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2 Stiffness Method
Chapter 2
Stiffness Method
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Ch. 2 Stiffness Method
k
T 1 2 T x̂
dˆ1x dˆ2 x
L
k
1 2
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Ch. 2 Stiffness Method
uˆ = a1 + a2 xˆ (2.2.2)
a
uˆ = [1 xˆ ] 1 (2.2.3)
a 2
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dˆ − dˆ
uˆ = 2 x 1x xˆ + dˆ1x ( 2.2.7)
L
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Ch. 2 Stiffness Method
xˆ xˆ dˆ1x
uˆ = 1 − (2.2.8)
L L dˆ2 x
dˆ
or uˆ = [N1 N 2 ] 1x (2.2.9)
dˆ2 x
xˆ xˆ
Here N1 = 1 − and N 2 = (2.2.10)
L L
are called the shape function because the Ni’s express the shape of the
assumed displacement function over the domain of the element when
the ith element degree of freedom has unit value and all other dof are
zero.
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In the case, N1 dan N2 are linear functions that have the properties that
N1 = 1 at node 1 and N1 = 0 at node 2, whereas N2 = 1 at node 2 and
N2 = 0 at node 1. Also, N1 + N2 = 1 for any axial coordinate along the
bar.
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Ch. 2 Stiffness Method
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Ch. 2 Stiffness Method
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Ch. 2 Stiffness Method
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1 2
1 3 2
x
F3 x F2 x
k1 k2
Figure 2-3 Two-spring assemblage
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Ch. 2 Stiffness Method
Using Eq. (2.17) the element stiffness matrix for each element cam be
expressed
for element 1
f1x k1 − k1 d1x
= (2.3.1)
f 3 x − k1 k1 d 3 x
and for element 2,
f3 x k2 − k 2 d 3 x
= (2.3.2)
f 2 x − k 2 k 2 d 2 x
Based on the sign convention for element nodal forces given in Figure 2-1,
we can write nodal equilibrium equations at node 3, 2, and 1 as
F3 x = f 3(x1) + f 3(x2 ) (2.3.4)
F2 x = f 2(x2) (2.3.5)
F1x = f1(x1) (2.3.6)
Where F1x results from the reaction at the fixed support. To further
clarify the resulting Eqs. (2.3.4) – (2.3.6), free-body diagrams of each
element and node (using the established sign conventions for element
nodal forces) are shown in Figure 2-4.
F1x F3 x F2 x
Figure 2-4 Nodal forces consistent with element forces sign convention
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Ch. 2 Stiffness Method
Application of Newton’s third law for each node and element gives
F3 x = −k1d1x + k1d 3 x + k 2 d 3 x − k 2 d 2 x
F2 x = −k 2 d 3 x + k 2 d 2 x ( 2 .3 .7 )
F1x = k1d1x − k1d 3 x
In matrix form, Eqs. (2.3.7) are expressed by
F3 x k1 + k 2 − k2 − k1 d 3 x
F2 x = − k 2 k2 0 d 2 x (2.3.8)
F − k 0 k1 d1x
1x 1
F = Kd (2.3.10)
F1x d1x
where F2 x is called the global nodal force vector, d 2 x is called
F d
3x 3x
the global nodal displacement vector, and
k1 0 − k1
K= 0 k2 − k 2 (2.3.11)
− k1 − k 2 k1 + k 2
is called the total or global stiffness matrix.
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Ch. 2 Stiffness Method
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for element 1
1 0 − 1 d1x f1x
(1) (1)
k1 0 0 0 d 2(1x) = f 2(x1) (2.4.2)
− 1 0 1 d 3(1x) f 3(x1)
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Ch. 2 Stiffness Method
for element 2
0 0 0 d1x f1x
(2) (2)
k 2 0 1 − 1 d 2( 2x) = f 2(x2 ) (2.4.3)
0 − 1 1 d 3 x f 3 x
( 2 ) ( 2 )
k1 0 0 0 d 2(1x) + k 2 0 1 − 1 d 2( 2x) = F2 x (2.4.5)
− 1 0 1 d 3(1x) 0 − 1 1 d 3( 2x ) F3 x
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Ch. 2 Stiffness Method
2.5.Boundary Conditions
We must specify boundary (or support) conditions for structure models
such as the spring assemblage of Figure 2-4, or K will be singular; that
is the determinant of K will be zero and, therefore, its inverse will not
exist. Without specifying adequate kinematic constraints or support
conditions, the structure will be free to move as a rigid body.
Boundary conditions (BC) are of two general type:
1. Homogeneous BC – the most common – occur at locations that are
completely prevented from movement,
2. Non- homogeneous BC occur where finite non-zero values of
displacement are specified, such as the settlement of a support.
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Ch. 2 Stiffness Method
Homogenoue BC
To illustrate the two general types of BC, let us consider Eq. (2.4.6),
derived for the spring assemblage of Figure 2-4. We will first consider
the case of homogenous BC. Hence, all BC are such that the
displacements are zero at certain nodes.Here we have d1x = 0 because
node 1 is fixed. Therefore, Eq. (2.4.6) can be written as.
k1 0 − k1 0 F1x
0
k2 − k 2 d 2 x = F2 x ( 2.5.4)
− k1 − k 2 k1 + k 2 d 3 x F3 x
Equation (2.5.4), written in expanded from becomes
k1 (0) + (0) d 2 x − k1d 3 x = F1 x
0(0) + k 2 d 2 x − k 2 d 3 x = F2 x ( 2.5.5)
− k1 (0) − k 2 d 2 x + ( k1 + k 2 ) d 3 x = F3 x
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Consider the second and third of Eqs. (2.5.5), written in matrix form,
we have
k2 − k 2 d 2 x F2 x
− k k + k d = F (2.5.6)
2 1 2 3x 3x
We have now effectively partitioned off the first column and row of K
and the first row of d and F to arrive at Eq. (2.5.6).
