Displacement Methods: Stiffness Matrix Method

Classification of Structures..
The primary function of structure is to safely transfer the external loads acting on it to the foundation. Structures can be classified in many different ways Dimension :
1 D >one dimension say length is very large when compared with other two. Ex: Beams, Trusses 2- D or Surface Structure-> Here length & Breadth are large compared to thickness. Ex: slabs, Deep Beams, Shells, walls, plates 3-D or Solid Structure-> here all the three Dimensions L,b,d are prominent Ex: Dams, foundation , retaining walls etc..

 Structures can be classified based on the way they carry loads: Beam - carry their loads by developing B.M & S.F Truss Carry loads developing axial forces like tension and compression. Frames - carry loads by axial force, B.M & S.F. Arches carry load by compression & bending Cables carry loads by developing axial tension Two way Grids are subjected to both bending and twisting. Thin Plates are subjected to bending and twisting. Thin Shells Transfer stress as membrane stresses.

Analysis of any structure involves finding out the displacements & internal forces

 Any method is SA should satisfy 1. Equilibrium 2. Compatibility - --- these condition refer to the continuity of displacement throughout the structure and are some times referred as geometrical conditions. Displacements should be compactable with support conditions for example there can be no translation and rotaion at a fixed support. Compatibility condition should be satisfied at all point in a structure. 3. Stress Strain Law --- Stress (Strain )n 4. Boundary condition

Kinematic Indeterminacy (Degree of Freedom)

Minimum independent quantities (displacement quantities like deflection and rotation ) - required to define the displaced geometry of the structure.

No points can go anywhere so kinematic indeterminacy = 0 Or Kinematically Determinate

3 Joints or Nodes = 2 D.O.F per Node Total D.O.F = 2x3 = 6 Restrained D.O.F = 3

Kinematic Indeterminacy = 6-3 = 3

4 Joints or Nodes = 2 D.O.F per Node Total D.O.F = 2x4 = 8

Restrained D.O.F = 3
Kinematic Indeterminacy = 8-3 = 5

Beams

3 D.O.F per Node

2 Nodes
Total D.O.F = 2x3 = 6 Restrained D.O.F = 2+1 = 3 Actual D.O.F = 6 3 = 3 P

V M

3 D.O.F per Node 2 Nodes Total D.O.F = 2x3 = 6 Restrained D.O.F = 3 Actual D.O.F = 6 3 = 3

FRAMES 3 D.O.F per Node 4 Nodes Total D.O.F = 4x3 = 12 Restrained D.O.F = 3+3 =6 Actual D.O.F = 12 6 = 6

Axial Rigidity Doesnt have any effect on static indeterminacy. Beams are considered by default axially rigid. 3 D.O.F per Node - 2 Nodes
Total D.O.F = 2x3 = 6 Restrained D.O.F = 2 + 1 = 3 Constraint = 1 (axial rigidity) Actual D.O.F = 6-3-1x1 (no of members) = 2

Frames

3 D.O.F per Node - 2 Nodes Total D.O.F = 4x3 = 12 Restrained D.O.F = 6 Constraint = 1 (axial rigidity) Actual D.O.F = 12-6-1x3 (no of members) = 3

=0

=0

The supports are rigid vertical deflection = 0

Horizontal Deflection != 0 its a constant So D.O.F = 2 Rotation + 1 Hor. Deflection =3

Matrix method of SA
In an elastic structure, there are 2 set of interrelated quantities forces (incl. moments, stresses, reaction etc..) & displacements (incl. rotations, strains, twist etc..). The behavior of a structure can largely be defined by defining the force displacement relationship in the form of matrix. Two Methods :
Flexibility Method
1. Force Method 2. Basic Unknowns are the redundant forces 3. [] = [F][P] [Disp Matrix] = [Flexibility Matrix] x [Load Matrix]

Stiffness Method
Displacement Method Basic unknowns are displacement of joints [K] [] = [P] [Stiffness Matrix] x[Disp. Matrix] = [Load Matrix]

Choice of Method
Usually Stiffness Method is preferred for the complex structures in this method selection of unknowns is easy. In force method skill and experience are required in the selection of redundant. When static indeterminacy is less than kinematic indeterminacy the force method is preferred, otherwise displacement method is preferred.
K.I = 5, S.I = 1 (m-2j+3), K.I > S.I (Flexibility Method)

K.I = 2, S.I = 7 (m-2j+3), K.I < S.I (Stiffness Method)

Advantages of Matrix Method

The flexibility and stiffness method provides a systematic method for analysis of large structures with high degree of static and kinematic indeterminacy. The matrix approach can be easily converted to a computer programs which can be used for obtaining results. Matrix method is a generalized method takes into account of all he parameters that may influence a structural system. Disadvantage: Large number of simultaneous equation makes the analysis tedious or manual computations. So we require computing power. Further the analyst doesn't get an adequate feel for the flow of forces & structural behavior as in classical methods

Stiffness Method of Analysis For Beam

In order to apply stiffness method to beams, we must first determine how to sub - divide the beam into its component . In general each element must be free from load and have prismatic cross-section. For this reason the nodes of each element are located at a support or at points where the c/s area suddenly changes, or where the the vertical or rotational displacement at a point is to determined. Beam Element Stiffness Matrix Consider a beam element of uniform c/s area. The longitudinal axis of the element lies along the x-axis , the element has constant I , modulus of elasticity E and Length L.

