STRUCTURAL ANALYSIS

CE 309
M ODUL E 2 : MAT R IX A N A LYSIS - T R A NSFOR MATION
LECTURE 16
Coordinate systems
Each frame/structure is divided into joints and elements to carryout the
analysis.
The coordinate system which is applicable to complete structure and is
independent of the chosen element is called global coordinate system.
Why transformation
To develop the stiffness matrix a unit displacement is applied in the chosen direction of dof and
displacement and reactions are found at all the dofs in member coordinate system.
If that member is an integral part of a bigger frame, then that displacement/force will have a
different component value in global coordinate system.
Y

Fy in member axes

X
Why transformation
To develop the stiffness matrix a unit displacement is applied in the chosen direction of dof and
displacement and reactions are found at all the dofs in member coordinate system.
If that member is an integral part of a bigger frame, then that displacement/force will have a
different component value in global coordinate system.
Y

X
Transformation
 Transformation

Observe the angle, from

horizontal to member in
anticlockwise direction
 Values in other coordinate system
Global values in terms of local values Local values in terms of global values

P1 P2 P1
P1 P2 P2
P4 P5 P4
P4 P5 P5
F3 = P3 P3 = F3
F6 = P6 P6 = F6
In Matrix form (to get local forces)
P1
P2
P3
P4
P5
P6

P
Transformation matrix

P = TF F = inv(T)P
In matrix form (to get global forces)
- P1
P2
P3
- P4
P5
P6
By observation it can be found that the above transformation is transpose of [T].
[T]T = [T]-1 , therefore transformation matrix is orthogonal.
Just for simplicity, in some cases/textbooks it is written as cos = l and
sin = m
Formulae
P
P Pf

Pf

Pf
Example
Analyse the rigid frame shown below. E = 200 GPa. I = 1.33e-4m4 A = 0.04m2 .Flexural rigidity EI
and axial rigidity EA are the same for both the beams
Discretize the frame

Local Dofs

Write the [k] matrix

Global Dofs
Local stiffness matrix

AE AE
L 0 0 0 0
L
12 EI 6 EI 12 EI 6 EI
0 0
L3 L2 L3 L2
0 6 EI 4 EI 6 EI 2 EI
0
k AE L2 L
AE
L2 L

0 0 0 0
L L
0 12 EI 6 EI 12 EI 6 EI
0
L3 L2 L3 L2
6 EI 2 EI 6 EI 4 EI
0 0
L2 L L2 L
 Stiffness matrices - Transformation
Formulate the element stiffness matrix in local co-ordinate system and then transform it to
global co-ordinate system.
Member 1: =90; node points 1-2; l = 0 (cos) and m = 1 (sin).

1 2 3 4 5 6
1.48 0 4.44 1.48 0 4.44
0 1333.33 0 0 1333.33 0

4.44 8.88

k
1 0 17.78 4.44 0
10
3
In kN and m
1.48 0 4.44 1.48 0 4.44
0 1333.33 0 0 1333.33 0

4.44 0 8.88 4.44 0 17.78
Stiffness matrices - Transformation
Member 2: Length = 4 m , nodes 2-3; = 0, l=1 (cos) , m = 0 (sin)

13.33 x 103

13.33 x 103
Global Stiffness matrix
The assembled global stiffness matrix [K] is of the order 9x9 .
Fixed end moments and modified loads

Fixed end reactions Modified load diagram

 Fixed end moments in global coordinates
0 1 0 0 0 0
1 0 0 0 0 0

0 0 1 0 0 0
T1
0 0 0 0 1 0
0 0 0 0 1 0 0
12
12 0 0 0 0 0 1 0

18
P1 F F1 F T1 T P1 F
18

0 12
12 0

Fixed end reactions 18 18
 Fixed end moments in global coordinates
1 0 0 0 0 0
0 1 0 0 0 0

0 0 1 0 0 0
T2
0 0 0 1 0 0
0 0 0 0 0 1 0
0
24 0 0 0 0 0 1 24

24
P2 F F2 F T2 T P2 F
24

0 0
24 24

Fixed end reactions 24 24
Solving for displacement and reactions
[F]m = [K][v]
v 4
v [F] = [F]F +[K][v]
5
v6

v 4 m
v m
5
v 6 rad
Example
Analyse the rigid frame shown below. E = 2e8 kPa, I = 5e-5m4,A= 0.01 m2 Flexural rigidity EI and
axial rigidity EA are the same for both the beams

