Contents

Introduction
- Historical review
- Scope of this research
Linearized Principle of Virtual Work
Displacement Field of Nonsymmetric Thin-walled beam
Derivation of Exact Dynamics Stiffness Matrix
- 14 displacement parameters
- Force-displacement relations
- Exact dynamic stiffness matrix
Straight Beam Element
Numerical Examples
Conclusions
2
Introduction
Historical review (1)
Argyris, J.H.
Dunne, P.C.
Scharpf, D.W.
Kim, M.Y.
Chang, S.P.
Kim, S.B.
On large displacement-small strain analysis of structures
with rotational degrees of freedom
1978
1996
1992
3
Saleeb, A.F.
Chang, T.Y.P.
Gendy, A.S.
Spatial stability and free vibration of shear flexible thin-
walled elastic beams. I: Analytical approach
II: Numerical approach
1994
Effective modelling of spatial buckling of beam
assemblages accounting for warping constraints and
ratation-dependency of moments
Kim, M.Y.
Chang, S.P.
Kim, S.B.

Spatial stability analysis of thin-walled space frame
Historical review (2)
Friberg, P.O.
Banejee, J.R.
Kim, S.B.
Kim, M.Y.
New numerical scheme based on the quadratic
eigenproblem of thin-walled beam with open cross section
Generalized formulation which is believed to improve
Fribergs method
Improved formulation for spatial stability and free
vibration of thin-walled tapered beams and space frame
1985
2000
1994
4
Leung, A.Y.T
Zeng, S.P.
Coupled bending-torsional dynamic stiffness considering
for Timoshenko beam
1998
5
In order to demonstrate the accuracy of this study, the natural frequencies
and buckling loads are evaluated and compared with analytic solutions
and F.E solutions
Most of previous finite element formulations of thin-walled beam
introduce approximate displacement fields by using the shape function
In this research, a improved formulation for free vibration and spatial
stability of thin-walled beam is developed
For the general case of loading and boundary conditions, it is very difficult
to obtain closed form solutions for natural frequencies and buckling loads
of thin-walled beam
A clearly consistent numerical procedure which generates an exact dynamic
stiffness matrix of thin-walled beam is presented.
Scope of this research
Linearized Principle of Virtual Work
6
Equilibrium Equation for General Continuum
where
Strain
Linearized Equilirium Equation
2 t t t t t t
ij ij i i i i
V V S
dV U U dV T U dS t o c e o o =
} } }
*
, , ,
t t t o t o
i i i ij ij ij ij ij i i i
U U U T T T c c t t t = + = = + = +
* * * *
*
1
{( ), ( ), ( ), ( ), }
2
ij i i j j j i k k i k k j
ij ij ij
U U U U U U U U
e e
c
q
= + + + + + +
~ + +
* * *
, , , , , ,
1 1 1
( ) , , ( )
2 2 2
ij i j j i ij k i k j ij i j j i
e U U U U e U U q = + = = +
* * 2
( )
o o o
ij ij ij ij ij ij i i i i i i
V S V S
e e dV T U dS U U dV T U dS t o t oq t o o e o o + + + =
} } } }
where
v
Displacement Field of Nonsymmetric Thin-walled beam
7
x
2
e
2
e
3
x
3
x
1
U
x
U
y
U
z
e
1
e
2
e
3
f
O
C
O : Shear center
C : Centroid
x
2
e
2
e
3
x
3
x
1
F
1
F
2
F
3
M
1
M
2
M
3
M
|
O
C
O : Shear center
C : Centroid
Notation for displacement parameters and stress resultants
(a) Displacement parameters (b) Stress resultants
8
Displacement Field
Warping function:
First-order terms of displacement parameter
Second-order terms of displacement parameter
2 3 3 2 s
e x e x | | = +
' ' '
1 2 3 x y z
U U x U x U u | =
2 3 y
U U x u =
3 2 z
U U x u = +
( )
* ' '
1 2 3
1
2
z y
U U x U x u u = +
2
* 2 ' ' '
2 2 3
1
( )
2
y z y
U U x U U x u
(
= +

