstable?
 The equilibrium state becomes unstable due to:
 Large deformations of the structure
 Inelasticity of the structural materials
 We will look at both of these topics for
 Columns
 Beams
 Beam-Columns
 Structural Frames
 TYPES OF INSTABILITY

Structure subjected to compressive forces can undergo:

1. Buckling – bifurcation of equilibrium from deformation state-1 to
state-2.
 Bifurcation buckling occurs for columns, beams, and symmetric
frames under gravity loads only
2. Failure due to instability of equilibrium state-1 due to large
deformations or material inelasticity
 Elastic instability occurs for beam-columns, and frames subjected
to gravity and lateral loads.
 Inelastic instability can occur for all members and the frame.
 We will study all of this in this course because we don’t want
our designed structure to buckle or fail by instability – both of
which are strength limit states.
 TYPES OF INSTABILITY

BIFURCATION BUCKLING
 Member or structure subjected to loads. As the load is
increased, it reaches a critical value where:
 The deformation changes suddenly from state-1 to state-2.
 And, the equilibrium load-deformation path bifurcates.
 Critical buckling load when the load-deformation path bifurcates
 Primary load-deformation path before buckling
 Secondary load-deformation path post buckling
 Is the post-buckling path stable or unstable?
 SYMMETRIC BIFURCATION
 Post-buckling load-deform. paths are symmetric about load axis.
 If the load capacity increases after buckling then stable symmetric
bifurcation.
 If the load capacity decreases after buckling then unstable
symmetric bifurcation.
 ASYMMETRIC BIFURCATION
 Post-buckling behavior that is asymmetric about load axis.
 INSTABILITY FAILURE
 There is no bifurcation of the load-deformation path. The
deformation stays in state-1 throughout
 The structure stiffness decreases as the loads are increased.
The change is stiffness is due to large deformations and / or
material inelasticity.
 The structure stiffness decreases to zero and becomes negative.
 The load capacity is reached when the stiffness becomes zero.
 Neutral equilibrium when stiffness becomes zero and unstable
equilibrium when stiffness is negative.
 Structural stability failure – when stiffness becomes negative.
 INSTABILITY FAILURE
 FAILURE OF BEAM-COLUMNS
P M K=0
M

K<0

M

P
No bifurcation.
Instability due to material
and geometric nonlinearity
 INSTABILITY FAILURE
 Snap-through buckling
P

Snap-through


 INSTABILITY FAILURE
 Shell Buckling failure – very sensitive to imperfections
 Chapter 1. Introduction to Structural Stability

OUTLINE
 Definition of stability
 Types of instability
 Methods of stability analyses
 Examples – small deflection analyses
 Examples – large deflection analyses
 Examples – imperfect systems
 Design of steel structures
 METHODS OF STABILITY ANALYSES
 Bifurcation approach – consists of writing the equation of
equilibrium and solving it to determine the onset of buckling.
 Energy approach – consists of writing the equation expressing
the complete potential energy of the system. Analyzing this total
potential energy to establish equilibrium and examine stability of
the equilibrium state.
 Dynamic approach – consists of writing the equation of dynamic
equilibrium of the system. Solving the equation to determine the
natural frequency () of the system. Instability corresponds to
the reduction of  to zero.
 STABILITY ANALYSES
 Each method has its advantages and disadvantages. In fact,
you can use different methods to answer different questions
 The bifurcation approach is appropriate for determining the
critical buckling load for a (perfect) system subjected to loads.
 The deformations are usually assumed to be small.
 The system must not have any imperfections.
 It cannot provide any information regarding the post-buckling load-
deformation path.
 The energy approach is the best when establishing the
equilibrium equation and examining its stability
 The deformations can be small or large.
 The system can have imperfections.
 It provides information regarding the post-buckling path if large
deformations are assumed
 The major limitation is that it requires the assumption of the
deformation state, and it should include all possible degrees of
freedom.
 STABILITY ANALYSIS
 The dynamic method is very powerful, but we will not use it in this class
at all.
 Remember, it though when you take the course in dynamics or earthquake
engineering
 In this class, you will learn that the loads acting on a structure change its
stiffness. This is significant – you have not seen it before.
Ma
4E I 2E I
P a Ma  a Mb  b
Mb
L L

 What happens when an axial load is acting on the beam.

 The stiffness will no longer remain 4EI/L and 2EI/L.
 Instead, it will decrease. The reduced stiffness will reduce the
natural frequency and period elongation.
 You will see these in your dynamics and earthquake engineering
class.
 STABILITY ANALYSIS
 FOR ANY KIND OF BUCKLING OR STABILITY ANALYSIS –
NEED TO DRAW THE FREE BODY DIAGRAM OF THE DEFORMED
STRUCTURE.
 WRITE THE EQUATION OF STATIC EQUILIBRIUM IN THE
DEFORMED STATE
 WRITE THE ENERGY EQUATION IN THE DEFORMED STATE
TOO.
 THIS IS CENTRAL TO THE TOPIC OF STABILITY ANALYSIS
 NO STABILITY ANALYSIS CAN BE PERFORMED IF THE FREE
BODY DIAGRAM IS IN THE UNDEFORMED STATE
 BIFURCATION ANALYSIS
 Always a small deflection analysis
 To determine Pcr buckling load
 Need to assume buckled shape (state 2) to calculate
Example 1 – Rigid bar supported by rotational spring

k P Rigid bar subjected to axial force P

L
Rotationally restrained at end

Step 1 - Assume a deformed shape that activates all possible d.o.f.

L P

k


L cos
L (1-cos)
 BIFURCATION ANALYSIS
L P

k L sin


L cos
L (1-cos)

 Write the equation of static equilibrium in the deformed state

M o 0  k  P L sin   0
k
P 
L sin 
For small deformations sin   
k k
 Pcr  
L L
 Thus, the structure will be in static equilibrium in the deformed state
when P = Pcr = k/L
 When P<Pcr, the structure will not be in the deformed state. The
structure will buckle into the deformed state when P=P
 BIFURCATION ANALYSIS

Example 2 - Rigid bar supported by translational spring at end

P

k
L

Assume deformed state that activates all possible d.o.f.

Draw FBD in the deformed state
P
L
L sin

O
k L sin

L cos

L (1-cos)
 BIFURCATION ANALYSIS
Write equations of static equilibrium in deformed state
P
L
L sin

O
k L sin

L cos

L (1-cos)

M o 0  (k L sin  )  L  P L sin   0

k L2 sin 
P 
L sin 
For small deformations sin   
k L2
 Pcr  kL
L

• Thus, the structure will be in static equilibrium in the deformed state

when P = Pcr = k L. When P<Pcr, the structure will not be in the deformed
 BIFURCATION ANALYSIS
Example 3 – Three rigid bar system with two rotational springs
P k k P
A D
B C
L L L

Assume deformed state that activates all possible d.o.f.

Draw FBD in the deformed state

P k k P
1 2 D
A L sin 2
L sin 1 1 – 2) L
L
C
B 1 – 2)

Assume small deformations. Therefore, sin=

 BIFURCATION ANALYSIS
Write equations of static equilibrium in deformed state
P k k P
1 2 D
A L sin 2
L sin 1 1 – 2) L
L
C
B 1 – 2)

k P
P 2 D
1 – 2) L sin 2
L
A 1 C
L sin 1
L k(22-1)

B 1+(1-2)
k(21-2)

M B 0  k ( 21   2 )  P L sin 1  0  k (21   2 )  P L 1  0

M C 0  k (2 2  1 )  P L sin  2  0  k (2 2  1 )  P L  2  0

 BIFURCATION ANALYSIS
 Equations of Static Equilibrium
k (21   2 )  P L 1  0 2k  PL  k  1  0
    
 k (2 2  1 )  P L  2  0  k 2k  PL   2  0
 Therefore either 1 and 2 are equal to zero or the determinant of the
coefficient matrix is equal to zero.
 When 1 and 2 are not equal to zero – that is when buckling occurs –
the coefficient matrix determinant has to be equal to zero for equil.
 Take a look at the matrix equation. It is of the form [A] {x}={0}. It can
also be rewritten as [K]-[I]){x}={0}

  2k k 
   1 0    0
  L L P  1
0 1    0
  k 2k     2   
 
 L L  
 BIFURCATION ANALYSIS
 This is the classical eigenvalue problem. [K]-[I]){x}={0}.
 We are searching for the eigenvalues () of the stiffness matrix [K].
These eigenvalues cause the stiffness matrix to become singular
 Singular stiffness matrix means that it has a zero value, which means that
the determinant of the matrix is equal to zero.

