Basic Introduction to

Nonlinear Analysis
Ronald D. Ziemian
Bucknell University

The function of a structural engineer is

to design not to analyze
Norris and Wilbur
1960

Analysis is a means to an end

rather than the end itself.

Role of the analysis:

forces, moments and deflections design equations
insight into the behavior of a structure
better the understanding, better the design

Impetus:
AISC Ch. C: P-, P- (App. 7)
App. 1: Inelastic Design
Limit States Design
Seismic: Pushover Analysis
Other: Progressive Collapse
Nonlinear Analysis

Limit States Design:

Prior to limit of resistance, significant nonlinear

response, including
- geometrical effects (P-, P-)
- material effects (yielding, cracking, crushing)
- combined effects

Hand

Available Software
Research

Nonlinear Analysis

Lecture Overview

methods

Second-order effects
i.e. Moment Amplification Factors (B1 and B2 factors)

Material nonlinear effects

i.e. plastic analysis (upper and lower bound theories)
Computer

Methods (focus of todays lecture)

Lots of variations
all use same basic concepts (most important to today)
one approach will be presented (basis for MASTAN2)
Please

keep in mind

Education

Brief

Introduction (done!)
Computer Structural Analysis (Review?)
Basis for Material Nonlinear Models
Incorporating Geometric Nonlinear Behavior
Critical Load Analysis
Overview of MASTAN2 software
Summary and Concluding Remarks

All methods are approximate

Not a substitute, but a complement to good engineering

Equilibrium Equations
Free Body
Diagram

D 40 kips

State-of-the-Art

Crystal Ball? Not quite.

By applying 2 requirements and 1 translator
Two Requirements:

of Equil. Eqs. = # of Unknown Displacements

Translator: Forces Displacements

j
vj

fyj
fxj

uj

(Undeformed)

(Deformed)

fyi
i

f xi = k11ui + k12vi + k13u j + k14v j

f yi = k21ui + k22vi + k 23u j + k24v j
f yj = k 41ui + k42vi + k43u j + k44v j

ui

Big Question:

Where do these known stiffness coefficients ks

come from?
Little Answer:
Function of members material and geometric
properties, including its orientation.

CD
f xD

be
em

y-d.o.f. vD : Fy = 0

x-d.o.f. u D :

f xAAD = k11ADu AAD + k12AD v AAD + k13ADu DAD + k14AD vDAD

AD
AD AD
AD AD
AD AD
AD AD
f xD
= k31
u A + k32
v A + k33
u D + k34
vD

Member BD:

40 = (k31ADu AAD + k32ADv AAD + k33ADu DAD + k34ADvDAD ) +

(k
(k

CD CD
31 C

+k v

vC
uB

uC

Member CD:

BD
f xB
= k11BDu BBD + k12BD vBBD + k13BDu DBD + k14BD vDBD

CD
CD CD
CD CD
CD CD
CD CD
f xC
= k11
uC + k12
vC + k13
u D + k14
vD

BD
BD BD
BD BD
BD BD
BD BD
f yB
= k21
u B + k22
vB + k23
u D + k24
vD

CD
CD CD
CD CD
CD CD
CD CD
f yC
= k21
uC + k22
vC + k23
u D + k24
vD

BD
BD BD
BD BD
BD BD
BD BD
f xD
= k31
u B + k32
vB + k33
u D + k34
vD

CD
CD CD
CD CD
CD CD
CD CD
f xD
= k31
uC + k32
vC + k33
u D + k34
vD

BD
BD BD
BD BD
BD BD
BD BD
f yD
= k41
u B + k42
vB + k43
u D + k44
vD

CD
CD CD
CD CD
CD CD
CD CD
f yD
= k41
uC + k42
vC + k43
u D + k44
vD

Member AD:
AD
AD AD
AD AD
AD AD
AD AD
f yD
= k41
u A + k42
v A + k43
u D + k44
vD

y-d.o.f. v D :

d.o.f. u D :

BD BD
32 B

vB
uA

Member BD:

CD
CD CD
CD CD
CD CD
CD CD
f xD
= k31
uC + k32
vC + k33
u D + k34
vD

BD BD
31 B

vA

AD
AD AD
AD AD
AD AD
AD AD
f yD
= k41
u A + k42
v A + k43
u D + k44
vD

40 kN

Member CD:

BD
CD
+ f xD
40 = f xDAD + f xD

uD

AD
AD AD
AD AD
AD AD
AD AD
f yA
= k21
u A + k22
v A + k23
u D + k24
vD

BD
BD BD
BD BD
BD BD
BD BD
f xD
= k31
u B + k32
vB + k33
u D + k34
vD

Fx = 0

vD

Member AD:

Member BD:
B

CD
f xD

F for all members

AD
AD AD
AD AD
AD AD
AD AD
f xD
= k31
u A + k32
v A + k33
u D + k34
vD

BD
f xD

AD
BD
CD
0 = f yD
+ f yD
+ f yD

Member AD:

40 kN

BD
f xD

Substituting into Equil. Eqs. (cont.)

Substituting into Equil. Eqs.

D

40 =

AD
f xD

CD
f yD

f xj = k31ui + k32vi + k33u j + k34v j

fxi vi i

x-d.o.f. u D : Fx = 0

AD
f xD

D BD
r A f yD
BD

Constitutive Relationship (i.e. Hookes Law, = E )

Generalized to Force-to-Displacement (i.e. F=k)
Re-write equilibrium eqs. in terms of unknown displacements

mb
er

Translator apples to oranges

D 40 kips

AD
CD
BD f yD
f yD
f yD

AD
f yD

Me

Equilibrium (equations in terms of Fs and Ms, 1 per d.o.f.)

Compatibility (equations in terms of s and s, 1 per d.o.f.)

AD
f xD
BD
f xD
CD
f xD

Member CD

How does the computer get

these results?

+k u

BD BD
33 D

+k v

BD BD
34 D

)+

CD CD
CD CD
CD CD
+ k32
vC + k33
u D + k34
vD )

BD
BD BD
BD BD
BD BD
BD BD
f yD
= k 41
u B + k 42
vB + k 43
u D + k44
vD

Fy = 0

Member CD:

BD
CD
+ f yD
0 = f yDAD + f yD

CD
CD CD
CD CD
CD CD
CD CD
f yD
= k 41
uC + k 42
vC + k 43
u D + k44
vD

d.o.f. vD :

(
(k
(k

)
)+
)

0 = k 41AD u AAD + k 42AD v AAD + k 43AD u DAD + k 44AD vDAD +

BD BD
41 B

+k v

+k u

+k v

CD CD
41 C

+k v

+k u

CD CD
+ k 44
vD

BD BD
42 B
CD CD
42 C

BD BD
43
D
CD CD
D
43

BD BD
44 D

Compatibility Eqs. (consistent deflections)

So, where are we at?

have two equilibrium equations (1 per
d.o.f.) in terms of a lot of displacements:

AD
41

Member-to-Support

u AAD + k 42AD v AAD + k 43AD u DAD + k 44AD vDAD

BD BD
41
B

+k v

+k u

+k v

CD CD
41 C

+k v

+k u

+k v

BD BD
42 B
CD CD
42 C

BD BD
43
D
CD CD
43
D

BD BD
44 D
CD CD
44 D

What card havent we played yet?

u A = u AAD = 0
u C = u CCD = 0
AD
=
=
vA vA
0
vC = vCCD = 0
BD
uB = uB = 0
vB = vBBD = 0

Time for some serious simplifying

Applying

Compatibility to Equil. Eqs.:

(
(k
(k
(k
(k
(k

u D : 40 = k u

vD :

0 =

AD
31

AD
A

+k v

AD AD
32
A

+k u

+k v

AD AD
33
D

CD CD
31 C

+k v

AD
41

CD CD
32 C

+k u

CD CD
33
D

+k v

+ k 42BD vBBD + k 43BD u DBD + k 44BD vDBD

CD CD
41 C

CD CD
CD CD
CD CD
+ k 42
vC + k 43
u D + k 44
vD

All = 0

vD :

With all displacements, solve for

AD:
member forces Member
f
=k u +k v +k u +k
v A = v AAD = 0
u B = u BBD = 0
vB = vBBD = 0
uC = uCCD = 0
vC = vCCD = 0
u D = u DAD = u DBD = u DCD = #
vD = vDAD = vDBD = vDCD =# #

AD AD
A
11

AD AD
12 A

AD AD
13 D

AD AD
14 vD

AD
AD AD
AD AD
AD AD
f xD
= k31
u A + k32
v A + k33ADu DAD + k34
vD

AD AD
k 41
uA

AD AD
k 42
vA

AD AD
k43
uD

+k

AD
33

AD
43

+k

BD
33

BD
43

+k

CD
33

) u? + (k AD + k BD + k CD ) v?