12 kN/ m
B
A 1m

0.5 m 16 kN

0.5 m

C
 Local and global dofs
2 5
1 4
6
3

Global Dofs 8
Local Dofs
7
9
Write the [k] matrix
Local stiffness matrix

AE AE
L 0 0 0 0
L
12 EI 6 EI 12 EI 6 EI
0 0
L3 L2 L3 L2
0 6 EI 4 EI 6 EI 2 EI
0
k AE L2 L
AE
L2 L

0 0 0 0
L L
0 12 EI 6 EI 12 EI 6 EI
0
L3 L2 L3 L2
6 EI 2 EI 6 EI 4 EI
0 0
L2 L L2 L
 Stiffness matrix - Transformation
Member AB L = 1 m , =0, cos = 1, sin=0.

1 2 3 4 5 6

kAB = KAB 2000000 0 0 -2000000 0 0

0 12000 -6000 0 -12000 -6000

0 -6000 4000 0 6000 2000

-2000000 0 0 2000000 0 0

0 -12000 6000 0 12000 -6000

0 -6000 2000 0 -6000 4000
 Stiffness matrix - Transformation
Member BC L = 1 m , =315, cos = 0.707, sin=-0.707.

4 5 6 7 8 9

1006000 -994000 -4242.64 -1006000 994000 -4242.64 4

-994000 1006000 -4242.64 994000 -1006000 -4242.64 5

KBC -4242.64 -4242.64 4000 4242.641 4242.641 2000 6

-1006000 994000 4242.641 1006000 -994000 -4242.64 7

994000 -1006000 4242.641 -994000 1006000 -4242.64 8

-4242.64 -4242.64 2000 -4242.64 -4242.64 4000 9

Fixed end reactions and modified loads
wl2/12 = 1 kN-m wl2/12 = 1 kN-m

wl/2 = 6 kN wl/2 = 6 kN

[Pf]AB 0 0 0 1
6 [Ff]AB 6 [Fm]AB -6 2
-1 -1 1 3
0 0 0 4
6 6 -6 5
1 1 -1 6
Fixed end reactions and modified loads
wl/8 = 2 kN-m
wl/2 = 8 kN
16 kN

wl/8 = 2 kN-m
wl/2 = 8 kN

-5.65685 4
[Pf]BC 0 5.656854
[Fm]BC -5.65685 5
8 [Ff]BC 5.656854
2 6
-2 -2
5.656854 -5.65685 7
0
5.656854 -5.65685 8
8
2 -2 9
2
Solution
For rotations at 3 and 6 dofs

3 6
[K]= 4000 2000 3
2000 8000 6

[F] = -1
-1 [F]= [K][v]

[v]=
Truss elements
F3
P3
P4
2
F4
P1= F1cos + F2sin
P2= -F1sin + F2cos
Y
P2
1
F1 P3= F3cos + F4sin
P1 F
2
P4= -F3sin + F4cos
X
Writing in matrix form
[P] = [T][F]

cos sin 0 0
sin cos 0 0
T
0 0 cos sin

0 0 sin sin
Stiffness matrix
AE / L 0 AE / L 0
0 0 0 0
k
AE / L 0 AE / L 0

0 0 0 0

[K] = [T]T[K][T]
Example - truss
Analyse the following truss to find deflection at node 2. E = 200 kN/mm2 and A = 100/ 2 mm2

100 kN

10 m

1 3

10 m 10 m
 Stiffness matrices
Find the global stiffness matrix for member 1 1000 0 1000 0
0 0 0 0
4 2 k1
1000 0 1000 0
3
0 0 0 0

1/ 2 1/ 2 0 0
2
1/ 2 1/ 2
6 = 45
T1
0 0
5 1 0 0 1/ 2 1/ 2
1
500 500 500 500 0 0 1 / 2 1 / 2
500 500 500 500
K1
500 500 500 500

500 500 500 500
1 2 3 4
 Stiffness matrices
Find the global stiffness matrix for member 2 1000 0 1000 0
= 315
0 0 0 0
4 k 2
1000 0 1000 0
3
2 0 0 0 0