2k  PL k
0
k 2k  PL
 (2k  PL) 2  k 2  0
 (2k  PL  k )  (2k  PL  k )  0
 (3k  PL)  ( k  PL)  0
3k k
 Pcr  or
L L

 Smallest value of Pcr will govern. Therefore, Pcr=k/L

 BIFURCATION ANALYSIS
 Each eigenvalue or critical buckling load (Pcr) corresponds to a buckling shape
that can be determined as follows
 Pcr=k/L. Therefore substitute in the equations to determine 1 and 2
k (21   2 )  P L 1  0  k (2 2  1 )  P L  2  0
Let P  Pcr  k Let P  Pcr  k
L L
 k (21   2 )  k1  0  k (2 2  1 )  k 2  0
 k1  k 2  0  k1  k 2  0
1   2 1   2

 All we could find is the relationship between 1 and 2. Not their specific
values. Remember that this is a small deflection analysis. So, the values are
negligible.
P What we have foundk P
is the bucklingk shape – not its magnitude.
A 1 2=1 D
 The buckling mode is such that 1=2  Symmetric buckling
L mode
L

B C
 BIFURCATION ANALYSIS
 Second eigenvalue was Pcr=3k/L. Therefore substitute in the equations to
determine 1 and 2
k (21   2 )  P L 1  0  k (2 2  1 )  P L  2  0
Let P  Pcr  3k Let P  Pcr  3k
L L
 k (21   2 )  3k1  0  k (2 2  1 )  3k 2  0
 k1  k 2  0  k1  k 2  0
1   2 1   2

 All we could find is the relationship between 1 and 2. Not their specific
values. Remember that this is a small deflectionC analysis. So, the values are
negligible. What we have found is the buckling shape – not its magnitude.
L
 The buckling
P mode is such kthat 1=-2  Antisymmetric
k 2 1 P
 =- buckling mode

A 1 D
L

B
 BIFURCATION ANALYSIS
 Homework No. 1
 Problem 1.1
 Problem 1.3
 Problem 1.4
 All problems from the textbook on Stability by W.F. Chen
 Chapter 1. Introduction to Structural Stability

OUTLINE
 Definition of stability
 Types of instability
 Methods of stability analyses
 Bifurcation analysis examples – small deflection analyses
 Energy method
 Examples – small deflection analyses
 Examples – large deflection analyses
 Examples – imperfect systems
 Design of steel structures
 ENERGY METHOD
 We will currently look at the use of the energy method for an
elastic system subjected to conservative forces.
 Total potential energy of the system –  – depends on the work
done by the external forces (We) and the strain energy stored in
the system (U).
 =U - We.
 For the system to be in equilibrium, its total potential energy 
must be stationary. That is, the first derivative of  must be
equal to zero.
 Investigate higher order derivatives of the total potential energy
to examine the stability of the equilibrium state, i.e., whether the
equilibrium is stable or unstable
 ENERGY METHD
 The energy method is the best for establishing the equilibrium
equation and examining its stability
 The deformations can be small or large.
 The system can have imperfections.
 It provides information regarding the post-buckling path if large
deformations are assumed
 The major limitation is that it requires the assumption of the
deformation state, and it should include all possible degrees of
freedom.
 ENERGY METHOD
 Example 1 – Rigid bar supported by rotational spring
 Assume small deflection theory
k P Rigid bar subjected to axial force P

L
Rotationally restrained at end

Step 1 - Assume a deformed shape that activates all possible d.o.f.

L P

k


L cos
L (1-cos)
 ENERGY METHOD – SMALL DEFLECTIONS
L P

k L sin


L cos
L (1-cos)
 Write the equation representing the total potential energy of system
  U  We
1
U  k2
2
We  P L (1  cos  )
1
  k  2  P L (1  cos  )
2
d
 k   P L sin 
d
d
For equilibrium; 0
d
Therefore , k   P L sin   0
For small deflections; k  P L  0
k
Therefore , Pcr 
L
 ENERGY METHOD – SMALL DEFLECTIONS
 The energy method predicts that buckling will occur at the same load
Pcr as the bifurcation analysis method.
 At Pcr, the system will be in equilibrium in the deformed.
 Examine the stability by considering further derivatives of the total
potential energy
 This is a small deflection analysis. Hence  will be  zero.
 In this type of analysis, the further derivatives of  examine the stability of
the initial state-1 (when  =0)

1
 k  2  P L (1  cos  ) d2 
2 When P  Pcr  0 Stable equilibrium
d d 2
 k   P L sin   k   P L  d2 
d When P  Pcr  0 Unstable equilibrium
d2  d 2
2
 k  PL d2 
d When P  Pcr  0  Not sure
d 2
 ENERGY METHOD – SMALL DEFLECTIONS
 In state-1, stable when P<Pcr, unstable when P>Pcr
 No idea about state during buckling.
 No idea about post-buckling equilibrium path or its stability.
P
Unstable
Indeterminate
Pcr

Stable


 ENERGY METHOD – LARGE DEFLECTIONS
 Example 1 – Large deflection analysis (rigid bar with rotational spring)

  U  We
1
U  k2 L P
2
We  P L (1  cos  ) k
 L sin
1
  k  2  P L (1  cos  )
2 L cos
d L (1-cos)
 k   P L sin 
d
d
For equilibrium; 0
d
Therefore , k   P L sin   0
k
Therefore , P for equilibrium
L sin 
The post  buckling P   relationsh ip is given above
 ENERGY METHOD – LARGE DEFLECTIONS
 Large deflection analysis
 See the post-buckling load-displacement path shown below
 The load carrying capacity increases after buckling at Pcr
 Pcr is where   0 Rigid bar with rotational spring
1.2

1 k
P for equilibrium
L sin 
0.8 P 
 
Load P/Pcr

Pcr sin 
0.6

0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
 ENERGY METHOD – LARGE DEFLECTIONS
 Large deflection analysis – Examine the stability of equilibrium using
higher order derivatives of 
1
 k  2  P L (1  cos  )
2
d
 k   P L sin 
d
d2 
 k  P L cos 
d 2
k
But , P 
L sin 
d2  k
  k  L cos 
d 2 L sin 
d2  
  k (1  )
d 2 tan 
d2 
  0 Always (i.e., all values of  )
d 2
 Always STABLE
d2 
But , 2
 0 for   0
d
 ENERGY METHOD – LARGE DEFLECTIONS
 At  =0, the second derivative of =0. Therefore, inconclusive.
 Consider the Taylor series expansion of  at =0

d 1 d2  2 1 d3  3 1 d4  4 1 dn 
    0   2
  3
  4
  .....  n
n
d  0 2! d  0 3! d  0 4! d  0 n! d  0

 Determine the first non-zero term of ,

1   0  0 1 d4  1
 k  2  P L (1  cos  )   4
 k4 0
2 d 4
4! d  0 24
d 0
 k   P L sin  d   0
d d2 
d2  0
 k  P L cos  d 2  0
d 2
d3  d3 
 P L sin   P L sin   0
d 3 d 3  0
d4  d4 
 P L cos   P L cos   PL  k
d 4 d 4  0

 Since the first non-zero term is > 0, the state is stable at P=Pcr and =0
 ENERGY METHOD – LARGE DEFLECTIONS

Rigid bar with rotational spring

1.2

1
STABLE
STABLE
0.8
Load P/Pcr

0.6
STABLE
0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
q0=0
 ENERGY METHOD – IMPERFECT SYSTEMS
 Consider example 1 – but as a system with imperfections
 The initial imperfection given by the angle 0 as shown below
k 0 L P

L cos(0)

 The free body diagram of the deformed system is shown below

L P

k( L sin


0

L cos
L (cos0-cos)
ENERGY METHOD – IMPERFECT SYSTEMS
L P

k( L sin


0
  U  We
1 L cos
U k (   0 ) 2 L (cos0-cos)
2
We  P L (cos 0  cos )
1
 k (   0 ) 2  P L (cos 0  cos )
2
d
 k (   0 )  P L sin 
d
d
For equilibrium; 0
d
Therefore, k (   0 )  P L sin   0
k (   0 )
Therefore, P for equilibrium
L sin 
The equilibrium P   relationship is given above
 ENERGY METHOD – IMPERFECT SYSTEMS
k (   0 ) P   0
P  
L sin  Pcr sin 
P   relationsh ipswith
Rigid bar for rotational springof  0 shown below :
different values
1.2

