Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Matrix Analysis of
Structures: Plane Trusses
Structural Analysis
Slope Deflection
Trusses
Moment-Area
Beams 3
3.1 Global and Local Coordinate Systems
4
3.1 Global and Local Coordinate Systems
Global Coordinate System
The overall geometry and the loaddeformation
relationships for an entire structure are described with
reference to a Cartesian or rectangular global
coordinate system.
The global coordinate system used in this course is a
right-handed XYZ coordinate system with the plane
structure lying in the XY plane.
It is usually convenient to locate the origin
at a lower left joint of the structure, with
the X and Y axes oriented in the
horizontal (positive to the right) and
vertical (positive upward) directions,
respectively (the joints X and Y
coordinates are positive mostly). 5
3.1 Global and Local Coordinate Systems
Local Coordinate System
Since it is convenient to derive the basic member force
displacement relationships in terms of the forces and
displacements in the directions along and perpendicular
to members, a local coordinate system is defined for
each member of the structure.
The origin of the local xyz coordinate system for a
member may be arbitrarily located at one of the ends of
the member in its undeformed state.
The x axis directed along the members length.
The positive direction of the y axis is defined so that the
coordinate system is right-handed, with the local z axis
pointing in the positive direction of the global Z axis.
6
3.1 Global and Local Coordinate Systems
Beginning joint
End joint
7
3.2 Degrees of Freedom
9
3.2 Degrees of Freedom
Joints 3 and 4 are not
attached to a support, two
displacements are needed for
each to completely specify
their deformed positions 3
and 4, respectively. Thus,
joints 3 and 4 have two
degrees of freedom each.
Namely, d2 and d3 for joint 3
and d4 and d5 for joint 4.
10
3.2 Degrees of Freedom
The joint displacements are defined relative to
the global coordinate system, and are
considered to be positive when in the positive
directions of the X and Y axes (global).
The example truss has a total of five degrees
of freedom.
d is called the joint displacement
vector, with the number of rows equal to
the number of degrees of freedom of
the structure.
11
3.2 Degrees of Freedom
12
3.2 Degrees of Freedom
The number of degrees of freedom of a framed
structure can be determined by subtracting the
number of joint displacements restrained by
supports from the total number of joint
displacements of the unsupported structure.
13
3.2 Degrees of Freedom
The number of displacements of an unsupported
structure equals the product of the number of degrees of
freedom of a free joint of the structure and the total
number of joints of the structure.
14
3.2 Degrees of Freedom
15
3.2 Degrees of Freedom
16
3.2 Degrees of Freedom
Numbering of Degrees of Freedom and Restrained Coordinates
18
3.2 Degrees of Freedom
Joint Load Vector
External loads applied to the joints of
trusses are specified as force
components in the global X and Y
directions.
These load components are
considered positive when acting in the
positive directions of the X and Y axes.
Any loads initially given in inclined
directions are resolved into their X
and Y components, before
proceeding with an analysis.
19
3.2 Degrees of Freedom
Joint Load Vector
A load can be applied to a structure
at the location and in the direction of
each of its degrees of freedom.
a five-degree-of freedom truss can
be subjected to a maximum of five
loads.
The numbers assigned to the
degrees of freedom are also used
to identify the joint loads.
The number of rows of P equals the
number of degrees of freedom
(NDOF). P is called the joint load
vector of the truss
20
3.2 Degrees of Freedom
Reaction Vector
A support that prevents the
translation of a joint of a structure in
a particular direction exerts a
reaction force on the joint in that
direction.
When a truss is subjected to external
loads, a reaction force component
can develop at the location and in
the direction of each of its
restrained coordinates.
The numbers assigned to the
restrained coordinates are used to
identify the support reactions. 21
3.2 Degrees of Freedom
Joint Load Vector
22
3.2 Degrees of Freedom
EXAM P L E 3.1 Identify numerically the degrees of freedom and restrained coordinates of the tower
truss shown in Fig. 3.2 (a). Also, form the joint load vector P for the truss.