( )
* ' ' 2 ' 2
3 2 3
1
2
z y z
U U U x U x u
(
= +

9
Cross-section constants
2
2 3
,
A
I x dA =
}
2
3 2
A
I x dA =
}
23 2 3
A
I x x dA =
}
2
A
I dA
|
| =
}
2 3
A
I x dA
|
| =
}
3 2
A
I x dA
|
| =
}
10
Stress Resultants
1 11 2 12
,
A A
F dA F dA t t = =
} }
3 13
,
A
F dA t =
}
1 13 2 12 3
( )
A
M x x dA t t =
}
2 11 3
,
A
M x dA t =
}
3 11 2
A
M x dA t =
}
2 2
11 2 3
( ) ,
p
A
M x x dA t = +
} 11
A
M dA
|
t | =
}
12 13
2 3
R
A
M dA
x x
| |
t t
| |
c c
= +
|
c c
\ .
}
11
Potential energy of the thin-walled beam
E G M ext
[ = [ + [ [ [
2 2 2
11 12 13 1
1
4 4
2
E
L A
Ee Ge Ge dAdx ( [ = + +
} }
Where
* * *
11 11 11 12 12 12 13 13 13 1
( ) 2 ( ) 2 ( )
o o o
G
L A
e e e dAdx t q t q t q ( [ = + + + + +
} }
( )
2 2 2 2
1 2 3 1
1
2
M
L A
U U U dAdx e [ = + +
} }
( )
1 1 2 2 3 3
1
2
ext
S
T U T U T U dS [ = + +
}
12
Potential energy of the thin-walled beam
' 2 "2 "2 ' 2 "2
2 3
" " " "
2 3 1
1
[
2
2 2 ]
E x z y
L
z y
EAU EI U EI U GJ EI
EI U EI U dx
|
| |
u u
u u
[ = + + + +
+ +
}
' 2 ' 2 ' ' ' '' '' '
1 2 3 1
'' ' ' '' ' ' ' 2
2 3 1
1
[ ( ) ( )
2
( ) ( ) ]
o o o o
G y z z y z y z y
L
o o o
y y z z p
F U U F U F U M U U U U
M U U M U U M dx
u u
u u u u u
[ = + + +
+ +
}
2 2 2 2 ' 2 ' 2 2 ' 2
2 3
' ' ' '
2 3 1
1
[ ( )
2
2 2 ]
M x y z z y o
L
z y
A U U U I U I U I I
I U I U dx
|
| |
e u u
u u
[ = + + + + + +
+ +
}
1
2
ext
[ =
T
e e
U F
'' 2
'''' '''' 2 '' ''
3 3 3 3
'' ''' ''
1 1 2
'''' '''' 2 '' ''
2 2 2 2
'' ''' ''
1 1 3
'''' ''''
'''' " 2 ''
2 3
0
( )
0
( )
0
(
x x
y y y
o o o
y z
z z z
o o o
z y
z y o
EAU AU
EI U EI AU I U I
FU M U M
EI U EI AU I U I
FU M U M
EI GJ EI U EI U I I
| |
| |
| | | |
e
u e u
u
u e u
u
u u e u u
+ =
+
+ + =
+
+ =
+ +
'' '' '' '' ''
2 3 2 3
) 0
o o o
z y p y z
I U I U M M U M U
| |
u + + =
13
Governing equations of thin-walled beam
'
1
''' ''' 2 ' 2 ' ' '' '
2 3 3 3 3 1 1 2
''' ''' 2 ' 2 ' ' '' '
3 2 2 2 2 1 1 3
''' ' ''' ''' 2 '
1 3 2
2 ' 2 ' '
2 3
0
x
o o o
y y y z
o o o
z z z y
y z
o
z y p
F EAU
F EI U EI I U I FU M U M
F EI U EI I U I FU M U M
M EI GJ EI U EI U I
I U I U M
| |
| |
| | | |
| |
u e e u u
u e e u u
u u e u
e e u
=
= +
= + +
= +
+
' '
2 3
'' '' '
2 2 2 1 3
'' '' '
3 3 3 1 2
'' '' ''
3 2
.5 0.5
0.5 0.5
0.5 0.5
o o
y z
o o
z y
o o
y z
y z
M U M U
M EI U EI M U M
M EI U EI M U M
M EI EI U EI U
|
|
| | | |
u u
u u
u