34

34

34

CD
CD
+ k 43
u?D + k 44AD + k 44BD + k 44
v?D

Solve for Unknown Displacements

uD = #

AD AD
k44
vD

BD
BD BD
BD BD
BD BD
BD BD
f xD
= k31
u B + k32
vB + k33
u D + k34
vD

Member CD:
CD
CD CD
CD CD
CD CD
CD CD
f xC
= k11
uC + k12
vC + k13
u D + k14
vD
CD
CD CD
CD CD
CD CD
CD CD
f yC
= k21
uC + k22
vC + k23
u D + k24
vD
CD
CD CD
CD CD
CD CD
CD CD
f xD
= k31
uC + k32
vC + k33
u D + k34
vD
CD
CD CD
CD CD
CD CD
CD CD
f yD
= k41
uC + k42
vC + k43
u D + k44
vD

fmember

Re-write (translate) each member force in terms of

its end displacements (Stiffness Eqs.)

fmember =

BD
f xB
= k11BDu BBD + k12BD vBBD + k13BDu DBD + k14BD vDBD

BD
BD BD
BD BD
BD BD
BD BD
f yD
= k 41
u B + k42
vB + k 43
u D + k44
vD

vD = ##

For each d.o.f., write an equilibrium equation:

Fexternal =

Member BD:
BD
BD BD
BD BD
BD BD
BD BD
f yB
= k21
u B + k22
vB + k23
u D + k24
vD

and

Summary of Computer Approach

AD
AD AD
AD AD
AD AD
AD AD
f yA
= k 21
u A + k 22
v A + k23
u D + k24
vD

AD
f yD

40 kN

Since ks are known, we have

2 Equations and 2 Unknowns

All = vD

AD
xA

(
0 = (k

u D : 40 = k

Which simplifies to

u A = u AAD = 0

vD = vDAD = vDBD = vDCD

u AAD + k 42AD v AAD + k 43AD u DAD + k 44AD vDAD

u

u D = u DAD = u DBD = u DCD

All = uD

CD CD
34 D

BD BD
41
B

uDCD

After simplifying

)+
)+
)
)+
)+
)

+ k32BD vBBD + k33BD u DBD + k34BD vDBD

v
uDBD

AD AD
34 D

BD BD
31
B

uD

CD
D

BD

+ k32CD vCCD + k33CD u DCD + k34CD vDCD

em
be

CD CD
31 C

BD
D

Member CD

0 =

+ k32BD vBBD + k33BD u DBD + k34BD vDBD

uDAD

Me
mb
er

vD :

rA
D

)
)+
)
)+
)+
)

u D : 40 = k31AD u AAD + k32AD v AAD + k33AD u DAD + k34AD vDAD +

BD BD
31
B

vD

vDAD

(
(k
(k
(k
(k
(k

Member-to-Member

We

k member member end

Substitute Stiffness Eqs. into above Equil. Eqs.

Simplify Equil. Eqs. by applying member-to-member
and member-to-support compatibility conditions
Solve n Equil. Eqs. for the n unknown displacements
Use Stiffness Eqs. to calculate member forces
Apply Equil. Eqs. to solve for reactions

Lots of Questions

Two Big Questions

So,

this is how most commercial programs such

as SAP2000, RISA, STAAD, etc. get the
answer?

Where

do those stiffness coefficients

come from?
You mean the ones that relate member end
forces to member end displacements?
Yeah, those ks ! <More to come on this>

Yes! Known as Direct Stiffness Method

So,

all such programs will give the same answer?

Yes, as long as it is a static 1st-order elastic analysis.

What

happens when we go static nonlinear

or even dynamic?

Wait

a minuteIs this the basic analysis

procedure for the finite element method?