S0 LU T I 0 N The truss has nine degrees of freedom, which are identified by the numbers 1 through
9 in Fig. 3.2(c). The five restrained coordinates of the truss are identified by the
numbers 10 through 14 in the same figm e. Ans
By comparing Figs. 3.2 (b) and (c), we express the joint load vector as
20 k
20
0
k- l.
TJO
0 15 n
.l i k
20
P= 0 k
lI ?(-) k- .
0
15 n
- 35
10
- 20
15 n
l_ I I j " \
23 f-- Lsn---j
(a) Tower Tnl&~
3.2 Degrees of Freedom
20k I
20k 9
l lOk-
(})~f
T"k - :.
15ft 5 7
35 k
t
15 ft
20 k
-+- 14
15ft
l_
f-1 5ft--
(a) Tower Tmss
(b) Analytical Model
11
t 13
(c) Degrees of Freedom and Restrained
24 Coordinates (NDOF = 9, NR = 5)
3.3 Member Stiffness Relations in the Local Coordinate System
25
3.3 Member Stiffness Relations in the Local Coordinate System
26
3.3 Member Stiffness Relations in the Local Coordinate System
27
3.3 Member Stiffness Relations in the Local Coordinate System
28
3.3 Member Stiffness Relations in the Local Coordinate System
29
3.3 Member Stiffness Relations in the Local Coordinate System
30
3.3 Member Stiffness Relations in the Local Coordinate System
31
3.3 Member Stiffness Relations in the Local Coordinate System
kij represents the amount of force required at i to
cause a unit displacement at j, with displacements
at all other DOF equal to zero
These forces per unit displacement are called stiffness
coefficients.
The double-subscript notation is used for stiffness
coefficients, with the first subscript identifying the force
and the second subscript identifying the displacement.
By using the definition of matrix multiplication the previous
pages simultaneous equations can be expressed in matrix
form as
or
Q and u are the member end force and member end displacement
vectors, respectively, in the local coordinate system; and k is called the
32
member stiffness matrix in the local coordinate system.
3.3 Member Stiffness Relations in the Local Coordinate System
Let us determine the stiffness coefficients corresponding to a
unit value of the displacement u1
33
3.3 Member Stiffness Relations in the Local Coordinate System
Now let us determine the stiffness coefficients corresponding
to a unit value of the displacement u2
35
3.3 Member Stiffness Relations in the Local Coordinate System
EXAMPLE 3.3 The displaced position of member 8 of the truss in Fig. 3.5(a) is given in Fig. 3.5(b).
Calculate the axial force in this member.
0 ITJ 0
1
3m
j
[I] 0~ [I] ~ 0 [IJ
3at4m = 12 m
EA = constant
E = 200 GPa
2
A = l ,200 mm
Displaced posirion
6
EA _ 200(10 )(0.0012) _ N/
T- 5
-48.000 k m
k 8 = 48.000 IL _
I
0 0
1
o o
0
0
-~ n
o oJ
kNim
Member End Displacements in the Local Coordinate System: From Fig. 3.5(b), we
can see that the beginning end, 2, of the member displaces 9 mm in the negative xdi-
rection and 12 mm in the negative y direction. Thus, Lit = -9 mm = -0.009 m and
u2 = -12 mm = -0.012 m. Similarly, the opposite end, 6, of the member displaces
12 mm andl6 mm, respectively, in the xand y directions; that is, l!J = 12 mm = 0.012 m
and u4 = 16 mm = 0.016 m. Thus, the member end displacement vector in the loc<~l
coordinate system is given by
us= I
L
-0.0091
-0.0 12
0 2 m
0. I
0.016
J
MemiJer End Forces in the Local Coordinare Sysrem: We calculate the member end
