PERGAMON Computers and Structures 69 (1998) 53±62

A re®ned R.C. beam element including bond±slip

relationship for the analysis of continuous beams
Gaetano Manfredi *, Marisa Pecce
Dipartimento di Analisi e Progettazione Strutturale, FacoltaÁ di Ingegneria, UniversitaÁ ``Federico II'' di Napoli, 80125, Napoli, Italy
Received 8 January 1997; received in revised form 2 February 1998

Abstract

In this paper a re®ned ®bre model is proposed for analysis of R.C. beams that include an explicit formulation of
bond±slip relationship. The model is introduced in a matrix formulation developing a computational method for
statically indeterminate beams. The method takes into account detailed models of materials and their interaction so
that a reliable analysis of non-linear behaviour of the R.C. beams can be obtained including debonding of rebars,
width of cracks, tension sti€ening e€ect and so on. The capability and the reliability of the procedure have been
tested by means of a large theoretical±experimental comparison and a meaningful case is described as an example in
the paper. The procedure is very ecient in terms of computational e€ort and convergence velocity, moreover it is
general and allows a re®ned non-linear analysis to be e€ected for a design purpose without simpli®ed hypothesis in
the rotational capacity of the element. The model requires only the introduction of the geometrical characteristics of
the element and the constitutive properties of the materials and allows the local behaviour of R.C. beams to be
studied in details due to the bond interaction between steel and concrete. # 1998 Elsevier Science Ltd. All rights
reserved.

Keywords: R.C. beams; Non-linear behaviour

1. Introduction In the last years several approaches have been devel-

Reinforced concrete structures are characterized by
a non-linear behaviour ever since service conditions
due to cracking phenomena; moreover at ultimate
state the non-linear behaviour of materials and their
interaction largely in¯uence the failure conditions, es-
pecially in terms of ductility, that is a central par-
ameter in the plastic design at the present.
Moreover Eurocode 2 for R.C. structures and CEB
Code 90 allow non-linear calculation of stress in con-
tinuous beams to design taking into account the
moment redistribution [1].
For these reasons it is very important to have a re-
liable analysis method that takes into account the
e€ective behaviour of R.C. structures.
* Corresponding author.
oped for non-linear analysis of R.C. elements with
di€erent levels of detailing [2]; the models can be
classi®ed in lumped models and distributed models.
The lumped models [3] reduce computational e€ort
but oversimplify important aspects of the reinforced
concrete behaviour; therefore they are e€ective to
evaluate the global behaviour of structures but the
models are not able to develop detailed analysis. On
the contrary the distributed models allow the main
behavioural phenomena of R.C. structures such as
cracking and plasticity to be taken into account in
detail; in this approach bi- or tri-dimensional
elements [4] and monodimensional ones [5] can be
used. In the ®rst case a large number of variables is
required with a very complex formulation; in the sec-
ond one the computational complexity and the model
reliability are balanced. In the monodimensional for-
mulation the introduction of the material constitutive

