The Direct Stiffness

Method: Beams
Objectives:

After reading this chapter the student will be able to

1. Derive member stiffness matrix of a beam element.
2. Assemble member stiffness matrices to obtain the global
stiffness matrix for a beam.
3. Write down global load vector for the beam problem.
4. Write the global load-displacement relation for the beam
The stiffness matrix for the flexural element can be
constructed by referring to Figure 1. The forces and
the corresponding displacements, namely, the
moments, shears, and the corresponding rotations
and translations at the ends of the member, are defined
in the figure. The matrix equation that relates
these forces and displacements can be written in the
form
The terms in the first column consist of the element
forces q1 through q4 that result from displacement
d1=1 when d2=d3=d4=0. This means that a unit vertical
displacement is imposed at the left end of the member
while translation at the right end and rotation at both
ends are prevented as shown in Figure 1. The four
member forces corresponding to this deformation can
be obtained using the moment area method.
Fig(1)
 The change in slope between the two ends of the member is
zero and the area of the M/EI diagram between these points
must therefore vanish. Hence,

𝑲𝟒𝟏 𝑳 𝑲𝟐𝟏 𝑳
− =𝟎
𝟐𝑬𝑰 𝟐𝑬𝑰

And 𝑲𝟐𝟏 = 𝑲𝟒𝟏 (1)

The moment of the M/EI diagram about the left end of the
member is equal to unity. Hence,

𝑲𝟒𝟏 𝑳 𝟐𝑳 𝑲𝟐𝟏 𝑳 𝑳
− =𝟏
𝟐𝑬𝑰 𝟑 𝟐𝑬𝑰 𝟑
And in view of equation (1)
 𝟔𝑬𝑰
𝑲𝟒𝟏 = 𝑲𝟐𝟏 = 𝑳𝟐
Finally , moment equilibrium of the member about the right end
leads to
Finally , moment equilibrium of the member about the right
end leads to
𝑲𝟐𝟏 + 𝑲𝟒𝟏 𝟏𝟐𝑬𝑰
𝑲𝟏𝟏 = = 𝟑
𝑳 𝑳

And from equilibrium in the vertical direction we obtain

𝟏𝟐𝑬𝑰
𝑲𝟑𝟏 = 𝑲𝟏𝟏 = 𝟑
𝑳
 𝟏𝟐𝑬𝑰
𝑲𝟑𝟏 = 𝑲𝟏𝟏 = 𝟑
𝑳

𝟏𝟐𝑬𝑰 𝟔𝑬𝑰 𝟏𝟐𝑬𝑰 𝟔𝑬𝑰

𝑲𝟏𝟏 = 𝟑 , 𝑲𝟐𝟏 = 𝟐 ; 𝑲𝟑𝟏 = − 𝟑 ; 𝑲𝟒𝟏 = 𝟐
𝑳 𝑳 𝑳 𝑳
 The second column of the stiffness matrix is obtained by
letting d2 = 1 and setting the remaining three
displacements equal to zero as indicated in Figure 1c. The
area of the M/EI diagram between the
ends of the member for this case is equal to unity, and
hence,
𝑲𝟐𝟐 𝑲𝟒𝟐
− =𝟏
𝟐𝑬𝑰 𝟐𝑬𝑰

The moment of the M/EI diagram about the left end is zero, so
that

𝑲𝟐𝟐 𝑳 𝑳 𝑲𝟒𝟐 𝑳 𝟐𝑳
− =𝟎
𝟐𝑬𝑰 𝟑 𝟐𝑬𝑰 𝟑
 therefore, one obtains

𝟒𝑬𝑰 𝟐𝑬𝑰
𝑲𝟐𝟐 = , 𝑲𝟐𝟏 = .
𝑳 𝑳

From vertical equilibrium of the member, 𝑲𝟏𝟐 = 𝑲𝟑𝟐

and moment equilibrium about the right end of the member

leads to

𝑲𝟐𝟐 + 𝑲𝟒𝟐 𝟔𝑬𝑰

𝑲𝟏𝟐 = = 𝟐
𝑳 𝑳
 Comparison of the forces in Figure 1c with the positive
directions defined in Figure 1a indicates that all the influence
coefficients except K12 are positive. Thus,

𝟔𝑬𝑰 𝟒𝑬𝑰 𝟔𝑬𝑰 𝟐𝑬𝑰

𝑲𝟏𝟐 = 𝟐 , 𝑲𝟐𝟐 = , 𝑲𝟑𝟐 = − 𝟐 , 𝑲𝟒𝟐 =
𝑳 𝑳 𝑳 𝑳

Using Figure 1d and Figure 1e, the influence coefficients for

the third and fourth columns can be obtained. The results of
these calculations lead to the following element stiffness
matrix:
 special case

A special case where the vertical displacements of the beam

nodes are prevented and only rotations of the beam ends is
allowed. In this case, all terms relating to the translation
DOFs are removed giving us the reduced stiffness matrix for
a beam on rigid vertical supports:

4𝐸𝐼 2𝐸𝐼
𝐾 = 𝐿 𝐿
2𝐸𝐼 4𝐸𝐼
𝐿 𝐿
Beam Element Loading
Applied Loads
Beam loads are different to truss loads since they can be
located anywhere along the element, not only at the nodes –
termed intermodal loading Beams can also have loads applied
to the nodes – nodal loading. We deal with these two kinds of
loads as follows:
• Nodal loads: apply the load to the joint as usual;
• Inter-nodal loads: apply the equivalent concentrated loads to
the joints (these are just fixed end moment reactions to the
load, with the direction reversed).
 If a member’s nodes are locked against rotation, the
member end forces due to inter-nodal loading will just be
the fixed end moment and force reaction vector we are 𝑭𝒇
familiar with .
If a member also displaces, the total member end forces
are:
𝑭 𝒕𝒐𝒕𝒂𝒍 = 𝑭𝑭 + 𝒌 𝜹

Thus the general stiffness equation becomes:

Where is now the vector of net nodal loads: 𝑭

Net Nodal Load =Nodal Load-∑ Fixed End Reactions

Lastly, we must note that inter-nodal loads on adjacent
members will result in multiple loads on a node. Thus we
must take the algebraic sum of the forces/moments on each
node in our analysis, bearing in mind the sign convention.

As an example, the equivalent nodal loads for a UDL applied to

a beam element are:
Member End Forces

After the deformations of the beam are known, we can use

the element stiffness matrices to recover the end
forces/moments on each element due to both deformations
and the inter-nodal loading directly from equation .

𝑭 𝒕𝒐𝒕𝒂𝒍 = 𝑭𝑭 + 𝒌 𝜹
Beam (global) Stiffness Matrix.

The formation of structure (beam) stiffness matrix from its

member stiffness matrices is explained with help of two span
continuous beam shown in Fig.2a. Note that no loading is
shown on the beam. The orthogonal co-ordinate system xyz
denotes the global co-ordinate system.
Fig (2a) Continuous beam
Fig(2b)
it is not required to transform member stiffness matrix from
local co-ordinate system to global coordinate system. For
obtaining the global stiffness matrix, first assume that all
joints are restrained. The node and member numbering for
the possible degrees of freedom are shown in Fig 2b. The
continuous beam is divided into two beam members. For this
member there are six possible degrees of freedom. Also in
the figure, each beam member with its displacement degrees
of freedom (in local co ordinate system) is also shown.
Since the continuous beam has the same moment of inertia
and span, the member stiffness matrix of element 1 and 2 are
the same. They are,