Same basic procedure, but apply loads in

increments and perform a series of analyses.
Then, sum incremental results.
< Much more to come on this! >

Yes! Bit more tricky to get ks, s, and s

Important Points
The

only opportunity for most computer

analysis software to model the actual
behavior of the structure is through the
member stiffness terms.
So, to include
first-order effects
second-order effects
material nonlinear behavior

Stiffness Coefficients, ks
Lets

Force

Before:

review member stiffness

Rotational Spring Experiment

Axial

force member

Before:

M
After:

F=k

Displacement

How about real structural members?

Before:

advanced high school physics lab

Moment

Stiffness Coefficients, ks (cont.)

More

After:

Must modify member stiffness!!!

Lets

start with high school physics

Extension Spring Experiment

After:

Stiffness

k function of:

Geometry: Area and Length (A,k & L, k)

Material: Elastic Modulus (E,k)

Rotation

M=k

F = k(A,L,E)

How about real members? (cont.)

Flexural
Before:

members

Orientation

Before:
M

After:

Other factor impacting stiffness

k function of:

Geometry: Moment of Inertia & Length (I,k& L, k)

Material: Elastic Modulus (E,k)

M = k(I,L,E)

Vertical
Member

Horizontal
Member

kh=EA/L

F = k(I,L,E)

Orientation of axial force member

kh=(cos2)EA/L

kv=0

kv=EA/L

kh=0

After:

Stiffness

of member

consider axial force member:

Summary: Three Perspectives

kv=(sin2)EA/L
F1

Important Point: Less vertical a member,

the less stiffness to resist vertical loads.

Three Perspectives (cont.)

What

you see on your computer screen:

DL

WL
Collection of elements
connected by sharing
common nodes

Reality:

What you see

Three Perspectives
What

your computer actually sees:

DL

WL

k
Assemblage of
equivalent springs {F} = [K]{}

Analysis Review: Key Points

Material Nonlinear (Inelastic)

the Direct Stiffness Method

Best

Equilibrium Translator F() Compatibility

Response

of structure controlled by
stiffness of members (a.k.a. springs)
First-order elastic stiffness of member
function of:

= P/A
Elas
t

yield

Material Property (E)

Geometric Properties (A, I, L, and orientation)
Time

to go nonlinear
lets begin with material nonlinear

typical structural steel members

(L/d>10), elastic/inelastic behavior
controlled by normal stresses s acting
along the length axis of the member.
Normal stress produced by:

My=Sy
k=4E I/L
1

E Ielastic

-y

Elastic:
< y

Plastic Hinge
at P = Py or
when P/Py = 1.0

Yield:

+y

M < My

Py

= y

Post-Yield:
= y

Inelastic Behavior:
Flexure (cont.)

A
Section A-A

k=EA/L

Originally:
=P/A=0

will assume elastic-perfectly-plastic

material (often done for steel)

Mp=Zy

E=0 k=0

We

Inelastic Behavior: Axial Force

Py=Ay

Axial force (P/A)

Major and/or minor axis flexure (Mc/I)
Combination of above effects (i.e. P/A + Mc/I)
Warping (not today!)

= /L

For

Inelastic Behavior:
Flexure

Perfectly Plastic (E = 0)

Normal Stress: Structural Members

place to start is with a tensile test

ic

Reviewed

Section A-A

My=Sy
k=4E I/L
1

M
Mp=Zy

-y

+y

E Ielastic M=Sy=My

Inelastic Behavior:
Flexure (cont.)

Section A-A

My=Sy

M
Mp=Zy

Inelastic Behavior:
Flexure (cont.)
Mp=Zy

+y

Section A-A

My=Sy

E=0
k=4E I/L

-y

M = Mp

Plastic:

Plastic

EI = 0

M=Zy=Mp

Types of inelastic models

We

k=4E I/L

E=0
k=4E I/L

E I=0 k=0

ti
c
+y

M < Mp

Elastic:

Plastic

Mp=Zy

EI=0 k=0
Section A-A

Inelastic Behavior: Flexure

My=Sy

+y

EI<<EIelastic My<<M<Mp

El
as

Inelastic Behavior:
Flexure (cont.)

k=4E I/L

Mp=Zy

-y

E=0
EI<EIelastic My<M<Mp

-y

Hinge Model Assume section as fully

elastic or fully plastic (neglect partial yielding)
Plastic Hinge at M = Mp or when M/Mp = 1.0

Simple Example:

will employ a plastic hinge model

A.K.A. Concentrated Plasticity

Section is fully elastic or fully yielded
Plastic hinges only at element ends
Distributed