0045-7949/98/$±see front matter # 1998 Elsevier Science Ltd. All rights reserved.
PII: S 0 0 4 5 - 7 9 4 9 ( 9 8 ) 0 0 0 7 8 - 9
54 G. Manfredi, M. Pecce / Computers and Structures 69 (1998) 53±62
relationships using the ®bre models is very promising
for the non-linear analysis of reinforced concrete mem-
bers, even if subjected to cyclic actions [6].
At the present most of the ®bre models consider the
e€ect of the steel±concrete bond±slip in a simple way
both in the elastic ®eld [7] and in the post-elastic
®eld [8]; however, especially in large post-yielding ®eld,
the results are strongly in¯uenced by bond
modelling [9] and therefore a detailed formulation is
necessary.
In this paper a ®bre model is proposed for the calcu-
lation of R.C. beams that include an explicit formu-
lation of bond±slip relationship [10]; the model is
introduced in a matrix procedure developing a compu-
tational method for statically indeterminate beams.
2. The De®nition of the Model
The proposed beam element presents cracking and
spread plasticity. It is based on a ®bre model that
takes into account the constitutive relationship of ma-
terials and overcomes the hypothesis of no slip
between steel rebars and concrete including a bond±
slip relationship. This last characteristic allows a
detailed evaluation of tension sti€ening e€ect both in
elastic and in post-yielding ®eld. Each beam element is
divided into sub-elements de®ned by two consecutive
cracks (Fig. 1a). The cracks will occur in the sections
where stress in concrete reaches the strength in tension;
Fig. 1. Models of beam (a), sub-element (b) and section (c).
otherwise, the distance between cracks DL can be cal-
culated using the semi-empiric formulations provided
by codes.
However experimental evidence shows that cracks
grow at the level with the stirrups that weaken the sec-
tions; therefore, it makes sense to consider the distance
between cracks as being equal to the spacing stirrups.
In the proposed element it is assumed that the
crack's position is known since the beginning of the
loading but a crack occurs in a section when the bend-
ing moment is greater than the cracking one. An incre-
mental analysis should be made in order to investigate
the development of cracks and the relative loading and
unloading phenomena; however the in¯uence of this
phase on the post-cracked behaviour is low: therefore
this problem is neglected.
The analysis of the generic section between two suc-
cessive cracks is made by considering that concrete in
compression and steel in tension are strained according
to the Bernoulli hypothesis: the plane cross-sections
remain plane. Then according to experimental
data [11, 12], the stress is transferred from steel to con-
crete in an e€ective area around the reinforcement.
The depth of the e€ective area dt is assumed equal to
dt=c + 8F c being the concrete cover and F the diam-
eter of the steel bars; for sake of simplicity, the strain
of concrete in tension is assumed to be constant in this
area. This simpli®cation makes calculations easier and
does not signi®cantly a€ect the results, as has been
 G. Manfredi, M. Pecce / Computers and Structures 69 (1998) 53±62 55

shown by the numerical tests made with more detailed The static problem is formally solved by the follow-
strain patterns of concrete in tension. ing set of four equations:
(i) translational equilibrium of the cross section
Z Z
3. The Analytical Formulation of the Sub-element sc …x; y†b…y† dy ÿ sct …x; y†b…y† dy
Ac Act

The sub-element comprises the length of the beam ÿ As ss …x† ˆ 0; …3a†

between two adjacent cracks DL as shown in Fig. 1b.
(ii) rotational equilibrium about the geometrical axis
The deformation of the sub-element is de®ned by the
of the cross section:
following parameters, according to the displacement Z Z
method (Fig. 1c): ÿ sc …x; y†yb…y† dy ‡ sct …x; y†yb…y† dy
duc Ac Act
Ec …x; dg † ˆ …1a† ‡ As ss …x† ds ˆ M…x†; …3b†
dx

dus (iii) translational equilibrium of the bar:

Es …x; ds † ˆ …1b†
dx
duct
Ect …x† ˆ …1c†
dx
s…x† ˆ us …x† ÿ uct …x† …1d†
where, with reference to the cross section at abscissa x,
Ec is the strain of the most compressed concrete ®ber,
dg is the distance between the mechanical centroid of
the cross section and the compressed edge of the sec-
tion, Es is the reinforcement strain, Ect is the strain of
the concrete in tension and s is the slip between bars
and surrounding concrete.
In order to solve the static problem of the sub-el-
ement it is necessary to introduce appropriate stress±
strain laws s±E of concrete in compression, of steel and
concrete in tension and of bond±slip t±s, that can be
formally expressed as:
sc ˆ sc …Ec † …2a†
ss ˆ ss …Es † …2b†
sct ˆ sct …Ect † …2c†
t ˆ t…s; x† …2d†
where sc and sct are the concrete stresses, respectively,
in compression and in tension, in the generic ®bre of
the section, ss is the reinforcement stress and t is the
tangential bond stress at the steel concrete interface.
Whichever stress±strain laws can be introduced, fur-
thermore it can be taken into account that t depends
on the slip and on the distance x of the section from
the crack, since the positive e€ect due to the con®ne-
ment of the concrete surrounding the reinforcement
decreases near the crack; this e€ect has been demon-
strated in some experimental studies [13, 14].
The explicit introduction of the bond±slip relation
allows direct evaluation of the tension sti€ening e€ect
with the consequent reduction of the steel strain along
the bar between two cracks.
dss …x† 4
ÿ t…x† ˆ 0 …3c†
dx F
where Ac, Act and As are the area of the concrete in
compression , of concrete in tension, of the steel bars,
respectively, and F is the bar diameter.
A fourth equation is obtained by developing the
de®nition of slip in terms of strain, i.e. by considering
the derivative of Eq. (1d):
ds…x†
ˆ Es …x† ÿ Ect …x†: …3d†
dx
According to the proposed cinematic model, in the sec-
tion at abscissa x, the strain Ec(x, y) in the generic con-
crete ®bre at a distance y from the section centroid, is
immediately expressed as follows:
y ÿ dg ‡ dc
Ec …x; y† ˆ Ec …x; dg † …4†
dc
i.e. as a function of the maximum concrete strain in
compression Ec(x, dg) and of the neutral axis depth dc
(Fig. 1c).
If the functions Ec(x), Es(x), Ect(x) and s(x) are the
unknowns of the problem and the constitutive laws (2)
are used, the problem consists of solving the set of
Eq. (3), of which Eq. (3a±b) are algebraic non-linear
equations, Eq. (3c) is a ®rst order non-linear di€eren-
tial equation, and Eq. (3d) is a ®rst-order linear di€er-
ential equation. The solution in terms of stresses is
always unique, even if the constitutive laws have des-
cending branches.
An exact solution of elasto-plastic problem can be
obtained solving the set of di€erential equations, in
each integration interval, with the associated boundary
conditions. In particular, in the end sections of the
sub-element, where cracks occur, the strain distribution
along the section can be immediately evaluated. Really
concrete ®bres at the cracked sections are considered
as detached, thus obtaining sct=0 and Ect=0; so that
Eq. (3a±b), uncoupled from the others, give the values
56 G. Manfredi, M. Pecce / Computers and Structures 69 (1998) 53±62

of sc and ss, and therefore of Ec and Es at the sub-el- The solution is based on obtaining the value of E(j) s,1
ement edges. By using these values in Eq. (3d) further and E(j) (j) (j)
c,1, and therefore ss,1 and sc,1, through the consti-
boundary conditions are introduced on the ®rst deriva- tutive laws by the equilibrium in the cracked section,
(j)
tive of s. In conclusion the terms of the problem are where s(j) ct,1=0. A trial value for s1 (and through the
(j)
well stated because at the end sections the values of Ect, constitutive law of t1 ) is used too.
Ec, Es and ds/dx are known. It can be observed that Once the procedure has started, in all the other steps
Eq. (3a±b) are coupled with the di€erential Eq. (3c±d) Eq. (5a) allows evaluation of the steel stress s(j) s,i+1 at
through stress and strain of concrete in tension. point i + 1; the global equilibrium conditions (3a±b),
An approximate solution of elasto-plastic problem solved by a numerical integration based on the ®bre
can be obtained if the term Ect is neglected with respect modelling of the section, give the values of s(j) c,i+1 and
to Es in Eq. (3d): in this way the di€erential equations s(j) (j)
ct,i+1, and Eq. (5b) gives the slip si+1.
represent a system in which the unknowns Es(x) and Finally the value s(j)s,n in the ®nal abscissa of the sub-
s(x) are not dependent on the global equilibrium of the element is obtained and the di€erence to the value cor-
section. responding to the limit is considered as the controller
Following this hypothesis, the equations of global parameter for convergence. In analytical terms, the
equilibrium of the section Eq. (3a±bd) are to be used problem can be stated as the search for 0 of the fol-
only in the cracked sections, where stresses of concrete lowing function F:
in tension are not involved, in order to obtain the
limit conditions. Between cracks the problem is gov- F…s…j† …j† …j†
1 † ˆ ss;n ÿ ss;n …s1 † ˆ 0: …6†
erned only by Eq. (3c±d) and calculations are greatly
By using the method of tangent, the iterative solution
simpli®ed.
of the problem (6) could be expressed as follows:
ss;n ÿ s…jÿ1†
4. The Numerical Solution of the Sub-element s…j† …jÿ1†
1 ˆ s1 ÿ …jÿ2†
s;n
…s1…jÿ2† ÿ sjÿ1
1 †: …7†
ss;n ÿ s…jÿ1†
s;n

