Leson4: Transformation Matrix:

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The work done in the two systems is equal:

Were P and P are the loads associated with

respectively.

The previous equation is valid for all values of

therefore:

Again considering the equality of the work done in the two systems:

Taking into account the symmetry of K:

Substituting the values for :

The previous equation is valid for all values of

therefore:

K is the stiffness matrix in the transformed coordinates. Note: The concept is the same for three dimensional elements. Assembling the structures stiffness matrix: 2|Page

Example: Compute the stiffness matrix of the frame below:

Solution1: Using the direct stiffness method on the entire frame:

Note: this method cannot be programmed. Solution2:

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By using the transformation matrix:

Frame connections have continuity of displacements: Displacements in the X direction Displacements in the Y direction Rotation

The Dofs labeling can be changed accordingly:

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Appling the direct stiffness method:

Assuming K and K to be the stiffness matrix of the left and right elements respectively:

The forces needed to cause the displacement

in each of the parts are:

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Therefore the force needed to cause the displacement

in the entire frame is:

Similarly the rest of the elements in the structures global stiffness matrix can be obtained:

Solving the structure:

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If the matrix is reassembled in order to assign smaller number to the free Dofs, or if lower numbers were assigned to the free Dofs in the first place:

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Rotated Support:

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First method: Using the normal convention of naming the Dofs and adding an extra row (for the compatibly equation) to the global stiffness matrix( complicates the programming algorithm):

Second Method: Using a rigid element. May cause numerical errors whether it is taken too rigid or too deformable. Also the results will not be accurate for geometrically nonlinear analysis.

Third method (recommended): Changing the Dofs:

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CAL structural commands: ADDK: Assembles the global stiffness matrix Syntax:

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ADDK KS KE ID N=? KS: Structure stiffness matrix KE: Element global stiffness matrix ID: D.O.Fs associated with the structures elements N: Column of ID associates with the element being assembled. Example1:

There are two elements with the stiffness matrix KE. The DOFs associated with the first one are 1,3,10 and the DOFs associated with the second one are 7,8,9.

The global stiffness matrix is 10x10 Code: run Load A r=3 c=3 134 3,5,6 4 5 67 PA zero B r=10 c=10 PB LOADI ID R=3 C=2 1,7 3,8 10,9 P ID ADDK B A ID N=1 PB ADDK B A ID N=2 PB Q

Notes:

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LOADI: The elements of the matrix ID must be integers. The command LOAD creates a matrix of real numbers even if the input is integer. MEMFRC: Calculates element forces based on structure displacements Syntax: MEMFRC KT U ID P+ N=? KT: If KT is the element stiffness matrix in the global coordinates, the element forces will be calculated in the global coordinates. If KT is taken as (where K is the element stiffness matrix in the global coordinates and T is defined in the previous section), MEMFRC will calculate the element forces in the local coordinates

U: Structure displacements ID: D.O.Fs associated with the structures elements P+: Element forces. N: Column of ID associated with the element. Example2: Assuming that the structural displacements have been calculated and are equal to:

KE is the element stiffness matrix in the global coordinates:

The second column in the ID matrix is associated with this element:

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Code: run load U r=10 c=1 1 0.25 2.5 4.5 0.3 0.65 0.75 0.8 -1 -1.5 pU Load KE r=3 c=3 134 3,5,6 4 5 67 P KE LOADI ID R=3 C=2 1,7 3,8 10,9 P ID MEMFRC KE U ID PI N=2 p PI q SLOPE: Creates the stiffness matrix of a 2D frame element in local coordinates. The Dofs are as shown below:

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SLOPE M1+ E=? I=? L=? M1+: The stiffness matrix of the frame element in local coordinates E: modules of elasticity. I: moment of inertia L: Length. FRAME: Creates the stiffness matrix of a 2D frame element (including axial deformation) in global coordinates. The Dofs are shown below:

Syntax: FRAME K+ KT+ I=? A=? E=? X=Xi, Xj Y=Yi, Yj K+: The stiffness matrix of the frame element. KT+: Can be used in the command MEMFR to give the forces below:

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Note: When designing structural elements the design criterions are based on the local forces. I: Moment of Inertial A: section area E: Modules of elasticity X = Xi, Xj: The X coordinates of the frame element. Y = Yi, Yj: The Y coordinates of the frame element. TRUSS: Creates the stiffness matrix of a 3D truss element. The Dofs are shown below:

Syntax: TRUSS K+ KT+ A=? E=? N=Ni,Nj K+: The stiffness matrix of the truss element. KT+: Can be used in the command MEMFR to give the forces below:

A: section area E: Modules of elasticity 15 | P a g e

N: a matrix with the name XYZ must be defined. XYZ must have 3 columns. NI and NJ refer to the rows of this matrix, where each row is the coordinate of a node.

Example3: the code below creates a truss element with the first node at (1, 1, 1) and the second node at (2, 2, 2) Code: run LOAD XYZ R=2 C=3 1,1,1 2,2,2 P XYZ TRUSS K T A=20 E=100 N=1,2 PK PT Q FRAME3: Creates the stiffness matrix of a three dimensional frame element.

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Syntax: FRAME3 K+ KT+ I=I33 ,I22 A=? J=? E=? G=? N=NI,NJ P=P1,P2 K+: The stiffness matrix of the FRAME element. KT+: Can be used in the command MEMFR to give the forces below:

I33: moment of inertia about axis 3 I22: moment of inertia about axis 2 The axes have been defined below:

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A: the cross sectional area of the frame element E: the modulus of elasticity J: rotational moment of inertia G: the shear modulus N: a matrix with the name XYZ must be defined. XYZ must have 3 columns. NI and NJ refer to the rows of this matrix, where each row is the coordinate of a node. P: Since the frame is three dimensional, not only must the coordinates of the end points be specified but also the orientation of the local axis. Axis one is oriented in the direction of the element, from node I towards node j. If the three local axes are labeled (V1, V2, V3): If P=1,0 then V3 = global z axis (0,0,1) V2 = V3 X V1 If P=2,0 then V3= global y axis (0, 1, 0) V2 = V3 X V1 If P = 3, 0 then V3 = gobal x axis (1, 0, 0) V2 = V3 X V1 Another method to define the coordinates of two extra points in the XYZ matrix. P1 and P2 would refer to the rows of the XYZ matrix which the point coordinates are located at. The points will define a vector VP. V2 = VP x V1 V3 = V1 X V2 The third method would be to add the coordinates of a node NK to the XYZ matrix. If K is the row which the coordinates of that point is located at 18 | P a g e

P = 0, K A vector VK will be created starting from point (0, 0, 0) to point NK. V3 = V1 X VK V2 = V3 X V1 Example4: Code: run LOAD XYZ R=2 C=3 1,1,1 2,2,2 P XYZ FRAME3 K T I=200,100 A=20 J=10 G=20 E=100 N=1,2 P=1,0 PK PT LOAD XYZ R=4 C=3 1,1,1 2,2,2 3,4,5 6,4,7 P XYZ FRAME3 K T I=200,100 A=20 J=10 G=20 E=100 N=1,2 P=3,4 PK PT LOAD XYZ R=3 C=3 1,1,1 2,2,2 3,4,5 P XYZ FRAME3 K T I=200,100 A=20 J=10 G=20 E=100 N=1,2 P=0,3 PK PT Q

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