W1265

plasticity (still line elements)

A.K.A. Plastic Zone

Captures gradual yielding through depth and along
length
More accurate, but computationally more $$$
Finite

100 kips

element with continuum elements ($$$)

12 - 0

12 - 0

12 - 0

E = 29,000 ksi
y = 50 ksi

Inelastic Behavior:
Combination P & M

-y

Mp=Zy

El

ti
as

-y

-y
+y

Fully yielded
section when:

-y

M < Mp
M/Mp < 1

with kplastic = plastic reduction

to accumulate results of load

increments until all of load is applied or a plastic
mechanism forms.

P=Py
M=0

Yi
eld

Su
r

A
-y

P<Py

+yM<Mp

fa
ce

-y

P<Py

+y M<Mp

Elastic

P < Py
P/Py < 1

Direct Stiffness Method applying loads

in increments: [K]{d} = {dF}
During the load increment, check to see if
plastic hinge(s) form. If so, scale back load
increment accordingly.
Reduce stiffness of yielded members and
continue load increments
Continue

-y

+y

Employ

k = kelastic + kplastic

P/Py
1.0

Material Nonlinear Analysis

+y

Plastic Hinge Criterion:

-y

+y

= Mc/I + P/A

k=4E I/L

+y

Plastic

M < Mp

Inelastic Behavior:
Combination P & M
for Plastic Hinge

-y

1.0

P=0

+y M=Mp

M/Mp

Simple Example (with axial force):

100 kips

W1265

12 - 0

12 - 0

P = 400 kips

12 - 0

E = 29,000 ksi
y = 50 ksi

No
Axial Force

Equilibrium Equations

Second-Order Effects

A.K.A.

Geometric Nonlinear Behavior

Equilibrium Equations

Reality: Should be formulated on deformed

shape
Difficulty: Deformed shape (deformations) is
a function of the member forces, which are in
turn a function of the deformations
(Chicken n Egg)
Remedy: Perform a series of analyses with
loads applied in small increments and update
geometry after each load increment.

Formulated on
Undeformed Shape

H
k=3E I/L3
1

k=3E I/L3

H
1
1

M=HL

Formulated on
Deformed Shape

Different reactions and member forces.

Focus on Lateral Stiffness

Formulated on
Deformed Shape

Truss is susceptible to
2nd-Order effects,
luckily is often
quite small.

Equilibrium Equations

Formulated on
Undeformed Shape

keff < k

Effective
lateral
stiffness
is reduced!

M=HL+P

Formulated on Undeformed Shape: Linear Response

Before:

kspring

After:

Lateral Stiffness
is slope of H-
response curve

klateral = kspring

Focus on Lateral Stiffness (cont.)

Focus on Lateral Stiffness (cont.)

Formulated on Deformed Shape: Nonlinear Response

Before:

After:

kspring

Equilibrium Formulated on Deformed Shape

Lets start by assuming L L,

Effective lateral
stiffness is reduced

kspring

klateral < kspring

Pt. o

Some thoughts here

simple analysis becomes less accurate as
/L becomes large (i.e. /L >> 1/5)

Most

importantly, klateral = kspring P/L takes on

the form:

kg is positive for tensile P

guitar string example

geometric stiffness approach

Other methods exist (i.e. stability functions)

members subjected to axial force

M

P
F

Geometry: Moment of Inertia & Length (I,k& L, k)

Material: Elastic Modulus (E ,k)
Axial Force: Compressive (P, k)

M = k(I,L,E,P)

increases when subjected to tension

Flexural

k function of:

kg is negative for compressive P

backpacker example

Closer look at stiffness terms

members subjected to axial force

Stiffness

lateral stiffness of a member:

decreases as a member is compressed

Employing

Geometric Stiffness

How about real members? (recall)

M

H = klateral with klateral = kspring P/L

Effective

Remedy: Perform an incremental analysis and update

geometry after each load incrementhence, limit
/L in each step to some small amount
Keep in mind serviceability limits are often
something like /L < 1/400

Flexural

Lateral Stiffness (slope of response curve)

Geometric Stiffness

This

k2nd-Order El. = k1st-Order El. + kg

kspring = H + P/L
H = kspring P/L
H = (kspring P/L)