= +
= + + +
= + +
14
Force-displacement relationship
Derivation of Exact Dynamic Stiffness Matrix
14 displacement parameters
1 2 14
{ , , ..., }
T
d d d = d
'
1 2
' '' '''
3 4 5 6
' '' '''
7 8 9 10
' '' '''
11 12 13 14
,
, , ,
, , ,
, , ,
x x
y y y y
z z z z
d U d U
d U d U d U d U
d U d U d U d U
d d d d u u u u
= =
= = = =
= = = =
= = = =
where,
15
' 2
2 1
' ' 2 2 2
3 6 3 14 3 3 5 3 13 1 5 1 10 2 13
' ' 2 2 2
2 10 2 14 7 2 9 2 13 1 9 1 6 3 13
' ' ' 2 2 2
14 3 6 2 10 13 11 13 2 9
2
3 5
o o o
o o o
o
EAd Ad
EI d EI d Ad I d I d Fd M d M d
EI d EI d Ad I d I d Fd M d M d
EI d EI d EI d GJd I d I d I d
I d
| |
| |
| | | | |
|
e
e e e
e e e
e e e
e
=
+ = +
+ = + +
+ + = +
+
13 2 5 3 9
o o o
p
M d M d M d
14 13 13 12 12 11 10 9 9 8
8 7 6 5 5 4 4 3 2 1
'
,
'
,
'
,
'
,
'
,
'
,
'
,
'
,
'
,
'
d d d d d d d d d d
d d d d d d d d d d
= = = = =
= = = = =
16
and,
Differential equation of the first order with constant coefficient

=
=
=
=
=
=
=
|
|
|
2 7
3 6
5
2 4
3 3
2
1
0 . 1
EI a
EI a
EI a
EI a
EI a
EA a
a
'
Ad = Bd
a1
a1
a1
a1
a4
a1
a1
a1
a3
a1
a1
a1
a2
a5
a6
a6 a7
a7
a6
17
= A
where,
In matrix form

2 2
1 2 3 3 1 4 1
2 2 2
5 3 2 6 2 1 7 2 3
2 2
8 9
1.0, , ,
, ,
,
o o
o o o
o
o p
b b A b I F b M
b I M b I F b I M
b I b GJ I M
| |
|
e e
e e e
e e

= = = + =

= = + =

= = +

b1
b5
b7
b1
b4
b1
b2 b3
b1
b1
b1
b2
b1
b1
b1
b1
b2
b6
b6
b4
b8
18
= B
14
1
i
x
i
i
a e

=
=
i
d Z
General solution
Complex eigen analysis by using IMSL subroutine DGVCRG
( ) 0
i
=
i
A B Z
19
14 eigenvalues
14 14
eigenvectors
Eigen problem of nonsymmetric matrix
d(x) = X(x) a
20
where,
e
u = Ea
3 2 1
3 2 1
{ (0), (0), (0), (0), (0), (0), (0),
( ), ( ), ( ), ( ), ( ), ( ), ( )}
x y z
T
x y z
U U U f
U L U L L U L L L f L
e e e
e e e
=
e
u
In matrix form
E
is obtained from X(x)
Nodal displacement vector
-1
e
a = E u
-1
e
d(x) = X(x) E u
Compute complex inverse matrix by using IMSL subroutine DLINCG
21
Displacement state vector
1 2 3 3 2 1
{ , , , , , , }
T
F F M F M M M
|
= f

2 2 2
1 2 3 1 3 3 4 1 5 3 2 6 3 7 2 1
2 2 2
8 2 9 2 3 10 2 11 3 2 12 2 3
2
13 15 14 15 1 16 3
, , , , , ,
, , , 0.5 , 0.5
, , , 0.5 , 0.5 ,
o o o o
o o o
o o o
p
S EA S I F S EI S M S I M S EI S I F
S EI S I M S EI S I M S I M
S GJ I M S EI S EI S M S M
| |
| | | |
| | |
e e e
e e e
e
= = + = = = = = +
= = = = =
= + = = = =
17 2
0.5
o
S M

f(x) = S d(x)
22
where,
= S
In matrix form
S1
S3 S2
-S4
S12
S15
S8
-S6
-S14
S10
S5
S13
-S3
-S6 -S10
S17
S9
S16 S10
S10
S6
S14
S4
S7 S8
S11 S6
S15
e d e
F = K () U
23
Exact dynamic stiffness matrix
where,
-1
-1
0
l
(
=
(