The solution of the equations system introduced in
the previous paragraph appears to be complicated due
to the non-linearity of some equations and to the
dependency of the bond on the distance of the generic
section from the crack.
Therefore the problem can only be approached nu-
merically. In particular it is worth making discretiza-
tion at ®nite di€erences, by dividing the space between
two cracks in n-1 subintervals with small length Dx
(Fig. 1b). For solving the problem at the ®nite di€er-
ences the iterative procedure based on the ``regula
falsi'' [13, 15, 16] is very useful. This procedure, also
called ``shooting'', transforms the problem of limit
conditions in the iterative solution of an initial value
problem. In particular the values of ss,1 and ss,n are
known in the cracked section at the edges of the sub-
element, while the values of s1 and sn are unknown; for
solving the problem, it is worthwhile de®ning a trial
value of slip s1 in the ®rst section and checking the
convergence of the method using steel stress in the last
section ss,n. In the generic iteration j, the procedure
allows calculation of the parameters values at the node
i + 1 by the values assumed at the node i; the ex-
pressions at the ®nite di€erences of Eq. (3c) and (3d)
are used as follows:
4 …j†
s…j† …j†
s;i‡1 ˆ ss;i ‡ t Dx …5a†
F i
! the curvature for each distance between two cracks:
E…j† …j†
s;i‡1 ‡ Es;i E…j† …j†
ct;i‡1 ‡ Ect;i
s…j†
i‡1 ˆ s…j†
i ‡ Dx ÿ : …5b†
2 2
In order to trigger the procedure, a value s(0)
1 of the in-
itial slip has to be given. This value can be chosen by
taking into account that its upper bound is evaluated
multiplying the maximum strain in steel in the cracked
section by the distance between two adjacent cracks.
When the convergence is attained, the ®nal distri-
bution of steel strain and neutral axis depth along the
sub-element is known, and the curvature wi in the i-sec-
tion can be easily obtained:
Es;i
wi ˆ …8†
d ÿ dc;i
where d is the height of section and dc,i is the depth of
the neutral axis.
If the approximate approach, which neglects the
strain of concrete in tension, has been adopted, the
position of the neutral axis dc is known only at
abscissa i = 1 and i = n; therefore the curvature in
each section can be evaluated using the approximate
relation:
Es;i
wi ˆ …9†
d ÿ dc;m
where dc,m represents the average value of neutral axis,
considering a linear variation between dc,1 and dc,n that
are the values in the end sections.
Therefore it is possible to de®ne an average value of
Es;m
wm ˆ …10†
d ÿ dc;m
 G. Manfredi, M. Pecce / Computers and Structures 69 (1998) 53±62
being Es,m the average value of the steel strain. In Fig. 2
the ¯ow-chart of the numerical solution is drawn.
5. The De®nition of the Sti€ness Matrix of the Element
The analysis of simple statically determinate struc-
ture is possible by means of the application of the pro-
cedure illustrated in the previous paragraphs to the
entire element; however, in order to analyze the non-
linear behaviour of more complex or statically indeter-
minate R.C. structures, a matrix procedure is con-
venient in computer application. Moreover in the case
of statically indeterminate structures the moment dia-
gram depends on the moment redistribution due to
cracking and plasticization of some regions of the
structure, therefore an iterative procedure is necessary.
The matrix method is made of two parts: the con-
struction of the sti€ness matrix of the structure and
the iterative procedure to de®ne the ®nal moment and
displacement diagrams. In the following the method is
carried out for the case of beams without axial load.
In order to calculate the sti€ness matrix of a beam
element the average inertia Im of each sub-element
between two cracks of the beam is evaluated as fol-
Fig. 2. Flow-chart of the numerical solution of the sub-el-
ement.
57
Fig. 3. Flexibility coecients.
lows:
Mm
Im ˆ wm
…11†
E
where Mm is the average value of the moment between
two cracks, wm is the average curvature that takes into
account the e€ective steel±concrete bond behaviour, as
is previously shown in Eq. (10), and E is the Young's
modulus of concrete.
Thus the sti€ness matrix of a beam characterized by
a variable inertia equal to I1 in the uncracked regions
and to a variable value Im in the cracked regions has
to be determined.
Each term of the sti€ness matrix is evaluated by the
¯exibility coecients aii, aij, ajj, ai0, aj0 of the auxiliary
simply supported beam (Fig. 3); these ¯exibility coe-
cients a can be calculated by the principle of virtual
work:
Z
Mh
Mk
l
ahk ˆ ds …12†
s E
I
where s is the length of the beam, Mh and Mk are the
moment diagrams evaluated with unit hth and kth
actions, respectively, and EI is the e€ective ¯exural
sti€ness, given by EI1 in the uncracked regions and
EIm in the cracked ones.
The calculation of the ¯exibility coecients requires
the de®nition of the cracked regions of the beams com-
paring the bending moment diagram to the cracking
moment values along the beam. Then the integral of
Eq. (12) can be numerically carried out.
Finally the compatibility conditions provide the fol-
lowing rotational terms of the sti€ness matrix (Fig. 4):
K11 ˆ ajj =…aii
ajj ÿ a2ij † …13†
K33 ˆ aii =…aii
ajj ÿ a2ij † …14†
58 G. Manfredi, M. Pecce / Computers and Structures 69 (1998) 53±62