0.8
Load P/Pcr

0.6

0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
q0=0 q0=0.05 q0=0.1 q0=0.2 q0=0.3
 ENERGY METHODS – IMPERFECT SYSTEMS
 As shown in the figure, deflection starts as soon as loads are
applied. There is no bifurcation of load-deformation path for
imperfect systems. The load-deformation path remains in the
same state through-out.
 The smaller the imperfection magnitude, the close the load-
deformation paths to the perfect system load –deformation path
 The magnitude of load, is influenced significantly by the
imperfection magnitude.
 All real systems have imperfections. They may be very small but
will be there
 The magnitude of imperfection is not easy to know or guess.
Hence if a perfect system analysis is done, the results will be
close for an imperfect system with small imperfections
 ENERGY METHODS – IMPERFECT SYSTEMS

 Examine the stability of the imperfect system using higher order

derivatives of  1 2
 k (   0 )  P L (cos  0  cos  )
2
d
 k (   0 )  P L sin 
d
d2 
 k  P L cos 
d 2
 Equilibrium path will be stable
d2 
if 2
0
d
i.e., if k  P L cos   0
k
i.e., if P 
L cos 
k (   0 ) k
i.e., if 
L sin  L cos 
i.e.,    0  tan 
 Which is always true, hence always in STABLE EQUILIBRIUM
ENERGY METHOD – SMALL DEFLECTIONS

Example 2 - Rigid bar supported by translational spring at end

P

k
L

Assume deformed state that activates all possible d.o.f.

Draw FBD in the deformed state
P
L
L sin

O
k L sin

L cos

L (1-cos)
 ENERGY METHOD – SMALL DEFLECTIONS

Write the equation representing the total potential energy of system

  U  We P
L
1 1
U k ( L sin  ) 2  k L2 2 L sin
2 2 
O
We  P L (1  cos  ) k L sin

1
 k L2  2  P L (1  cos  )
2 L cos
d
 k L2   P L sin  L (1-cos)
d
d
For equilibriu m; 0
d
Therefore , k L2   P L sin   0
For small deflections; k L2  P L  0
Therefore , Pcr  k L
 ENERGY METHOD – SMALL DEFLECTIONS
 The energy method predicts that buckling will occur at the same
load Pcr as the bifurcation analysis method.
 At Pcr, the system will be in equilibrium in the deformed.
Examine the stability by considering further derivatives of the
total potential energy
 This is a small deflection analysis. Hence  will be  zero.
 In this type of analysis, the further derivatives of  examine the
stability of the initial state-1 (when  =0)
1
 k L2  2  P L (1  cos  )
2
d2 
d When, P  k L  0  STABLE
 k L2   P L sin  d 2
d
d2  d2 
 k L2  P L cos  When, P  k L  0 UNSTABLE
d 2 d 2
For small deflections and   0 d2 
When P  kL  0  INDETERMINATE
2
d  2
d 2
2
 k L P L
d
 ENERGY METHOD – LARGE DEFLECTIONS

Write the equation representing the total potential energy of system

P
L
  U  We
L sin
1
U  k ( L sin  ) 2 
2 O

We  P L (1  cos )
1
 k L2 sin 2   P L (1  cos ) L cos
2
d L (1-cos)
 k L2 sin  cos  P L sin 
d
d
For equilibrium; 0
d
Therefore, k L2 sin  cos   P L sin   0
Therefore, P  k L cos for equilibrium
The post  buckling P   relationship is given above
 ENERGY METHOD – LARGE DEFLECTIONS
 Large deflection analysis
 See the post-buckling load-displacement path shown below
 The load carrying capacity decreases after buckling at Pcr
 Pcr is where   0
Rigid bar with translational spring
1.2
P  k L cos for equilibrium
P
  cos 
1 Pcr

0.8
Load P/Pcr

0.6

0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
 ENERGY METHOD – LARGE DEFLECTIONS
 Large deflection analysis – Examine the stability of equilibrium using
higher order derivatives of 
1
 k L2 sin 2   P L (1  cos  )
2
d
 k L2 sin  cos   P L sin 
d
d2 
2
 k L2 cos 2  P L cos 
d
For equilibrium P  k L cos 
d2 
  k L2 cos 2  k L2 cos 2 
d 2
d2 
  k L2 (cos 2   sin 2  )  k L2 cos 2 
d 2
d2 
   k L2 sin 2 
d 2
d2 
 0 ALWAYS . HENCE UNSTABLE
d 2
 ENERGY METHOD – LARGE DEFLECTIONS
 At  =0, the second derivative of =0. Therefore, inconclusive.
 Consider the Taylor series expansion of  at =0

d 1 d2  2 1 d3  3 1 d4  4 1 dn 
    0   2
  3
  4
  .....  n
n
d  0 2! d  0 3! d  0 4! d  0 n! d  0

 Determine the first non-zero term of ,

1
 k L2 sin 2   P L (1  cos  )  0 d4  2
2 4
 4 k L cos 2  P L cos 
d
d 1
 k L2 sin 2  P L sin   0 d4 
d 2    4 k L2
 k L2
  3k L2

d 4
d2  2
2
 k L cos 2  P L cos  0 d4 
d  4
0
d
d3 
3
 2k L2 sin 2  P L sin   0 UNSTABLE at   0 when buckling occurs
d

 Since the first non-zero term is < 0, the state is unstable at P=Pcr and =
 ENERGY METHOD – LARGE DEFLECTIONS

Rigid bar with translational spring

1.2

1 UNSTABLE
UNSTABLE
0.8
Load P/Pcr

0.6

UNSTABLE
0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
 ENERGY METHOD - IMPERFECTIONS
 Consider example 2 – but as a system with imperfections
 The initial imperfection given by the angle 0 as shown below
0 P
L

k
L cos(0)

 The free body diagram of the deformed system is shown below

P
L

L sin

L sin
O
0

L cos

L (cos0-cos)
 ENERGY METHOD - IMPERFECTIONS
P
L

L sin

L sin
O
0
  U  We
1
U k L2 (sin   sin  0 ) 2
2 L cos

We  P L (cos  0  cos  ) L (cos0-cos)

1
 k L2 (sin   sin  0 ) 2  P L (cos  0  cos  )
2
d
 k L2 (sin   sin  0 ) cos   P L sin 
d
d
For equilibrium; 0
d
Therefore , k L2 (sin   sin  0 ) cos   P L sin   0
sin  0
Therefore , P  k L cos  (1  ) for equilibrium
sin 
The equilibrium P   relationship is given above
 ENERGY METHOD - IMPERFECTIONS
sin  0 P sin  0
P  k L cos (1  )   cos (1  )
sin  Pcr sin 
dP sin  0
Pmax   0  k L( sin   )  0  sin   sin 3 
1.2
d 2
sin 
 Pmax  k L cos 3  Envelope of peak
1 loads Pmax

0.8
Load P/Pcr

0.6

0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
q0=0 q0=0.05 q0=0.1 q0=0.2 q0=0.3
 ENERGY METHOD - IMPERFECTIONS
 As shown in the figure, deflection starts as soon as loads are
applied. There is no bifurcation of load-deformation path for
imperfect systems. The load-deformation path remains in the
same state through-out.
 The smaller the imperfection magnitude, the close the load-
deformation paths to the perfect system load –deformation path.
 The magnitude of load, is influenced significantly by the
imperfection magnitude.
 All real systems have imperfections. They may be very small but
will be there
 The magnitude of imperfection is not easy to know or guess.
Hence if a perfect system analysis is done, the results will be
close for an imperfect system with small imperfections.
 However, for an unstable system – the effects of imperfections
may be too large.
 ENERGY METHODS – IMPERFECT SYSTEMS
 Examine the stability of the imperfect system using higher order
derivatives of    1 k L (sin   sin  )  P L (cos  cos )
2 2
0 0
2
d
 k L2 (sin   sin  0 ) cos   P L sin 
d
d2 
2
 k L2 (cos 2  sin  0 sin  )  P L cos 
d
 sin  0 
For equilibrium P  k L 1  
 sin  
d2  2 2  sin  0 
 2
 k L (cos 2  sin  0 sin  )  k L  1   cos 2 
d  sin  
d2  2  2 2 2 sin  0 cos 2  
  k L cos   sin   sin  0 sin   cos   
d 2  sin  
d2  2  2 sin  0 cos 2  
  k L  sin   sin  0 sin   
d 2  sin  
2   sin   sin  0 (sin   cos  ) 
3 2 2
d2 
 kL  
d 2  sin  
2   sin   sin  0 
3
d2 
 kL  
d 2  sin  
 ENERGY METHOD – IMPERFECT SYSTEMS
d2  2   sin   sin  0 
3 sin  0
kL   P  k L cos  (1  ) and Pmax  k L cos 3 
d 2 sin  sin 
 