d
-S X( ) E
K ()
S X( ) E
Nodal force vector
T
< >
p q
e
F = F , F
1 2 3 1 2 3
{ , , , , , , } , ,
T
F F F M M M M p q
o o o o o o o
|
o = =
e
F
where,
Nodal force vector
1
0 0
p -
e
F = -f( ) =-S X( ) E U
-1 q
l l
e
F = f( ) = S X( ) E U
Straight Beam Element
24
Shape functions
x
U
: Linear Hermitian polynomial
, ,
y z
U U u
: Cubic Hermitian polynomial
Equilibrium equation
( )
2
e
e g e e e e
K + K U - M U = F
Numerical Examples
2 2 2 2
3 4 4
2 3
4 5 5 4
2 3
10000.0 / , 5000.0 / , 30.0 , 10.0
100.0 , 0.00785 / , 100.0 , 800.0
83750.0 , 600.0 , 8000.0 , 900.0
o
E N cm G N cm A cm J cm
L cm kg cm I cm I cm
I cm I cm I cm I cm
| | |

= = = =
= = = =
= = = =
25
1. Free vibration of simply supported thin-walled beam
Sectional property
Analysis results
26
Tab.1 Natural frequencies of simply supported beam
2
( / sec) rad




Zero axial force F
1
= -200 N at (x
2
,x
3
) = (-5,7)
mode
Present study Analytic solution Present study Analytic solution
1.17287 1.17287 0.29079 0.29079
5.46156 5.46156 5.11979 5.11979

N=1
136.963

136.963

134.184 134.184
5.50341 5.50341 2.32697 2.32697
82.1628 82.1628 80.4626 80.4626

N=2
1621.25

1621.25 1612.80 1612.80
14.2024 14.2024 7.20439 7.20439
404.560 404.560 400.665 400.665

N=3
5835.63 5835.63 5822.04 5822.04

27
2. Free vibration of thin-walled cantilever and fixed beam
L = 200 cm L = 200 cm
x
2
x
3
10 cm
4 cm
0.5 cm
2 cm
Cantilever beam Fixed beam
Nonsymmetric channel section
28
Tab.2 Natural frequencies of cantilever beam
2
( / sec) rad




mode Present study 5 beam element 10 beam element ABAQUS
1 0.027 0.027 0.027 0.028
2 0.336 0.337 0.336 0.331
3 0.707 0.709 0.707 0.696
4 1.074 1.076 1.075 1.074
5 4.859 4.880 4.860 4.766
6 7.186 7.232 7.189 7.083
7 18.22 18.45 18.24 17.95
8 20.15 20.26 20.16 19.36
9 24.39 24.73 24.42 23.58
10 47.34 48.77 47.54 46.52


29
Tab.3 Natural frequencies of fixed beam
2
( / sec) rad




mode Present study 5 beam element 10 beam element ABAQUS
1 0.910 0.912 0.910 0.914
2 3.115 3.129 3.116 3.046
3 5.803 5.850 5.806 5.780
4 17.66 17.82 17.68 17.24
5 18.60 19.03 18.63 18.31
6 20.61 20.66 20.61 19.20
7 44.83 46.77 45.02 43.99
8 59.01 60.61 59.12 56.81
9 91.21 115.0 92.07 87.77
10 150.1 152.9 150.6 127.6



30
3. Buckling of thin-walled cantilever beam under axial load
mode Present study 8 Beam elements ABAQUS
1 13.800 13.800 14.001
2 112.55 112.56 113.10
3 191.84 191.84 190.08
4 258.54 258.77 256.67
5 414.76 416.05 408.53
6 526.71 526.73 509.74
7 571.33 571.33 546.49


Tab.4 Flexural-torsional buckling loads for cantilever beam [N]
Conclusions
31
A consistent numerical procedure which generates an exact dynamic
stiffness matrix of nonsymmetric thin-walled beam is presented
Numerical results by the present method are in a good agreement with
those by thin-walled beam elements and ABAQUSs shell elements.
Present procedure is general and provides a systematic tool for the
numerical evaluation of exact solution of ordinary differential equation
A improved formulation for spatial stability and free vibration of
nonsymmetric thin-walled beam is developed