For homogenous BC, Eq. (2.5.6) could have been obtained directly by
deleting the row and column of Eq. (2.5.4) corresponding to the zero-
displacement degree of freedom. Here row 1 and column 1 are deleted
because d1x = 0. However, F1x is not necessary zero and must be
determined as follows.
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Ch. 2 Stiffness Method
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Ch. 2 Stiffness Method
Non-homogeneous BC
Next, we consider the case of non-homogenous BC. Hence, some of the
specified displacements are non-zero. For simplicity’s sake, let d1x = δ,
where δ is a known displacement, in the Eq. (2.4.6). We now have
k1 0 − k1 δ F1x
0
k2 − k 2 d 2 x = F2 x (2.5.10)
− k1 − k 2 k1 + k 2 d 3 x F3 x
Considering the second and third of Eqs. (2.5.11) because they have
known right - side nodal forces F2 x and F3 x
0δ + k 2 d 2 x − k 2 d 3 x = F2 x
( 2.5.12)
− k1δ − k 2 d 2 x + ( k1 + k 2 )d 3 x = F3 x
Transforming the known δ to the right side of Eqs. (2.5.12) results in
k 2 d 2 x − k 2 d 3 x = F2 x
(2.5.13)
− k 2 d 2 x + (k1 + k 2 )d 3 x = k1δ + F3 x
Rewritting Eqs. (2.5.13) in matrix form, we have
k2 − k 2 d 2 x F2 x
− k = (2.5.14)
2 k1 + k 2 d 3 x k1δ + F3 x
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Ch. 2 Stiffness Method
Some properties of the stiffness matrix (that are also applicable to the
generalization of the finite element method).
1. K is symetric, as is each of the element stiffness matrices.
2. K is singular and thus no inverse exists until sufficient BC are
imposed.
3. The main diagonal terms of K are always positive. Otherwise, a
positive nodal force Fi could produce a negative displacement di – a
behavior contrary to the physical behavior of any actual structure.
Example 2.1
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Ch. 2 Stiffness Method
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Ch. 2 Stiffness Method
π p =U +Ω ( 2.6.1)
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Ch. 2 Stiffness Method
Now we express F as
F = kx (2.6.3)
Using Eq. (2.6.3) in Eq. (2.6.2), the differential strain energy becomes
dU = kx dx ( 2.6.4)
The total strain energy is then given by
x
U = ∫ kx dx (2.6.5)
0
Ω = − Fx (2.6.8)
Therefore substituting Eqs. (2.6.6) and (2.6.8) into (2.6.1),
the TPE becomes
π p = 12 kx 2 − Fx (2.6.9)
∂π p ∂π p ∂π p
δπ p = δd1 + δd 2 + L + δd n (2.6.10)
∂d1 ∂d 2 ∂d n
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Ch. 2 Stiffness Method
The principles states that equilibrium exists when the di define a
structure state such that δπp = 0 for arbitrary admissible variations
δdi from the equilibrium state. An admissible variation is one in
which the displacement field still satisfies the BC and inter-element
continuity.
To satisfy δπ p = 0 (for δd i ≠ 0), all coefficients associated with
the δd i must be zero independently. Thus
∂π p ∂π p
= 0 (i = 1,2,3, L, n) or =0 (2.6.11)
∂d i ∂{d }
where n equations must be solved for the n values of di that define
static equilibrium state of the structure.
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k
1 2
fˆ1x fˆ2 x
L
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Ch. 2 Stiffness Method
Using Eq. (2.6.9), the TPE becomes
( 2
)
π p = 12 k dˆ2 x − dˆ1x − fˆ1x dˆ1x − fˆ2 x dˆ2 x (2.6.12)
where dˆ2 x − dˆ1x is the deformation of the spring in Eq. (2.6.9).
Simplifying Eq. (2.6.12), we obtain
( )
π p = 12 k dˆ22x − 2dˆ2 x dˆ1x + dˆ12x − fˆ1x dˆ1x − fˆ2 x dˆ2 x (2.6.13)
Minimization of π p with respect to each nodal displacement
requires that
∂π p 1
∂dˆ
( )
= 2 k − 2dˆ2 x + 2dˆ1x − fˆ1x = 0
1x
(2.6.14)
∂π p 1
ˆ
∂d
( )
= 2 k 2dˆ2 x − 2dˆ1x − fˆ2 x = 0
2x
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Ch. 2 Stiffness Method
Example 2.5
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Reference:
1. Logan, D.L., 1992, A First Course in the Finite Element
Method, PWS-KENT Publishing Co., Boston.
2. Imbert, J.F.,1984, Analyse des Structures par Elements
Finis, 2nd Ed., Cepadues.
3. Zienkiewics, O.C., 1977, The Finite Eelement Method,
3rd ed., McGraw-Hill, London.
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Ch. 2 Stiffness Method
Example
Consider the spring system shown in the figure. The force at nodes
2 and 3 are known. Node 1 is fixed at the support. Find the nodal
displacements and element internal forces, given that
k1 = 1000 lb/in, k2 = 2000 lb/in
F2x = 1000 lb, F3x = 1000 lb
1 2
1 3 2
x
F3 x F2 x
k1 k2
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Exercise
Consider the spring system shown in the figure. The force at nodes
3 is known. Nodes 1 and 4 are fixed at the support. Find the nodal
displacements and element internal forces, given that
k1 = k2 = k3 = 20 N/mm
F3x = 1000 N
1 2 3
1 2 3 4
k1 k2 F3 x k3
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Ch. 2 Stiffness Method
Exercise
2
3
1
1 2
k2
P
3
k1 4
k3
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