forces by applying Eq. (3.7). Thus,
Q = ku
~-[ ~] -48000 [ -1 00 - 01 0]
0 [ -0.012
- 0.009] - [ - 1,008
0] k
0 I 0 0.012 - 1.008 N
0 0 0 0.016 0
The member end forces, Q, arc depicted on the free-body diagram of the member in
Fig. 3.5(c), from which we can sec that, since the end force Q1 is negative, but C2.J is
posilive, 111ernber 8 is s ubjected to~ tensile ~xia l force, Q., of rn~gnilude 1,008 kN;
that is,
0.-.a = 1,001! kl\ (T) Ans (c) Yfember End Forces in Local
Coordinate System
37
3.5 Coordinate Transformations
38
3.5 Coordinate Transformations
39
3.5 Coordinate Transformations
Transformation from Global to Local Coordinate Systems
41
3.5 Coordinate Transformations
Transformation from Global to Local Coordinate Systems
42
3.5 Coordinate Transformations
Transformation from Global to Local Coordinate Systems
r - r-sin e
OJ
Oz
cos8 sin e
cos e
0
0
0
0 lJ F2
Fi
l04 -l
03 0
0
0
0
cos e sin 8
-sin e cos e
F3
F4
or, symbolically, as
Q = TF
with
cos e sin e 0 0
-sin e cos e 0 0
T= 0 0 cos e sin e
0 0 - sin e cos e
u = Tv
44
3.5 Coordinate Transformations
Transformation from Local to Global Coordinate Systems
45
3.5 Coordinate Transformations
Transformation from Local to Global Coordinate Systems
47
3.5 Coordinate Transformations
y
EXAMPLE 3.4
Determine the transformation matrices for the members of the truss showr
Member 1 From Fig. 3.11, we can see thatjoint 1 is the beginning joint and joint
is the end joint for member 1. By applying Eqs. (3.62) , we determine
Xz- X1 6 -0
cos B = L = - - =1
6
Yz- YI 0-0
sin () = L =- - =0
6
The transformation matrix for member I can now be obtained by using Eq. (3.61) 0
8m
T =
1 0 0 OJ =I
0 1 0 0 Ar
I
[ 0 0 1 0
0 0 0 1
As the preceding result indicates, for any member with the positive directions of il
local x and y axes oriented in the positive directions of the global X and Y axe:
respectively, the transformation matrix always equals a unit matrix, I. [!]
- - - - - 6 ill - - - - - - - - - l
48
3.5 Coordinate Transformations Xz- Xt 6- 6
cos9 = L = -
8
- 0
h-Yo 0-8
sln9= = - - =-1
M t mb.r 2 L a
X1-x, o-6 nus.
cos/1= = - - =-1
L 6 0I -10 C
0 0
OJ
T, = o
slnl1=
Y1-Y,
L
8-8
= - - =0
6
[ 0 o0 oI - 0I
Thus. from Eq. (3.6 1) M,.mfv.r 5
- 1 0 L= Jcx,- x,;z +( 14 - Y,)2- /G- O>' +(8- D>'=
Tz =
[
o
0
0 - 1
o
0
-! j] cosO
s~ne =
X, -X,
14-Yi
L
1
=
6-0
=--.o
8 -D
10
= D.b
-o.a
Mt mbtr 3
X1- X, o-o 0.6 0.8
cos/1=
L
= -- = 0
8
r1- r, 8-o
Ts = IL o~.8
o
0.6
o
o
0
O.G 0.1
-0.8 0.6
D
0 ]
sln/1 = L = - 8- = I
Mtmber 6
L = l eY, X:oJ 1 <Yll 1} 1' = Vto G" 1 cs 0)2 =W m
X:; - .2 0-(j
r-r.c. fl = l = H.l =- :l.G
}~- )~ 8- U
Hn C' = l "= lO = O.l:S
11.R n
[ -- Hl
lr. - r:.r. n (o
(o ]
To - II r. - n.r. nA
49
;) c - U.~ 06
3.6 Member Stiffness Relations in the Global Coordinate System
51
3.6 Member Stiffness Relations in the Global Coordinate System
53
3.7 Structure Stiffness Relations
55
3.7 Structure Stiffness Relations
56
3.7 Structure Stiffness Relations
The global end forces F and end displacements v for the
three members of the truss are shown and the superscript
(i) denotes the member number.
For members 1 and 3, the bottom joints (i.e., joints 2 and 4,
respectively) have been defined as the beginning joints.