When the local sti€ness matrix and load vector are

known for each beam element of the structure the glo-
bal sti€ness matrix and load vector can be evaluated
by a direct method; therefore the system of the linear
equations in the matrix form can be solved.
The solution can be achieved by means of an itera-
tive procedure; in the generic iteration the ¯exibility
coecients are evaluated referring to a tentative
moment distribution based on the results obtained in
all the previous steps. This criterion allows a very
good convergence performance as shown in Ref. [7].

Fig. 4. Sti€ness coecients. 6. Comparison with Experimental Results

The reliability of the model described above was

K13 ˆ ÿaij =…aii
ajj ÿ a2ij †: …15† tested by means of comparisons with numerous exper-
imental results of three point bending tests in Ref. [17]
The equilibrium condition provides the following
with particular reference to calculation of the allowable
mixed terms:
plastic rotations; the theoretical results were in good
K12 ˆ ÿK14 ˆ …K11 ‡ K13 †=L agreement with the experimental ones. In the following
ˆ …ajj ÿ aij †=‰…aii
ajj ÿ a2ij †
LŠ …16† the experimental results of a two span continuous
beam by Elighausen and Fabritius [18] are presented
together with the numerical simulation. This test has
K23 ˆ ÿK34 ˆ …K13 ‡ K33 †=L been chosen because it represents a good trial for the
ˆ …aii ÿ aij †=‰…aii
ajj ÿ a2ij †
LŠ …17† proposed procedure with a very large moment redistri-
bution and a low ratio between ultimate and cracking
and as a consequence moment.
K22 ˆ K44 ˆ ÿK24 ˆ …K21 ‡ K23 †=L In the numerical analysis the constitutive law of
Mander et al. [19] is introduced for concrete in com-
ˆ …aii ‡ ajj ÿ 2
aij †=‰…aii
ajj ÿ a2ij †
L2 Š: …18† pression; the bond±slip relationship of Ciampi et
al. [13] is considered and ®nally for steel the exper-
Furthermore the following terms of the load vector
imental s±E relation is used, based on the experimental
can be obtained by compatibility and equilibrium con-
parameters. The geometric characteristics of the beam
ditions: analyzed and the material characteristics are shown in
Mi0 ˆ …ai0
ajj ÿ aj0
aij †=…aii
ajj ÿ a2ij † …19† Fig. 5, where fcm is the average compression strength
of concrete, fy, ft and Eu are the yield stress, the
strength and the ultimate strain of steel in tension. The
Mj0 ˆ …aj0
aii ÿ ai0
aij †=…aii
ajj ÿ a2ij † …20†
cracks distance is pre®xed based on the experimental
results (about 10 cm).
qL Mi0 ‡ Mj0 In Figs. 6 and 7, the bending moment at the central
Ti0 ˆ ÿ ÿ …21†
2 L support and the load P are respectively drawn vs the
rotation that is de®ned as the relative one between the
qL Mi0 ‡ Mj0 contra¯exure points. The numerical method gives a
Tj0 ˆ ÿ ‡ : …22†
2 L good ®tting of the experimental results in terms of
Using the coecients aii, aij, ajj, ai0, aj0 the following moment redistribution due to concrete cracking and
matrix form of the problem is derived in the local steel yielding; even the numerical evaluation of the
reference system for each beam element: allowable plastic rotation yp at maximum load is re-
2 38 9 8 9 8 9 liable (yp,exp=0.024 rad; yp,num=0.027 rad).
K11 K12 K13 K14 > > fi >
> >
> Mi0 >> >
> Mi >
> Moreover the theoretical procedure allows knowing
6 < = < = < =
6 K22 K23 K24 7 7 di ‡ Ti0 ˆ Ti : the distribution of slip, bond stress, stress and strain of
4 Symm: K33 K34 5> f > > M > > M > the steel bar and the curvature along the beam. As an
>
: j> ; > : j0 > ; > : j> ;
K44 dj Tj0 Tj example in Fig. 8(a±d) are drawn the slip, the bond
stress, the stress and the strain of the steel for the ®rst
…23†
sub-element between two cracks (length equal to
 G. Manfredi, M. Pecce / Computers and Structures 69 (1998) 53±62 59