R=kspring

Mo = 0 RL = HL + P
R = H + P/L

kspring

F = k(I,L,E,P)

M = k(I,L,E,P) with
k = 4EI/L 2PL/15

F = k(I,L,E,P) with
k = 12EI/L3 6P/5L

Again, basic form:

k2nd-Order El. = k1st-Order El. + kg

10

Geometric Nonlinear Analysis

Employ

Direct Stiffness Method applying loads

in increments: Solve Equil. Eqs. {dF} = [K]{d}
At start of increment, modify member stiffness
to account for presence of member forces (such
as axial force):
k = kelastic + kg

At

with kg = geometric stiffness

end of increment, update model of structural

geometry to include displacements
Continue to accumulate results of load increments
(i = i-1 + d and fi = fi-1 + df) until all of load is
applied or elastic instability is detected.

Comparison: 1st- and 2nd-Order Analysis Results

2nd-Order Inelastic Analysis

Employ

Moments increase by ~10%

Direct Stiffness Method applying loads

in increments: Solve Equil. Eqs. {dF} = [K]{d}
At start of increment, modify member stiffness
to account for presence of member forces and
any yielding:
k = kelastic + kgeometric + kplastic
At end of increment, update model of structural
geometry to include displacements
Continue to accumulate results of load increments
(i = i-1 + d and fi = fi-1 + df) until all of load is
applied or inelastic instability is detected.

Critical Load Analysis (Basics)

Definition:

Critical or buckling load is the

load at which equilibrium may be satisfied
by more than one deformed shape.
P

Solution
#1

Solution
#2

Big Q: How does computer software calculate this?

11

Critical Load Analysis (Background)

Elastic

kel is f(A or I, L, and E)

kg is f(P,L), also note directly proportional to P

Elastic

stiffness of structure [K] = k

[K] = [Kel] + [Kg]

[Kg] directly proportional to applied force
To

Example

stiffness of a member k = kel + kg

i.e. Double applied forces, hence, double internal force

distribution and double [Kg]

Demonstrate computational
method for calculating the
elastic critical load (buckling
load) for the structural
system shown.

P
Rigid Beam

A, I
L, E

the computer, buckling will occur when

our equilibrium equations {F} = [K]{} permit
non-unique solutions, e.g. det[K] = 0.

Example: Key Stiffness Terms

P
H

Rigid Beam

lat

P
Rigid Beam

vert

klateral

A, I
L, E

Example: Solution

A, I
L, E

kvertical

Vertical Stiffness:
P = kvertical vert

klateral = 12EI/L3 6P/5L

Lateral Stiffness:
H = klateral lat
klateral = 12EI/L3 6P/5L

klateral = 0 when P = 10EI/L2

Pcr = P = 10EI/L2 (Ptheory=9.87EI/L2)

Thoughts on Critical Load Analysis

100 kips

W1265

1. Apply reference load, and use 1storder elastic analysis to obtain

internal force distribution.
2. Determine load factor at which
system stiffness degrades to
Pcr
permit buckling.

P = 400 kips

Computer

analysis for a large system:

First, apply reference and perform analysis

Solve equilibrium eqs. {Fref} = [K]{}
With displacements solve for member forces

=9.4

Second, assemble [Kel] and [Kg] based on {Fref}

Finally, determine load factor causing instability;
computationally this means find load factor at which
[K]=[Kel]+[Kg] becomes singular

Determine at which det([Kel]+[Kg) = 0

Eigenvalue problem: Eigenvalues = Critical Load Factors, s
Eigenvectors = Buckling modes

=1.7

Accuracy

increases with more elements per

compression members (2 often adequate)

12

MASTAN2:

Basic Introduction Complete

Where

do I go from here? (Learning to drive)

Review the slides (Read the drivers manual)

Acquire nonlinear software (Borrow a friends car)
Work lots of examples (Go for a drive, scary at first)
Apply nonlinear analysis in design (NASCAR? not quite)

Acquire nonlinear analysis software

Commercial programs
Educational software (i.e. MASTAN2)

www.mastan2.com or
www.aisc.org [Steel Tools]

Levels of Analysis:

MASTAN2

1st-Order Elastic:

[Ke]{}={F}

2nd-Order Elastic:

[Ke + Kg]{d}={dF}

Lateral
load,
H
Hec
Hes

Inelastic: [Ke + Kp]{d}={dF}

2nd-Order

Inelastic: [Ke + Kg + Kp]{d}={dF}

[Ke + Kg]{d}={0}

Elastic Critical Load

Elastic Stability Limit

Hic

1st-Order
Inelastic

Hp
His

Actual

Yield Surface:

Function of P, Mmajor, and Mminor

Planar Frame:

Load
Factor

1st-Order
Elastic

2nd-Order
Elastic
1st-Order
Inelastic

E = 29,000 ksi
y = 36 ksi

ud (in.)