For member 2, the top
joint 1 is the beginning
joint.
Our objective is to
express the joint loads
P as functions of the
joint displacement d.
57
3.7 Structure Stiffness Relations
Equilibrium Equations
To relate the external joint loads P to the internal
member end forces F, we apply the two
equations of equilibrium, FX = 0 and FY = 0,
to the free body of joint 1. This yields the
equilibrium equations
58
3.7 Structure Stiffness Relations
Compatibility Equations
59
3.7 Structure Stiffness Relations
61
3.7 Structure Stiffness Relations
Note that these equations express the six member end forces
that appear in the joint equilibrium, in terms of member end
62
displacements.
3.7 Structure Stiffness Relations
63
3.7 Structure Stiffness Relations
64
3.7 Structure Stiffness Relations
65
3.7 Structure Stiffness Relations
66
3.7 Structure Stiffness Relations
Physical Interpretation of Structure Stiffness Matrix
The structure stiffness matrix S can be interpreted
in a manner similar to the member stiffness matrix.
A structure stiffness coefficient Sij represents the
force at the location and in the direction of Pi
required to cause a unit value of the
displacement dj , while all other joint
displacements are zero.
The jth column of the structure stiffness matrix S
consists of the joint loads required, at the
locations and in the directions of all the degrees
of freedom of the structure, to cause a unit value
of the displacement dj while all other
67
displacements are zero.
3.7 Structure Stiffness Relations
Physical Interpretation of Structure Stiffness Matrix
This interpretation of the structure stiffness
matrix indicates that such a matrix can,
alternatively, be determined by subjecting
the structure, separately, to unit values of
each of its joint displacements, and by
evaluating the joint loads required to cause
the individual displacements.
68
3.7 Structure Stiffness Relations
Physical Interpretation of Structure Stiffness Matrix
The stiffness coefficients S11
and S21 represent the horizontal
and vertical forces at joint 1
required to cause a unit
displacement of the joint in the
horizontal direction (d1 = 1),
while holding it in place
vertically (d2 = 0).
The unit horizontal
displacement of joint 1 induces
unit displacements, in the same
direction, at the top ends of the
three members connected to
the joint.
69
3.7 Structure Stiffness Relations
Physical Interpretation of Structure Stiffness Matrix
Similarly,
70
3.7 Structure Stiffness Relations
Assembly of the Structure Stiffness Matrix Using Member Code
Numbers
Although a study of the foregoing procedures is
essential for developing an understanding of
the concept of the stiffness of multiple-degrees-
of-freedom structures, these procedures cannot
be implemented easily on computers and,
therefore, are seldom used in practice.
71
3.7 Structure Stiffness Relations
Assembly of the Structure Stiffness Matrix Using Member Code Numbers
Consider again the previous three-member truss. The stiffness
matrices in the global coordinate system for members 1, 2, and
3 of the truss are designated K1, K2, and K3, respectively,
Our objective is to form the structure stiffness matrix S by
assembling the elements of K1, K2, and K3.
72
3.7 Structure Stiffness Relations
Assembly of the Structure Stiffness Matrix Using Member Code Numbers
Structure degrees of freedom and restrained
coordinate numbers for a member, when
arranged in the same order as the members
end displacements, are referred to as the
members code numbers.
The first two code numbers for a member are
always the numbers of the structure degrees of
freedom and/or restrained coordinates in the X
and Y directions, respectively, at the beginning
73
3.7 Structure Stiffness Relations
Assembly of the Structure Stiffness Matrix Using Member Code Numbers
74
3.7 Structure Stiffness Relations
Assembly of the Structure Stiffness Matrix Using Member Code Numbers
The member code numbers can also be used to formulate the joint
equilibrium equations for a structure
We can see that the member end forces with the code number 1
are: F(1)3 of member 1, F(2)1 of member 2, and F(3)3 of member 3.