Fig. 5. Geometrical and material characteristics of the beam analysed.

10 cm) at the support, for a load level P equal to 56
kN.
It is worth noticing that the proposed model is able
to describe in detail the interaction between concrete
and steel that largely in¯uences the global behaviour
of the beam in non-linear ®eld. In fact the steel strain
distribution drawn in Fig. 8 evidences the yielding pen-
etration of the steel in the neighbourhood of the cracks
with large values of strains and slips, especially due to
the debonding e€ect. After a yielding penetration zone,

Fig. 6. Support moment versus rotation: experimental±

numerical comparison. Fig. 7. Load vs rotation: experimental±numerical comparison.
60 G. Manfredi, M. Pecce / Computers and Structures 69 (1998) 53±62
Fig. 8. Distribution of slip (a), bond stress (b), steel stress (c) and steel strain (d) in a sub-element at the central support of beam.
the steel±concrete bond allows transition of stress from
steel to concrete, resulting in a large tension sti€ening
e€ect; therefore the steel strain goes down under the
yielding value along the internal part of the sub-el-
ement: this phenomenon shown by di€erent experimen-
tal results is well ®tted by the proposed model.
Finally in Fig. 9, the curvature along the beam is
reported for the load level P equal to 56 kN. A sudden
increase of the curvature can be observed in the
cracked zones of the beam; in these zones the re-
duction of curvature between cracks due to tension
sti€ening is clear. The larger value of curvature is cal-
culated at the support and it is constant in many el-
ements because the e€ect of the load di€usion is
considered [20]. In the same ®gure the crack width and
the average steel strain between two cracks are drawn
along the beam; for the steel strain two numerical
results are reported: with the tension sti€ening e€ect,
as obtained using the proposed model, and without
tension sti€ening. It is interesting to observe that the
tension sti€ening e€ect is very large on the support
where the steel is in a large post-yielding ®eld, while it
is lower in the midspan where the steel deformation is
small; therefore simpli®ed tension sti€ening models,
usually reliable at serviceability conditions, are not
able to ®t this e€ect.
By means of this example, it is clear that the model
is able to give reliable results concerning both the glo-
bal behaviour of the beams (rotation, displacement,
moment redistribution) and the local phenomena
(bond, slip, stress, strain).
7. Conclusions
A matrix procedure for the non-linear analysis of re-
inforced concrete beams has been presented. The
method takes into account detailed models of materials
and their interaction so that a detailed analysis of
non-linear behaviour of the R.C. beams can be carried
out.
The capability and the reliability of the procedure
have been tested by means of theoretical±experimental
comparisons and a meaningful case is described as an
example in this paper. The computational procedure is
very ecient in terms of computational e€ort and con-
vergence rate and allows:
. a re®ned non-linear analysis for a design purpose,
introducing only geometrical characteristics of the el-
ement and constitutive properties of the materials;
. the evaluation of the allowable plastic rotation of
statically determinate and indeterminate beams in
order to analyze the in¯uence of the geometrical and
mechanical parameters;
 G. Manfredi, M. Pecce / Computers and Structures 69 (1998) 53±62
Fig. 9. Distribution of the curvature, cracks width, average steel strain along the beam.
. the detailed study of the local behaviour of R.C.
beams due to the bond interaction between steel and
concrete.
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