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Stiffness by
Definition and
the Direct
March 20, 2003
9:35 AM
Stiffness Method
Little 109
CES 4141
Forrest Masters
Farther Down the Yellow Brick Road..
Structural Analysis
Slope Deflection
Trusses
Moment-Area
Beams
Our Emphasis This Week: Trusses..
Composed of slender,
lightweight members
All loading occurs on joints
No moments or rotations
in the joints
Axial Force Members
Tension (+)
Compression (-)
Stiffness
Kij = the amount of force
required at i to cause a unit K = AE/L
displacement at j, with
displacements at all other DOF
= zero
A function of:
– System geometry
– Material properties (E, I)
– Boundary conditions (Pinned,
Roller or Free for a truss)
NOT a function of external loads
From Strength of Materials..
F=k* F
k
Spring AE
k
L
F L F A E
Units of
AE L Force per
Length
Axial Deformation
Go to the Board..
Let’s take a
look at last
week’s
homework to
shed some light
on the Stiffness
by Definition
Procedure
DOF
From Stiffness by Definition
We can create a stiffness matrix that
accounts for the material and geometric
properties of the structure
A square, symmetric matrix Kij = Kji
Diagonal terms always positive
The stiffness matrix is independent of the
loads acting on the structure. Many
loading cases can be tested without
recalculating the stiffness matrix
However ..
Stiffnesses from
Imposed Stiffness
K*r=R
Displacements Matrix
Unknown Known
Unknown
Displacements External
Displacements
Forces
Known Loadings
PIN 0 2
ROLLER 1 2
K11 K12 v1 S1
= S1
K21 K22 v2 S2
Gurley refers to the axial displacement as “v” and the
internal force as “S” in the local coordinate system
Element Stiffness Matrix in Local Coordinates
K21 AE K22
L
K11
Node 2 AE
L K12
Simplified..
GLOBAL
S2
r4
v1 r3
v2
r2 y
S1 LOCAL r1 x
How do we do that?
Meaning if I give you a point (x,y) in
Coordinate System Z, how do I find the
coordinates (x’,y’) in Coordinate System Z’
y’
Use a
y x Displacement
Transformation
Matrix
x’
To change the coordinates of a truss..
r1
v1 = r1*Lx + r2*Ly v1 Lx Ly 0 0 r2
v2 = r3*Lx + r4*Ly v2 0 0 Lx Ly r3
r4
So.. v = a*r
Force Transformation Matrix
R = aT * k * a * r is an important relationship
between the loading, stiffness
Stiffness and displacements of the structure
term in terms of the global system
Ke = aT * k * a
Lx 0
A E Ly 0 1 1 Lx Ly 0 0
Ke
L 0 Lx 1 1 0 0 Lx Ly
0 Ly
Lx2 Lx Ly Lx2 Lx Ly
2 2 (14) From notes
A E Lx Ly Ly Lx Ly Ly
Ke
L 2 2 Great formula to plug
Lx Lx Ly Lx Lx Ly
into your calculator
Lx Ly Ly2 Lx Ly Ly 2
Element Stiffness Matrix in Global Coordinates
Cont..
Node 1
Let’s use a problem 6
5
to illustrate the rest of
the procedure
Element 2 4 ft
2
Node 2 1
4
3
We will start by 3 ft
calculating KE’s for the
two elements Element 1 Node 3
Assembly of the Global Stiffness Matrix (KG)
Element 1
Near Far
L =3
r2 3 ft
r4
Lx = Dx / L = (3-0) / 3 = 1
Ly = Dy / L = (0-0) / 3 = 0
r1 r3
r1 r2 r3 r4
Pick a Near and a Far
0.333 0 0.333 0 r1
0 0 0 0 r2
Plug Lx, Ly and L into Ke1 A E
0.333 0 0.333 0 r3
equation 14 to get
0
0 r4
0 0
Assembly of the Global Stiffness Matrix (KG)
Element 2
r6 L =5
Far Lx = Dx / L = (3-0) / 5 = 0.6
r5
5 ft Ly = Dy / L = (4-0) / 5 = 0.8
4 ft
r2 r1 r2 r5 r6
3 ft
0.072 0.096 0.072 0.096 r1
r1
0.096 0.128 0.096 0.128 r2
Ke2 A E
Near 0.072 0.096 0.072 0.096 r5
0.096
0.128 0.096 0.128 r6
The Entire Local Stiffness
Matrix in Global Terms
r1 r2 r5 r6
0.072 0.096 0.072 0.096
r1
Shorthand
0.128 0.096 0.128 r2
A E
0.096
Ke2
0.072 0.096 0.072 0.096
Real Matrix
r5
0.096
0.128 0.096 0.128 r6
r1 r2 r3 r4 r5 r6
r1 r2 r3 r4 r5 r6
0.405 0.096 0.333 0.000 0.072 0.096 r1
0.096 0.128 0.000 0.000 0.096 0.128 r2
0.333 0.000 0.333 0.000 0.000 0.000 r3
KG A E
0.000 0.000 0.000 0.000 0.000 0.000 r4
0.072 0.096 0.000 0.000 0.072 0.096
r5
0.096 0.128 0.000 0.000 0.096 0.128 r6
How does this relate to Stiffness by Definition?