When P  Pmax
d2 
 0 when P  Pmax  Stable sin  0
d 2 k L cos  (1  )  k L cos 3 
sin 
d2 
 0 when P  Pmax  Unstable sin  0
d 2 1   cos 2 
sin 
sin  0
1   1  sin 2 
sin 
2  sin  0  sin  
3
3 d2 
 sin  0  sin  and k L  0
d 2  sin  
When P  Pmax
sin  0
k L cos  (1  )  k L cos 3 
sin 
sin  0
1   cos 2 
sin 
sin  0
1   1  sin 2 
sin 
2  sin  0  sin  
3
3 d2 
 sin  0  sin  and k L  0
d 2  sin  
 Chapter 2. – Second-Order Differential Equations
 This chapter focuses on deriving second-order differential
equations governing the behavior of elastic members
 2.1 – First order differential equations
 2.2 – Second-order differential equations
 2.1 First-Order Differential Equations
 Governing the behavior of structural members
 Elastic, Homogenous, and Isotropic
 Strains and deformations are really small – small deflection theory
 Equations of equilibrium in undeformed state
 Consider the behavior of a beam subjected to bending and axial
forces
 2.1 First-Order Differential Equations
 Assume tensile forces are positive and moments are positive
according to the right-hand rule
 Longitudinal stress due to bending
P Mx My
P Mx My  
A Ix
y
Iy
x
  y x
A Ix Iy

 This is true when the x-y axis system is

a centroidal and principal axis system.
 y dA   x dA   x y dA  0
A A A
 Centroidal axis

 dA  A;  dA  I y ;  dA  I x
2 2
x y
A A A

I x and I y are principal moment of inertia

 2.1 First-Order Differential Equations
P Mx My
 The corresponding strain is    y x
A E E Ix E Iy
Mx
 If P=My=0, then   y
E Ix
 Plane-sections remain plane and
perpendicular to centroidal axis before and
after bending
 The measure of bending is curvature  which
denotes thechange in the slope of the
tan  y axis between two point dz apart
centroidal
y
For small deformations tan  y   y

 y 
y
Mx
 y 
E Ix
 M x  E I x y and similarly M y  E I y  x
 2.1 First-Order Differential Equations
 Shear Stresses due to bending

Vy s
 t
Ix  y t ds
O

Vx s
 t    x t ds
Iy O
 2.1 First-Order Differential Equations
 Differential equations of bending
 Assume principle of superposition
 Treat forces and deformations in y-z and x-z
plane seperately
 Both the end shears and qy act in a plane
parallel to the y-z plane through the shear
center S
dV y
 q y
dz
dM x
 Vy
dz
d 2M x
 2
 q y
dz
d 2 (E I x  y )
  q y
dz 2
 E I x  y  q y
 2.1 First-Order Differential Equations
 Differential equations of bending

E I x  y  q y
v 
y  
1  (v)  2 3/ 2

For small deflection s

 y  v 
 E I x v iv  q y
Similarly E I y u iv  q x
u  deflection in positive x direction
v  deflection in positive y direction

 Fourth-order differential equations using first-

order force-deformation theory
 Torsion behavior – Pure and Warping Torsion
 Torsion behavior – uncoupled from bending behavior
 Thin walled open cross-section subjected to torsional moment
 This moment will cause twisting and warping of the cross-section.
 The cross-section will undergo pure and warping torsion behavior.
 Pure torsion will produce only shear stresses in the section
 Warping torsion will produce both longitudinal and shear stresses
 The internal moment produced by the pure torsion response will be
equal to Msv and the internal moment produced by the warping
torsion response will be equal to Mw.
 The external moment will be equilibriated by the produced internal
moments
 MZ=MSV + MW
 Pure and Warping Torsion

MZ=MSV + MW
Where,
 MSV = G KT ′ and MW = - E Iw "‘
 MSV = Pure or Saint Venant’s torsion moment
 KT = J = Torsional constant =
  is the angle of twist of the cross-section. It is a function of z.
 IW is the warping moment of inertia of the cross-section. This is a
new cross-sectional property you may not have seen before.
MZ = G KT ′ - E Iw "‘ ……… (3), differential equation of torsion
 Pure Torsion Differential Equation
 Lets look closely at pure or Saint Venant’s torsion. This occurs when
the warping of the cross-section is unrestrained or absent

 dz  r d
d
  r  r 
dz
  G r  

 M SV    r dA  G    r 2 dA
A A

 M SV  G K T  
where , K T  J   r 2 dA
A

 For a circular cross-section – warping is absent. For thin-walled open

cross-sections, warping will occur.
 The out of plane warping deformation w can be calculated using an
equation I will not show.
 Pure Torsion Stresses
The torsional shear stresses vary linearly about the center of the thin
plate

 SV  G r  
 SV max  G t  
sv
 Warping deformations
 The warping produced by pure torsion can be restrained by the:
(a) end conditions, or (b) variation in the applied torsional
moment (non-uniform moment)
 The restraint to out-of-plane warping deformations will produce
longitudinal stresses (w) , and their variation along the length
will produce warping shear stresses (w) .
 Warping Torsion Differential Equation
 Lets take a look at an approximate derivation of the warping
torsion differential equation.
 This is valid only for I and C shaped sections.
h
uf 
2
where u f  flange lateral displacement
M f  moment in the flange
V f  Shear force in the flange
E I f u f   M f  borrowing d .e. of bending
E I f u f  V f
MW  Vf h
 M W   E I f u f h
h2
 MW  E I f  
2
 MW   E I W  
where I W is warping moment of inertia  new sec tion property
 Torsion Differential Equation Solution
 Torsion differential equation MZ=MSV+MW = G KT ’- E IW ’’’
 This differential equation is for the case of concentrated torque
G K T    E I w    M Z
G KT M
       Z
E IW E IW
MZ Mz z
        
2    C1  C 2 cosh z  C 3 sinh z 
E IW 2 E I W
 Torsion differential equation for the case of distributed torque
dM Z
mZ  
dz
G K T    E I w  iv  m Z
G KT m mz z 2
  iv     Z    C 4  C 5 z  C 6 cosh z  C 7 sinh z 
E IW E IW 2 G KT
mZ
  iv  2   
E IW
 The coefficients C1 .... C6 can be obtained using end conditions
 Torsion Differential Equation Solution
 Torsionally fixed end conditions are given by     0
 These imply that twisting and warping at the fixed end are fully
restrained. Therefore, equal to zero.
 Torsionally pinned or simply-supported end conditions given by:
     0
 These imply that at the pinned end twisting is fully restrained (=0) and
warping is unrestrained or free. Therefore, W=0 ’’=0
 Torsionally free end conditions given by ’=’’ = ’’’= 0
 These imply that at the free end, the section is free to warp and there
are no warping normal or shear stresses.
 Results for various torsional loading conditions given in the AISC
Design Guide 9 – can be obtained from my private site
 Warping Torsion Stresses
 Restraint to warping produces longitudinal and shear stresses
 W  E Wn  
 W t   E SW  
where,
Wn  Normalized Unit Warping  Section Pr operty
SW  Warping Statical Moment  Section Pr operty

 The variation of these stresses over the section is defined by the

section property Wn and Sw
 The variation of these stresses along the length of the beam is defined
by the derivatives of 
 Note that a major difference between bending and torsional behavior is
 The stress variation along length for torsion is defined by derivatives of ,
which cannot be obtained using force equilibrium.
 The stress variation along length for bending is defined by derivatives of v,
which can be obtained using force equilibrium (M, V diagrams).
Torsional Stresses
Torsional Stresses
Torsional Section Properties for I and C Shapes
 and derivatives for concentrated torque at midspan
 Summary of first order differential equations

 E I x v   M x  (1)
E I y u   M y  (2)
G K T    E I W    M z  (3)

NOTES:
(1) Three uncoupled differential equations
(2) Elastic material – first order force-deformation theory
(3) Small deflections only
(4) Assumes – no influence of one force on other deformations
(5) Equations of equilibrium in the undeformed state.
 HOMEWORK # 2
 Consider the 22 ft. long simply-supported W18x65 wide flange beam
shown in Figure 1 below. It is subjected to a uniformly distributed load
of 1k/ft that is placed with an eccentricity of 3 in. with respect to the
centroid (and shear center).
 At the mid-span and the end support cross-sections, calculate the
magnitude and distribution of:
 Normal and shear stresses due to bending
 Shear stresses due to pure torsion
 Warping normal and shear stresses over the cross-section.
 Provide sketches and tables of the individual normal and shear stress
distributions for each case.
 Superimpose the bending and torsional stress-states to determine the
magnitude and location of maximum stresses.
HOMEWORK # 2

22 ft.
Span 3in.