1 / 2 1/ 2 0 0
2
6
T2
1/ 2 1/ 2 0 0
5 3 0 0 1/ 2 1/ 2
1
500 500 500 500 0 0 1/ 2 1 / 2
500 500 500 500
K 2
500 500 500 500

500 500 500 500
3 4 5 6
Global stiffness matrix
Solve

F1
F v1
2 v
0 2
v3
100
F5 v 4
v5
F6
v6

v1= v2= v5= v6= 0

v4 = -0.1 m
Example - truss
Analyse the following truss to find the deflections at node 2. AE = 8000 kN
10 kN

20 kN
Global dofs

Member 1, L = 3m, =90

Member 2, L = 5m, =216.87

Member 3, L = 4m, =180

cos sin 0 0
sin cos 0 0
T
0 0 cos sin

0 0 sin sin
 Local and global stiffness matrices
Find the local and global stiffness matrices of all the 3 members.

K1

K2

20 0.378 0.096 1
F1 20 10 0.096 0.405
K3 F 10 2
2
Example- truss
Determine the vertical displacement at joint 2 . Take A= 0.0015 m2 and E = 200 GPa.
 Global stiffness matrix

K= D=
Differential Temperature in trusses
Analyse the following truss and find the deflection at node 1 due to differential increase of
temperature in member 1-3 by +100 oC. EA = 2*10^4 kN. = 2*10^-5 /oC

1.732 m

3
1

1m
4

1m
Solution
Due to the increase in temperature by 100 oC in member 1-3, the joint 1 will have a push exerted
by the member. The magnitude of force can be calculated as:
4

F = EAt 3

= 2*10^4*2*10^-5*100 1.732 m 2
2
6
=40 kN 5
1 40 kN
3 1
1m 8
7
4
1m
 Solution
1-2 = 120o
AE / L 0 AE / L 0 cos sin 0 0
0 sin 0
0 cos 0
k1-2 10000 0 -10000 0 k
0 0
T
AE / L 0 AE / L 0 0 0 cos sin
0 0 0 0
0 0 sin cos
0 0 0 0
-10000 0 10000 0

0 0 0 0 1 2 3 4

2500 -4330.13 -2500 4330.127 1

T1-2 = -0.5 0.866025 0 0 K= TTkT
4330.1270
-0.86603 -0.5 0 0 K1-2 -4330.127 7500
2
-7500 2

0 0 -0.5 0.866025 -2500 4330.127 2500 -4330.13 3

0 0 -0.86603 -0.5 4330.1270

-7500 -4330.127 7500 4
2
 Solution
1-3 = 180o
AE / L 0 AE / L 0 cos sin 0 0
0 sin 0
0 cos 0
k1-3 20000 0 -20000 0
k
0 0
T
AE / L 0 AE / L 0 0 0 cos sin
0 0 0 0
0 0 sin cos
-20000 0 20000 0 0 0 0 0

0 0 0 0 1 2 5 6

20000 0 -20000 0 1
T1-3 = -1 0 0 0 K= TTkT
0 -1 0 0 K1-3 0 0 0 0 2

0 0 -1 0 -20000 0 20000 0 5

0 0 0 -1
0 0 0 0 6
 Solution
1-4 = 225o
AE / L 0 AE / L 0 cos sin 0 0
0 sin 0
0 cos 0
k1-4 14144.3 0 -14144.3 0
k
0 0
T
AE / L 0 AE / L 0 0 0 cos sin
0 0 0 0
sin cos
0 0 0 0 0 0
-14144.3 0 14144.3 0
0 0 0 0
1 2 7 8

7072.14 7072.14 -7072.14 -7072.14 1

T1-4 = -0.71 -0.71 0.00 0.00 K= TTkT
0.71 -0.71 0.00 0.00 K1-4 7072.14 7072.14 -7072.14 -7072.14 2

0.00 0.00 -0.71 -0.71 -7072.14 -7072.14 7072.14 7072.14 7

0.00 0.00 0.71 -0.71

-7072.14 -7072.14 7072.14 7072.14 8
Solution
For dofs 1 and 2
40
F
0
1 2

29572.14 2742.01 1
K
2742.01 14572.14 2

1.37
F K mm
0.26