Solution Procedure
K11 K12
Rk AE K11 K12 ru
=
K21 K22 Ru K21 K22 rk
r1
so S
AE
( Lx Ly Lx Ly ) r2
L r3
r4
Internal Member Force Recovery Cont..
For Element 2
22.52 r1
AE
95.02
S2
AE
( 0.6 0.8 0.6 0.8 ) r2 = 12.5 kips
5 AE
0 r5
0 r6
Conclusion
We solved
Element Stiffnesses
Unknown
Displacements
Reactions
Internal Forces
A 3 C
1
2
10 kips
5 kips
4
2
r3
r2
r1
4
3
A C
B B’
Element Change in Length
1 6/10 Long
Unit Displacement 2 8/10 Short
3 0
4
4
A C
B’
Unit Displacement
B
Element Change in Length
1 8/10 Short
2 6/10 Short
3 0
4
5
Unit Displacement
B
Element Change in Length
1 0
2 4/5 Long
3 1 Long
4
6
r1 r2 r3
7
1
2 r1
50 50 25
K
1 91
3 r2 r1 r2 r3
50 600 50 0.14 -0.02 -0.08 r1
2 3 9 -0.02 0.152 -0.06 r2
r3
25 50 50 -0.08 -0.06 0.18 r3
4
7
r6 r4
r5 r3
r2
r1
4
8
Element 1
L=6
Lx = 0.6
Ly = -0.8 r5 r6 r1 r2
3
2
3 2 r5
50 25 50 25
2 8 2 8
r6
25 75 25 75
Ke 1 AE
3 2 3
2
r1
50 25 50 25
2 8 2 8
25 r2
75 25 75
50
r1 r2 r3 r4 r5 r6
3
2
0 0
3 2 r1
50 25 50 25
2 8
0 0
2
8
r2
25 75 25 75
0 0 0 0 0 0 r3
Ke1 AE r4
0 0 0 0 0 0
3 2 3 2
50
0 0 r5
25 50 25
2
8
0 0
2 8
r6
25 75 25 75
51
Element 2
L=8
Lx = 0.8
Ly = 0.6 r1 r2 r3 r4
2 2
2
3 r1
25 50 25 50
3 9 3 9
r2
50 200 50 200
Ke 2 AE
2 3 2 3
r3
25 50 25 50
3 9 3 9
50 200
50 200 r4
52
Element 3
L = 10
Lx = 1
Ly = 0 r5 r6 r3 r4
1
1
0
r5
10 0
10
r6
Ke 3 AE 0 0 0 0
1 1
10 0
10
0 r3
0 0 0 0 r4
53
r1 r2 r3 r4 r5 r6
3 2 2 3
2
3
3 2
50 25 25 50 25 50 50 25
r1
2 3 8 9
3
9 2
8
25 50 75 200 50 200 25 75 r2
2 3 2 1 3 1
0 0 r3
KG AE
25 50 25 10 50 10
3 9 3 9
0 0 0 0 r4
50 200 50 200
3 2
1
0
3
1
2
0
50 25 10 50 10 25 r5
2 8 2 8
0 0 0 0
r6
25 75 25 75
55
r1 r2 r3 r4 r5 r6
0.14 -0.02 -0.08 -0.06 -0.06 0.08 r1
-0.02 0.15 -0.06 -0.05 0.08 -0.11 r2
-0.08 -0.06 0.18 0.06 -0.10 0.00 r3
-0.06 -0.05 0.06 0.05 0.00 0.00 r4
-0.06 0.08 -0.10 0.00 0.16 -0.08 r5
0.08 -0.11 0.00 0.00 -0.08 0.11 r6
Stiffness by Definition vs Direct Stiffness
K X runknown = Rknown
X =
K completed rknown Runknown
Zero Unless
Settlement Occurs Reactions