W18x65

Cross-section
 Chapter 2. – Second-Order Differential Equations
 This chapter focuses on deriving second-order differential
equations governing the behavior of elastic members
 2.1 – First order differential equations
 2.2 – Second-order differential equations
 2.2 Second-Order Differential Equations
 Governing the behavior of structural members
 Elastic, Homogenous, and Isotropic
 Strains and deformations are really small – small deflection theory
 Equations of equilibrium in deformed state
 The deformations and internal forces are no longer independent.
They must be combined to consider effects.
 Consider the behavior of a member subjected to combined axial
forces and bending moments at the ends. No torsional forces
are applied explicitly – because that is very rare for CE
structures.
Member model and loading conditions

 Member is initially straight and prismatic.

It has a thin-walled open cross-section
 Member ends are pinned and prevented
from translation.
 The forces are applied only at the
member ends
 These consist only of axial and bending
moment forces P, MTX, MTY, MBX, MBY
 Assume elastic behavior with small
deflections
 Right-hand rule for positive moments and
reactions and P assumed positive.
 Member displacements (cross-sectional)
 Consider the middle line of thin-
walled cross-section
 x and y are principal coordinates
through centroid C
 Q is any point on the middle line.
It has coordinates (x, y).
 Shear center S coordinates are
(xo, y0)
 Shear center S displacements
are u, v, and 
 Member displacements (cross-sectional)
 Displacements of Q are:
uQ = u + a  sin 
vQ = v – a  cos 
where a is the distance from Q to S
 But, sin  = (y0-y) / a
cos  = (x0-x) / a
 Therefore, displacements of Q are:
uQ = u +  (y0-y)
vQ = v –  (x0 – x)
 Displacements of centroid C are:
uc = u +  (y0)
vc = v +  (x0)
 Internal forces – second-order effects
 Consider the free body diagrams of
the member in the deformed state.
 Look at the deformed state in the x-z
and y-z planes in this Figure.
 The internal resisting moment at a
distance z from the lower end are:
Mx = - MBX + Ry z + P vc
My = - MBY + Rx z - P uc
 The end reactions Rx and Ry are:
Rx = (MTY + MBY) / L
Ry = (MTX + MBX) / L
 Internal forces – second-order effects
 Therefore,
z
M x   M BX  M TX  M BX   Pv   x0 
L
z
M y   M BY  M TY  M BY   P u   y0 
L
 Internal forces in the deformed state
 In the deformed state, the cross-section is such that the principal
coordinate systems are changed from x-y-z to the  system

uc
vc


x 

y
 MBx P
Rx
Ry

MBY

x uc
vc

 z

y

 Internal forces in the deformed state
 The internal forces Mx and My must be transformed to these new
 axes
 Since the angle  is small
 MMx +  My
 M = My –  Mx

z
M x   M BX  M TX  M BX   Pv   x0 
L
z
M y   M BY  M TY  M BY   Pu   y0 
L

z
 M    M BX  M TX  M BX   P v    P x0  M BY  z M TY  M BY 
L  L 
z
 M    M BY  M TY  M BY   P u     P y0  M BX  z M TX  M BX 
L  L 
 Twisting component of internal forces
 Twisting moments M are produced by the internal and external
forces
 There are four components contributing to the total M
(1) Contribution from Mx and My – M
(2) Contribution from axial force P – M
(3) Contribution from normal stress  – M
(4) Contribution from end reactions Rx and Ry – M

 The total twisting moment M = M + M + M + M

 Twisting component – 1 of 4

 Twisting moment due to Mx & My

 M = Mx sin (du/dz) + Mysin (dv/dz)
 Therefore, due to small angles, M = Mx du/dz + My dv/dz
 M = Mx u’ + My v’
 Twisting component – 2 of 4

 The axial load P acts along the original vertical direction

 In the deformed state of the member, the longitudinal axis  is not
vertical. Hence P will have components producing shears.
 These components will act at the centroid where P acts and will have
values as shown above – assuming small angles
 Twisting component – 2 of 4
 These shears will act at the centroid C, which is eccentric with
respect to the shear center S. Therefore, they will produce
secondary twisting.

 M = P (y0 du/dz – x0 dv/dz)

 Therefore, M = P (y0 u’ – x0 v’)
 Twisting component – 3 of 4
 The end reactions (shears) Rx and Ry act at the shear center S
at the ends. But, along the member ends, the shear center will
move by u, v, and .
 Hence, these reactions will also have a twisting effect produced
by their eccentricity with respect to the shear center S.
 M + Ry u + Rx v = 0
 Therefore,
 M = – (MTY + MBY) v/L – (MTX + MBX) u/L
 Twisting component – 4 of 4
 Wagner’s effect or contribution
– complicated.
 Two cross-sections that are d
apart will warp with respect to
each other.
 The stress element  dA will
become inclined by angle (a
d/d with respect to d axis.
 Twist produced by each stress
element about S is equal to
 d 
dM  3   a dA a 
 d 
d
 M 3     a 2 dA
d A
 Twisting component – 4 of 4

Let ,   a 2 dA  K
A
d
 M 3  K
d
d
 M 3  K  for small angles
dz
 Twisting component – 4 of 4

Let ,   a 2 dA  K
A
d
 M 3  K
d
d
 M 3  K  for small angles 
dz
x
y

x 
y
 Total Twisting Component
 M = M + M + M + M
M = Mx u’ + My v’
M = P (y0 u’ – x0 v’)
M = – (MTY + MBY) v/L – (MTX + MBX) u/L
M= -K ’
 Therefore,
MMx u’ + My v’+ P (y0 u’ – x0 v’) – (MTY + MBY) v/L – (MTX + MBX) u/L-K ’

 While, z  z 
M    M BX  M TX  M BX   P v    P x0  M BY  M TY  M BY 
L  L 
z
M    M BY  M TY  M BY   P u     P y0  M BX  z M TX  M BX 
L  L 
 Total Twisting Component
 M = M + M + M + M
M = Mx u’ + My v’ M = P (y0 u’ – x0 v’) M= -K ’
M = – (MTY + MBY) v/L – (MTX + MBX) u/L
 Therefore,
v u
 M   M x u  M y v  P  y0 u   x0 v    M TY  M BY    M TX  M BX   K  
L L
v u
 M   ( M x  P y0 ) u   ( M y  P x0 ) v  ( M TY  M BY )  ( M TX  M BX )  K  
L L
z
But , M x   M BX  ( M BX  M TX )  P (v   x0 )
L
z
and , M y   M BY  ( M BY  M TY )  P (u   y0 )
L
z z
 M   ( M BX  ( M BX  M TX )  P y0 ) u   ( M BY  ( M BY  M TY )  P x0 ) v
L L
v u
 ( M TY  M BY )  ( M TX  M BX )  K  
L L
 Internal moments about the  axes
 Thus, now we have the internal moments about the  axes for the
deformed member cross-section.
z z
M    M BX   M TX  M BX   P v    P x0  M BY   M TY  M BY  
L  L 
z  z 
M   M BY  MMTYTX+M
 MBYBX   P u     P y0  M BX  M  MBXBY  
TY+M
MTX
L  L 
z z
M   ( M BX  ( M BX  M TX )  P y0 ) u   ( M BY  ( M BY  M TY )  P x0 ) v
L L
v u
 ( M TY  M BY )  ( M TX  M BX )  K  
L L

z



 Internal Moment – Deformation Relations
 The internal moments M, M, and M will still produce flexural bending
about the centroidal principal axis and twisting about the shear center.
 The flexural bending about the principal axes will produce
linearly varying longitudinal stresses.
 The torsional moment will produce longitudinal and shear
stresses due to warping and pure torsion.
 The differential equations relating moments to deformations are
still valid. Therefore,
M = - E I v” …………………..(I = Ix)
M = E I u” …………………..(I= Iy)
M = G KT ’ – E Iw ’”
 Internal Moment – Deformation Relations