F1 , 1

F2 , 2

1 M1 , 1 L, EI

2 M2, 2

D.O.F

2 [K] [] = [P]

Stiffness matrix K is a 4x4 matrix with stiffness coefficients.

Stiffness coefficient Kij means the force developed at ith D.O.F due to unit displacement at jth D.O.F such that other D.O.Fs are arrested or fixed.

D.O.F

2 6EI/L2 1 6EI/L2

4 K11 = force in 1 due to 1 = + 12EI/L3 ( ) K21 = - 6EI/L2 K31 = -12EI/L3 K41 = - 6EI/L2 MAB = MFAB + 2EI/L(2A+ B ) = 4EI/L MBA = MFBA + 2EI/L(A+ 2B ) = 2EI/L A = 1 K12 = -6EI/L2 K22 = 4EI/L K32 = +6EI/L2 K42 = 2EI/L

12EI/L3

12EI/L3

4EI/L
1 6EI/L2

2EI/L

6EI/L2

K13 = force in 1 due to 3 = -12EI/L3 K23 = + 6EI/L2 K33 = +12EI/L3 K43 = + 6EI/L2

6EI/L2 2EI/L

1
4EI/L

K14 = -6EI/L2 K24 = 2EI/L K34 = +6EI/L2 K44 = 4EI/L

F1 = K11. 1 + K12 . 1 + K13. 2 + K14. 2 M1 = K21. 1 + K22 . 1 + K23. 2 + K24. 2 F2 = K31. 1 + K32 . 1 + K33. 2 + K34. 2 M2 = K41. 1 + K42 . 1 + K43. 2 + K44. 2

[ [
F1 M1 F2 M2 = Load Matrix

K11 K12 K13 K14 K21 K22 K23 K24 K31 K32 K33 K34 K41 K42 K43 K44

Stiffness Matrix [K] For a simple beam element =

[ [ [

1 1 2 2

Displacement Matrix

1 2 3 4 K11 K12 K13 K14 K21 K22 K23 K24 K31 K32 K33 K34 K41 K42 K43 K44

1 2 3 4

12EI/L3 -6EI/L2 -6EI/L2 4EI/L -12EI/L3 6EI/L2 -6EI/L3 2EI/L

-12EI/L3 6EI/L2 12EI/L3 6EI/L2

-6EI/L2 2EI/L 6EI/L2 4EI/L

Properties of stiffness matrix

Symmetric Square Matrix of order n , n is number of coordinates chosen for solution of problem The diagonal elements are +ve The element stiffness matrix is singular i.e determinant = 0 , hence inverse cannot be obtained. The third row is of same magnitudes of first row but opposite in sign i.e F1 = -F2 Load matrix [P] The loads applied are transformed to equivalent joint loads [EJL] or nodal loads. It can be obtained = Joint load matrix Support Reaction Matrix [P] = [Pj] [PL]

-PL/8
A

+PL/8

-PL/8

+ PL/8 MCB C

B MBC PL/2 PL/2 1 PL/2 + PL/2 3 5

4 0 0 -P 0 0 0 1 2 3 4 5 6

[Pj] =

[PL] =

+PL/2 -PL/8 PL/2 +PL/2 PL/8 + -PL/8 PL/2 +PL/8

[P] = [Pj] [PL] LOAD MATRIX

Stiffness of a beam subjected to 2 Clockwise moments at the two ends

M A A
A

B 2 D.O.F K Matrix = 2x2

D.O.F

4EI/L 1

2EI/L

MAB = MFAB + 2EI/L(2A+ B ) = 4EI/L MBA = MFBA + 2EI/L(A+ 2B ) = 2EI/L A = 1 K11 = 4EI/L K12 = 2EI/L

2EI/L

K21 = 2EI/L K22 = 4EI/L

Stiffness Matrix [K] =

4EI/L K11 K21 K12 K22

4EI/L 2EI/L

2EI/L 4EI/L

RELATION BETWEEN STIFFNESS AND FLEXIBILITY MATRIX [] = [F][P] [Disp Matrix] = [Flexibility Matrix] x [Load Matrix] ----- > 1 [K] [] = [P] [Stiffness Matrix] x[Disp. Matrix] = [Load` Matrix] ---------- >2

Eq 1 x [F] -1 -1 [F] [] = [F] [F][P] -1 [F] [] = [P]

So , [F]
-1

-1

= [K]