Second hinge

14
1831

1665
1720

8783 (1st-Order)
8783 (2nd-Order)

Mechanism

Inelastic Critical Load

Inelastic Limit Load

Inelastic Stability
Limit
2nd-Order
Inelastic

H = P

H = P

Lateral displacement,

2nd-Order
Inelastic

First
hinge

MASTAN2

1st-Order
Elastic

2nd-Order
Elastic

1st-Order

Critical Load:

- Educational software
- GUI commercial programs
- Limited # of pre- and post-processing options
to reduce learning curve
- Suite of linear and nonlinear 2D and 3D
analysis routines
- Available with textbook
or online at no cost

Summary and Conclusions

Provided

an introduction to nonlinear analysis

Review of direct stiffness method

Material nonlinear analysis (Inelastic hinge)
Geometric nonlinear analysis (2nd-Order)
2nd-Order inelastic analysis (combine above)
Critical load analysis (eigenvalue analysis)

Nonlinearthink

modifying member stiffness!

and availability of MASTAN2
Now, its your turn to take it for a spin
Overview

Moments at Limit (in. kips)

13

Gravity Load

Several

examples to try out

by MASTAN2
Need a reference text with many
examples? see Matrix Structural Analysis,
2nd Ed., by McGuire, Gallagher, and Ziemian
(Wiley, 2000)
See tutorial that comes with MASTAN2
OK, time to jump in and start driving
<See Final Exam>
Solutions

MASTAN2
Model:
Gravity Load

2nd-Order
Inelastic
Analysis:

2nd-Order
Inelastic
Analysis:

50 kips

25 kips

P
P
P
P
P
P
P

Demonstrate:
2nd-Order Inelastic Analysis
Non-proportional loading

2nd-Order
Inelastic
Analysis:
P = 37.7 kips

25 kips
0.5P
P

Lateral Load

Appendix

Multi-story
Frame:

E = 29,000 ksi
y = 36 ksi

P = 30 kips

Limit State:
Plim = 40.3 kips

14

2nd-Order
Inelastic
Analysis:

Post-limit State:
P = 40 kips

Truss (Hoff et al.):

3P

2nd-Order
Inelastic
Analysis:

Strength Limit State (P=40.3 kips)

1st Plastic Hinge (P=30 kips)

MASTAN2
Model:

All members:
A = 9.34810-2 in2
I = 6.954 10-4 in4
E = 29,000 ksi

20

3P
3 @ 20
P = 100 lbs

Demonstrate:
Elastic Critical Load
2nd-Order Elastic
Experimental (Plimit=220 lbs)

Elastic Critical Load: Pcr = 210.7 lbs

2nd-Order Elastic: Plim = 210 lbs

15

Response
Curves:

P
Elastic Critical Load

P = 210 lbs
2nd-Order Elastic

Beam-Column:

1st-Order
Elastic

M = PL

W2476
E = 29,000 ksi

L = 24

Demonstrate:
Elastic Critical Load Analysis
1. Flexural Buckling (=0.0)
2. Torsional Flexural Buckling
(=0.04)
M = PL

Elastic Critical Load ( = 0.0)

MASTAN2
Model:

Isometric View

Elastic Critical Load Analysis ( = 0.04)

Elevation View

Plan View

Suspension System:
A = 5.40 in2
y = 150 ksi
A = 50 in2
I = 20,000 in4
Z = 1,000 in3
y = 50 ksi

Load
Factor
2

2nd-Order
Inelastic

1.5

1st-Order
Inelastic

2nd-Order Inelastic

0.5
0

Isometric View

Elevation View

Plan View

1st-Order Inelastic

50

100

150

200

vmid (in.)

250

Hinge Formation

16