Therefore,
z z
M    E I x v   M BX   M TX  M BX   P v    P x0  M BY   M TY  M BY  
L  L 
z  z 
M   E I y u    M BY  M
MTY  M
TX +MBYBX   P u     P y 0  M BX   M  M 
M TY+MBXBY 
L  L TX 
z
M   G KT    E I w    ( M BX  ( M BX  M TX )  P y0 ) u  
L
z v u
( M BY  ( M BY  M TY )  P x0 ) v  ( M TY  M BY )  ( M TX  M BX )  K  
L L L
 Second-Order Differential Equations
You end up with three coupled differential equations that relate
the applied forces and moments to the deformations u, v, and .
Therefore,
 z  z
1
E I x v  P v    P x0  M BY   M TY  M BY    M BX   M TX  M BX 
 L  L
 z  z
2
E I y u  P u     P y0  M BX  M
 MMTYTX+MM BYBX    M BY  M
+M MTYTX+M
M
BY BX

 L TX BX  L
z
3
E I w    (G K T  K )    u  ( M BX  (M BX  M TX )  P y0 )
L
z v u

 v ( M BY  ( M BY  M TY )  P x0 )  ( M TY  M BY )  ( M TX  M BX )  0
L L L

These differential equations can be used to investigate the elastic

behavior and buckling of beams, columns, beam-columns and
also complete frames – that will form a major part of this course.
 Chapter 3. Structural Columns
 3.1 Elastic Buckling of Columns
 3.2 Elastic Buckling of Column Systems – Frames
 3.3 Inelastic Buckling of Columns
 3.4 Column Design Provisions (U.S. and Abroad)
 3.1 Elastic Buckling of Columns
 Start out with the second-order differential equations derived in
Chapter 2. Substitute P=P and MTY = MBY = MTX = MBX = 0
 Therefore, the second-order differential equations simplify to:

1
E I x v  P v    P x0   0

2
E I y u   P u     P y0   0
E I w    (G KT  K )    u  ( P y0 )  v ( P x0 )  0
3

 This is all great, but before we proceed any further we need to

deal with Wagner’s effect – which is a little complicated.
 Wagner’s effect for columns

K      a 2  dA
A

where,
P M  y M x
     E Wn  
A Ix Iy
M   P (v   x0 )
M    P (u   y0 )
 P P (v   x0 ) y  P (u   y0 ) x 
 K         E Wn     a 2 dA
A A Ix Iy 
 P P (v   x0 ) y  P (u   y0 ) x 
 K        E Wn      a 2 dA
 A Ix Iy  A
P
Neglecting higher order terms; K        a 2 dA
A A
 Wagner’s effect for columns
But , a 2  ( x0  x) 2  ( y0  y )2
  a 2 dA   ( x0  x)2  ( y0  y )2 dA
A A

  a 2 dA    x02  y02  x 2  y 2  2 x0 x  2 y0 y  dA
A A

  a 2 dA   x02  y02   dA   x 2 dA   y 2 dA  2 x0  x dA  2 y0  y dA
A A A A A A

  a 2 dA  ( x02  y02 ) A  I x  I y
A

Finally ,
P
 K    ( x02  y02 ) A  I x  I y   
A
 I I 
 K     P ( x02  y02 )  x y   
 A 
2  2 2
Ix  Iy 
Let r0  ( x0  y0 )  
 A 
 K     P r02  
 Second-order differential equations for columns
 Simplify to:

1
E I x v  P v    P x0   0

2
E I y u   P u    P y0   0
E I w    ( P r02  G K T )    u  ( P y0 )  v ( P x0 )  0
3

 Where
2 2 2
Ix  I y
r0  x  y 
0 0
A
 Column buckling – doubly symmetric section
 For a doubly symmetric section, the shear center is located at the
centroid xo= y0 = 0. Therefore, the three equations become uncoupled

1 E I x v  P v  0
E I y u   P u  0
2

E I w    ( P r02  G KT )    0
3

 Take two derivatives of the first two equations and one more derivative
of the third equation.
1
E I x v  P v  0
iv

2
E I y u iv  P u   0
E I w  iv  ( P r02  G KT )    0
3
2
P P P r  G KT
Let , Fv2  Fu2  F2  0
E Ix E Iy E Iw
 Column buckling – doubly symmetric section

1 v iv  Fv2 v  0

2
u iv  Fu2 u   0
 iv  F2   0
3

 All three equations are similar and of the fourth order. The
solution will be of the form C1 sin z + C2 cos z + C3 z + C4
 Need four boundary conditions to evaluate the constant C1..C4
 For the simply supported case, the boundary conditions are:
u= u”=0; v= v”=0; = ”=0
 Lets solve one differential equation – the solution will be valid for
all three.
 Column buckling – doubly symmetric section
v iv  Fv2 v  0
Solution is
v  C1 sin Fv z  C2 cos Fv z  C3 z  C4
 v  C1 Fv2 sin Fv z  C2 Fv2 cos Fv z
The coefficient matrix  0
Boundary conditions :
v(0)  v(0)  v( L)  v( L)  0  Fv2 sin Fv L  0
 sin Fv L  0
C 2  C4  0  v(0)  0  Fv L  n 
C2  0  v(0)  0 P n
 Fv  
C1 sin Fv L  C2 cos Fv L  C3 L  C4  v( L)  0 E Ix L
C1 Fv2 sin Fv L  C2 Fv2 cos Fv L  v( L)  0 n2  2
 Px  2 E I x
L
 0 1 0 1   C1  0  Smallest value of n  1:
 0 1 0 0  C2  0 
    2 E Ix
 sin Fv L cos Fv L L 1  C3  0   Px 
   
  Fv2 sin Fv L  Fv2 cos Fv L 0 0  C4  0  L2
 Column buckling – doubly symmetric section
Similarly , Similarly,
sin Fu L  0 sin F L  0
 Fu L  n   F L  n 
P n P r02  G KT n 
 Fu    F  
E Iy L E Iw L
n2  2  n2  2  1
 Py  2 E I y  P   2 E I w  G KT  2
L  L  r0
 2 E Iy Smallest value of n  1:
Smallest value of n  1: Py 
L2
 n2  2  1
P   2 E I w  G KT  2
 2 E Ix  L  r0
Px 
L2 1

 2 E Iy
Summary Py  2
L2
 2 E Iw  1
P   2
 G K T 2
 L  r0 3
 Column buckling – doubly symmetric section
 Thus, for a doubly symmetric cross-section, there are three distinct
buckling loads Px, Py, and Pz.

 The corresponding buckling modes are:

v = C1 sin(z/L), u =C2 sin(z/L), and = C3 sin(z/L).

 These are, flexural buckling about the x and y axes and torsional
buckling about the z axis.

 As you can see, the three buckling modes are uncoupled. You must
compute all three buckling load values.