Thus, the equilibrium equation corresponding to degree of freedom
1 is given by
75
3.7 Structure Stiffness Relations
Assembly of the Structure Stiffness Matrix Using Member Code Numbers
76
3.7 Structure Stiffness Relations
Assembly of the Structure Stiffness Matrix Using Member Code Numbers
77
3.8 Procedure for Analysis
EX A M P L E 3. 7 Determine the structure stiffness matrix for the truss shown in Fig. 3.17 (a).
SO lUTION Analytical Model: The analytical model of the truss is shown in Fig. 3.17 (b) . The
structure has three degrees of freedom-the translation in the X direction of joint 1,
and the translations in the X and Y directions of joint 4. These degrees of freedom are
identified by numbers 1 through 3; and the five restrained coordinates of the truss are
identified by numbers 4 through 8, as shown in Fig. 3.17 (b).
Structure Stiffness Matrix: To generate the 3 x 3 structure stiffness matrix S, we will
8m
determine, for each member, the global stiffness matrix K and store its pertinent ele-
ments in their proper positions in S lby using the member's code numbers.
Member 1 L = 6 m, cos e= 1, si n e= 0
A EA = 70(106) (0.0015) = 17 ,500 kN/m
L 6
l~-- 6m --~
The member stiffness matrix in global coordinates can now be evaluated by using
(a) 1111>.~
Eq. (3.73).
EA = constant 7 8 2 3
17,500 0 -17,500 0 7
E= 70GPa 0 0 0 0 8 (1)
0 ~- ---i-(500 ____0 2 kN/m
A = 1,500 rmn2 -17,500 .
0 0 i 0 0 3
78
3.8 Procedure for Analysis
From Fig. 3.17(b), we observe that joint 3 has been selected as the beginning joint, and
j oint 4 as the end joint, for member 1. Thus , the code numbers for this member are
7, 8, 2, 3. These numbers are written on the right side and at the top of K 1 (see Eq. (1))
to indicate the rows and columns, respectively, of the structure stiffness matrix S,
w here the elements of K 1 must be stored . Note that the elements of K 1 that correspond
to the restrained coordinate numbers 7 and 8 are simolv disregarded. Thus . the element
in row 3 and column 3 of K 1 is stored in row 2 and column 2 of S, as
y
2 3 3
0
17,500 O
0 J 21 7+- . G)
2
0 0 3 t
8
[I]
--X
79
+
4
+
6
(b) Analytical Model
3.8 Procedure for Analysis
Member 2 As shown in Fig. 3.17{b), j oint 1 is the beginningjoint, andjoint 4 is the
end joint, for member 2. By applying Eqs. (3.62) , we determine
L = j( X4- X t) 2 + ( Y4 - Yt) 2 = j(6- 0) 2 + (8- 0)2 = 10m
x4- x1 6- o
cos 0 = L = = 0. 6
10
sin () = y4 - Yt = 8 - 0 = 0 8
L 10 .
I~~o 13~125
0 0 5
K = r_o0 ____-1
______3,o____
125_ 62 kN/m (5)
3 o
Lo -13, 125 ~ 0 13, 125 3
The code numbers for this member are 5, 6, 2, 3. By using these code numbers , the
pertinent elements of K3 are added inS (as given in Eq. (4)), yielding
1 2 3
3, 780 - 3,780 - 5,040 ] 1
S = - 3,780 17,500 +3,780 5,040 2 kN/m
[
- 5,040 5,040 6,720 + 13,125 3
Since the stiffnesses of all three members of the truss have now been stored in S, the
structure stiffness matrix for the given truss is
1 2 3
3, 780 -3,780 -5,040 ] 1
S = -3,780 21 ,280 5,040 2 kN/m A ns
[
-5,040 5,040 19,845 3
Note that the structure stiffness matrix S, obtained by assembling the stiffness coeffi-
81
cients of the three members, is symmetric.
3.8 Procedure for Analysis
82
3.8 Procedure for Analysis
1. d,
number
83
3.8 Procedure for Analysis
84
3.8 Procedure for Analysis
85
3.8 Procedure for Analysis
86
3.8 Procedure for Analysis
5.
87
3.8 Procedure for Analysis
5.
TF
88