 The smallest of three buckling loads will govern the buckling of the
column.
 Column buckling – boundary conditions
Consider the case of fix-fix boundary conditions:
viv  Fv2 v  0
Solution is
v  C1 sin Fv z  C2 cos Fv z  C3 z  C4 The coefficient matrix  0
 v  C1 Fv cos Fv z  C2 Fv sin Fv z  C3  Fv L sin Fv L  2 cos Fv L  2  0
Boundary conditions : Fv L  Fv L Fv L 
 2 sin F L cos  2sin 0
2  2 
v
v(0)  v(0)  v( L)  v( L)  0 2
 C2  C 4  0  v(0)  0 Fv L
  n
2
C1 Fv  C3  0  v(0)  0
2n
C1 sin Fv L  C2 cos Fv L  C3 L  C4  v( L )  0  Fv 
L
C1 Fv cos Fv L  C2 Fv sin Fv L  C3  v( L)  0 4 n2  2
 Px  E Ix
L2
 0 1 0 1   C1  0  Smallest value of n  1:
 Fv 0 1 0  C2  0 
      2 E Ix  2 E Ix
 sin Fv L cos Fv L L 1  C3  Px  
  0   0.5 L 
2
 K L 
2
 Fv cos Fv L  Fv sin Fv L 1 0  C4  0 
 Column Boundary Conditions
 The critical buckling loads for columns with different boundary
conditions can be expressed as:
 2 E Ix
Px 
Kx L
2
1

 2 E Iy
Py 
K L
2 2
y

 2 E I  1
P   w
 G KT  2
  K z L 
2 3
 r0

 Where, Kx, Ky, and Kz are functions of the boundary conditions:

 K=1 for simply supported boundary conditions
 K=0.5 for fix-fix boundary conditions
 K=0.7 for fix-simple boundary conditions
 Column buckling – example.
 Consider a wide flange column W27 x 84. The boundary conditions are:
v=v”=u=u’==’=0 at z=0, and v=v”=u=u’==”=0 at z=L
 For flexural buckling about the x-axis – simply supported – Kx=1.0
 For flexural buckling about the y-axis – fixed at both ends – Ky = 0.5
 For torsional buckling about the z-axis – pin-fix at two ends - Kz=0.7
 2 E Ix  2 E A rx 2 2 E A
Px   
Kx L Kx L
2 2 2
 L
K
 x 
 rx 
2
 2 E Iy  2 E A ry 2  2 E A  ry 
Py    2  
K y L K y L  K y L   x 
2 2
  r
 rx 
 
 
 2 E I  1  2 E I A
2
P   w
 G K   
w
 G K r
T x  2
 x  x y
T
  K z L 
2 2 2
 r0  L  r  I I
 K
  z rx  
 Column buckling – example.
Px 2 E A 1 2 E 5823.066
  2
  2
 2
PY  L  A Y  L L
 Kx  Y  Kx   
 rx   rx   rx 
2 2 2
Py  2 E A (ry / rx )  E (ry / rx ) 791.02
 2
  2
 2
PY  L A Y  L L
 Ky  Y  K y   
 rx   rx   rx 
 
 
P   2 E I w 2 A 1
  G K r  r2  I  I 
 x  x y
2 T x
PY  L  A Y
 K
  z rx  
 
 
P   2 E I w 2 1
   G K r
T x  2
 x  x y Y
2
PY  L  r  I  I 
 K
  z rx  
P 578.26
   2
 0.2333
PY L
 
 rx 
 Column buckling – example.
2

1.8 Flexural buckling Flexural buckling

about y-axis about x-axis
Critical buckling load / yield load (Pcr/PY)

1.6

1.4

1.2
Yield load PY
1
Cannot be exceeded

0.8

0.6 Torsional buckling about Torsional buckling

z-axis governs about z-axis
0.4

0.2 Flexural buckling about

y-axis governs
0
0 10 20 30 40 50 60 70 80 90 100

L-rx (Slenderness Ratio)

Px - flexural buckling Py - flexural buckling Pz - torsional buckling
 Column buckling – example.
 When L is such that L/rx < 31; torsional buckling will govern
 rx = 10.69 in. Therefore, L/rx = 31  L=338 in.=28 ft.
 Typical column length =10 – 15 ft. Therefore, typical L/rx= 11.2 – 16.8
 Therefore elastic torsional buckling will govern.
 But, the predicted load is much greater than PY. Therefore, inelastic
buckling will govern.

 Summary – Typically must calculate all three buckling load values to

determine which one governs. However, for common steel buildings
made using wide flange sections – the minor (y-axis) flexural buckling
usually governs.
 In this problem, the torsional buckling governed because the end
conditions for minor axis flexural buckling were fixed. This is very rarely
achieved in common building construction.
 Column Buckling – Singly Symmetric Columns
 Well, what if the column has only one axis of symmetry. Like the x-
axis or the y-axis or so.

 As shown in this figure, the y – axis is the

axis of symmetry.
C
x  The shear center S will be located on this
axis.
S
 Therefore x0= 0.
y  The differential equations will simplify to:

1 E I x v  P v  0

2
E I y u   P u    P y0   0

3
E I w    ( P r02  G K T )    u  ( P y0 )  0
 Column Buckling – Singly Symmetric Columns
 The first equation for flexural buckling about the x-axis (axis of
symmetry) becomes uncoupled.
E I x v  P v  0  (1)  Equations (2) and (3) are still coupled in terms of u and .

 E I x v iv  P v  0
 v iv  Fv 2 v  0  These equations will be satisfied by the solutions of the form
P  u=C2EsinI (yz/L) 
u  andPu=C3 sin (Pz/L)y0 0
where, Fv 2  2
E Ix E I w    ( P r02  G KT )    u ( P y0 )  0
3
 v  C1 sin Fv z  C2 cos Fv z  C3 z  C4
Boundary conditions
sin Fv L  0
 2 E Ix
 Px 
( K x Lx ) 2
Buckling mod v  C1 sin Fv z
 Column Buckling – Singly Symmetric Columns
E I y u   P u    P y0   0  (2)
E I w    ( P r02  G KT )    u  ( P y0 )  0 (3)

 E I y u iv  P u      P y0   0
E I w  iv  ( P r02  G KT )    u  ( P y0 )  0

z z
Let , u  C2 sin ;   C3 sin
L L
Therefore, substituting these in equations 2 and 3
4 2 2
  z   z   z
E I y   C2 sin  P C2   sin  P y0   C3 sin 0
L
  L L
  L L
  L
4 2 2
  z   z   z
E I w   C3 sin  ( P r02  G KT )   C3 sin  P y0   C2 sin 0
L L L L L L
Column Buckling – Singly Symmetric Columns
  
2

  E I y    P  C2  P y0 C3  0
 L 
  
2

and  E I w    ( P r02  G KT )  C3  P y0 C2  0
 L 

 2 E Iy   2 E Iw  1
Let , Py  and P    G K T  2
L2  L2
 r0

  Py  P  C2  P y0 C3  0
 P  P  r02C3  P y0 C2  0

 Py  P  P y0  C2 
 2
C   0
  P y0 ( P  P ) r0  3

Py  P  P y0
 0
 P y0 ( P  P ) r02
 Column Buckling – Singly Symmetric Columns

 ( Py  P)( P  P) r02  P 2 y02  0

  Py P  P ( Py  P )  P 2  r02  P 2 y02  0
2  y02 
y  4 Py P (1  2 ) 
 P 2 (1  0
)  P( Py  P )  Py P  0
2 ( Py  P )  r0 
r
0 P  1  1 
y02  ( Py  P ) 2 
y02 2 (1  2 )  
2
( Py  P )  ( Py  P )  4 Py P (1  2 ) r0  
r0
P 
y02
2 (1  2 ) Thus, there are two roots for P
r0
Smaller value will govern
 y02 
 4 Py P (1  r 2 )   y 2 

( Py  P )  ( Py  P ) 2 1  0   4 Py P (1  2 ) 
0

 2 ( P  P )
( Py  P )   P  P  y  1  1  r0 
  y02  ( Py  P ) 2 
  2 (1  2 )  
P  r
y 2 0  
2 (1  02 )
r0
 Column Buckling – Singly Symmetric Columns
 The critical buckling load will the lowest of Px and the two roots
shown on the previous slide.
 If the flexural torsional buckling load govern, then the buckling
mode will be C2 sin (z/L) x C3 sin (z/L)
 This buckling mode will include both flexural and torsional
deformations – hence flexural-torsional buckling mode.
 Column Buckling – Asymmetric Section
 No axes of symmetry: Therefore, shear center S (xo, yo) is such that
neither xo not yo are zero.

E I x v  P v    P x0   0  (1)

E I y u   P u    P y0   0  (2)
E I w    ( P r02  G KT )    u  ( P y0 )  v ( P x0 )  0  (3)

 For simply supported boundary conditions: (u, u”, v, v”, , ”=0), the
solutions to the differential equations can be assumed to be:
 u = C1sin (z/L)
 v = C2 sin (z/L)
  = C3 sin (z/L)
 These solutions will satisfy the boundary conditions noted above
 Column Buckling – Asymmetric Section
 Substitute the solutions into the d.e. and assume that it satisfied too:
2
     z      z     z 
E I x C1   sin     P C1 sin     P x0 C3 sin    0
 L
   L     L    L 
  
2
  z      z     z 
E I y C2   sin     P C2 sin     P y0 C3 sin    0
  L   L     L     L 
  
3
  z   2     z      z      z 
E I w  C3   cos     ( P r0  G KT ) C3 cos     P y0 C1 cos     P x0 C2 cos    0
  L   L    L  L    L  L    L  L 

   2  z 
    E Ix  P 0  P x0   C1 sin   
 L   L  
 2
 0 
   z    
 0   E Iy  P P y0   C2 sin    0 
 L   L   
  
 0 

 
2
  z 
  P x0 P y0    E I w  ( P r0  G K T )   C3 cos 
2

 L L  L  
 
 Column Buckling – Asymmetric Section
 z  
 C1 sin   
 P  P    L  
0  P x0 0 
 x
 z    
 0  Py  P P y0   C2 sin  L    0 
 
 Px
 P y0  P  P r02    
0 

  C cos   z  
0

 L 3  
 L  
where,
2 2
      2 E Iw  1
Px    EI x Py    EI y P    G KT  2
L L  L2  r0

 Either C1, C2, C3 = 0 (no buckling), or the determinant of the coefficient

matrix =0 at buckling.
 Therefore, determinant of the coefficient matrix is:
y2 x2 
  2

 P  Px  P  Py  P  P   P  P  Px   o2   P 2 P  Py   o
r2
0

 ro   o 
 Column Buckling – Asymmetric Section
y2 x2 
 P  Px   P  Py    2

r 

P  P  P  P  Px   o2   P 2 P  Py   o
r2
0

 o   o 
 This is the equation for predicting buckling of a column with an
asymmetric section.
 The equation is cubic in P. Hence, it can be solved to obtain three
roots Pcr1, Pcr2, Pcr3.
 The smallest of the three roots will govern the buckling of the column.
 The critical buckling load will always be smaller than Px, Py, and P
 The buckling mode will always include all three deformations u, v, and
. Hence, it will be a flexural-torsional buckling mode.
 For boundary conditions other than simply-supported, the
corresponding Px, Py, and P can be modified to include end condition
effects Kx, Ky, and K
 Homework No. 4
 See word file
 Problem No. 1
 Consider a column with doubly symmetric cross-section. The boundary conditions
for flexural buckling are simply supported at one end and fixed at the other end.
 Solve the differential equation for flexural buckling for these boundary conditions
and determine the eigenvalue (buckling load) and the eigenmode (buckling shape).
Plot the eigenmode.
 How the eigenvalue compare with the effective length approach for predicting
buckling?
 What is the relationship between the eigenmode and the effective length of the
column (Refer textbook).
 Problem No. 2
 Consider an A992 steel W14 x 68 column cross-section. Develop the normalized
buckling load (Pcr/PY) vs. slenderness ratio (L/rx) curves for the column cross-
section. Assume that the boundary conditions are simply supported for buckling
about the x, y, and z axes.
 Which buckling mode dominates for different column lengths?
 Is torsional buckling a possibility for practical columns of this length?
 Will elastic buckling occur for most practical lengths of this column?
 Problem No. 3
 Consider a C10 x 30 column section. The length of the column is 15 ft. What is the
buckling capacity of the column if it is simply supported for buckling about the y-
axis (of non-symmetry), pin-fix for flexure about the x-axis (of symmetry) and
simply supported in torsion about the z-axis. Which buckling mode dominates?
 ELASTIC BUCKLING OF BEAMS
 Going back to the original three second-order differential
equations:

Therefore,
 z  z
E I x v  P v    P x0  M BY   M TY  M BY    M BX   M TX  M BX 
1
 L  L
 z  z
E I y u   P u     P y0  M BX   M TY  M BY     M BY   M TX  M BX 
2
 L  L
z
E I w    (G KT  K )    u  ( M BX  ( M BX  M TX )  P y0 )
3
L
z v u
 v ( M BY  ( M BY  M TY )  P x0 )  ( M TY  M BY )  ( M TX  M BX )  0
L L L
 ELASTIC BUCKLING OF BEAMS
 Consider the case of a beam subjected to uniaxial bending only:
 because most steel structures have beams in uniaxial bending
 Beams under biaxial bending do not undergo elastic buckling
 P=0; MTY=MBY=0
 The three equations simplify to:
z
E I x v  M BX   M TX  M BX 
1
L
z
2 E I y u   M BX   M TX  M BX 

L
 z  u
E I w    (G KT  K )    u    M BX  ( M BX  M TX )   ( M TX  M BX )  0
L  L
3

 Equation (1) is an uncoupled differential equation describing in-
plane bending behavior caused by MTX and MBX
 ELASTIC BUCKLING OF BEAMS
 Equations (2) and (3) are coupled equations in u and  – that
describe the lateral bending and torsional behavior of the beam.
In fact they define the lateral torsional buckling of the beam.
 The beam must satisfy all three equations (1, 2, and 3). Hence,
beam in-plane bending will occur UNTIL the lateral torsional
buckling moment is reached, when it will take over.
 Consider the case of uniform moment (Mo) causing compression
in the top flange. This will mean that
 -MBX = MTX = Mo
 ELASTIC BUCKLING OF BEAMS
 For this case, the differential equations (2 and 3) will become:
E I y u    M o  0
E I w    (G KT  K )    u   M o   0
where :
K  Wagner ' s effect due to warping caused by torsion
K    a 2 dA
A

Mo
But ,   y  neglecting higher order terms
Ix
Mo
K   y ( xo  x) 2  ( yo  y ) 2  dA
A
Ix
Mo
   2 yy0  dA
2 2 2 2
K  y xo  x  2 xx0  y o  y
Ix A

Mo  2 
 o    0 o o
2 2 2 2
K  x y dA  y  x  y  dA  x 2xy dA  y y dA  2 y y dA 
Ix  A A A A A 
 ELASTIC BUCKLING OF BEAMS
Mo  
  y  x  y  dA  2 yo I x 
 
2 2
K 
Ix  A 
 y  x 2  y 2  dA 
A   
K  Mo   2 yo 
 Ix 
 
   dA
2 2
y x  y
 K  M ox  where,  x  A
 2 yo
Ix
 x is a new sec tional property

The beam buckling differential equations become :

(2) E I y u   M o  0
(3) E I w    (G KT  M o  x )    u   M o   0
 ELASTIC BUCKLING OF BEAMS
Mo
Equation (2) gives u    
E Iy
Substituting u  from Equation (2) in (3) gives :
2
M
E I w  iv  (G KT  M o  x )    o   0
E Iy
For doubly symmetric sec tion :  x  0
2
G K M
 iv  T
   2 o   0
E Iw E I y Iw
G KT M o2
Let , 1  and 2  2
E Iw E I y Iw
 iv  1    2  0  becomes the combined d .e. of LTB
 ELASTIC BUCKLING OF BEAMS
Assume solution is of the form   e  z
   4  1  2  2  e z  0
  4  1  2  2  0
1  12  42
2 12  42  1
  , 
2 2
1  12  42 1  12  42
   , i
2 2

 Let ,   1 , and  i 2

Above are the four roots for 

  C1e1z  C2e 1 z  C3ei 2 z  C4e i 2 z
 collecting real and imaginary terms
  G1 cosh(1 z )  G2 sinh(1 z )  G3 sin( 2 z )  G4 cos( 2 z )
 ELASTIC BUCKLING OF BEAMS
 Assume simply supported boundary conditions for the beam:
 (0)   (0)   ( L)   ( L)  0
Solution for  must satisfy all four b.c.
 1 0 0 1   G1 
 12 0 0  22  G 
  2  0
 cosh(1 L) sinh(1L) sin( 2 L) cos( 2 L)  G3
 
12 cosh(1 L) 12 sinh(1L)  22 sin( 2 L)  22 cos( 2 L)  G4 
For buckling coefficient matrix must be sin gular :
 det er min ant of matrix  0
 
 12   22  sinh(1L)  sinh( 2 L)  0
Of these :
only sinh( 2 L)  0
 2 L  n
 ELASTIC BUCKLING OF BEAMS
n
 2 
L
12  42  1 
 
2 L
2 2 2
 1  42  1  2
L
2
 2 2  2  2 2   2 2 
 2  1   1  2  21   2 
L L  L 
 2    
4 4
2   2 
 2   2  1   2 
L  L 
M o2   2 G KT   2 
 2  2  2   
E I y Iw  L E I w   L2 


2
G KT   
2  2E I y   2E Iw 
Mo   
E2 I y Iw  2 
L E I
 2  Mo 
L2

 L
2
 G KT 

 w  L 