18.2 m Structure Stiffness Matrix 717 in both members. Because of the changes in length induced by the axial forces, joint B will experience, in addition to a rotation @, small displacements in the “rand y directions, Since these displacements are small and do not appreciably ‘affect the member forces, we neglect them. With this simplification we can analyze the frame as having only one degree of kinematic indeterminacy (icy the rotation of joint B). In the first part of the analysis, which we designate as the restrained con- dition, we introduce a rotational restraint (an imaginary clamp) at joint B (see Figure 18.15) The addition ofthe clamp transforms the structure into two fixed. ‘end beams. The analysis ofthese beams can be readily carried out using estab- lished equations (¢.g., see Figure 12.5). The deflected shape and the corre- sponding moment diagrams (directly under the sketch of the frame) are shown in Figure 18.1 b, Forees and displacements associated with this case are super scripted with a prime. Since the counterclockwise moment M applied by the clamp at B does not exist in the original structure, we must climinate its effect. We do this in the second part of the analysis by solving for the rotation 8 of joint B pr duced by an applied moment that is equal in magnitude but opposite in sense to the moment applied by the clamp, The moments and displacements in the members for the second part of analysis are superscripted with a double prime, as shown in Figute 18.1c. The final results, shown in Figure 18.14, follow by direct superposition of the cases in Figure 18.1 b and c ‘We note that not only are the final moments obtained by adding the values in the restrained case to those produced by the joint rotation @», but also any other force or displacement can be obtained in the same manner. For exam- ple, the deflection directly under the load Ay, equals the sum of the corre sponding deflections at D in Figure 18.1 and c, that is, Ap = Bb + M5 Structure Stiffness Matrix Inthe analysis ofa structure using the dicect stiffness method, we start by intro- ducing sufficient restraints (i. clamps) to prevent movement of all unrestrained joints. We then calculate the forces in the restraints as the sum of fixed-end forces for the members meeting at a joint, The intemal forces at other locations ‘of interest along the elements are also determined for the restrained condition. In the next step ofthe analysis we determine values of joint displacements for which the restraining forces vanish. This is done by first applying the joint forces, but with the sign reversed, and then solving a set of equi- libriurn equations that relate forces and displacements at the joints. In matrix form we have KA=F a8.) ‘where F isthe column mattix or veetor of forces (including moments) inthe ficti- tious restraints but with the sign reversed, A is the column vector of joint cis placements selected as degrees of freedom, and K is the structure stiffness ‘matrix.748 Chapter 18 m Matrix Analysis of Beams and Frames by the Direct Stifness Method ‘The term degree of freedom (DOF) refers to the independent joint dis- placement components that are used in the solution ofa particular problem by the direct stiffness method. The number of degrees of freedom may equal the number of all possible joint displacement components (for example, three times the numberof free joins in planar frames) or may be smaller if simplif ing assumptions (such as neglecting axial deformations of members) are intro- duced. In all cases, the number of degrees of freedom and the degree of kine~ matic indeterminacy are identical Once the joint displacements are calculated, the member actions (ie, the ‘moments, shears, and axial loads produced by these displacements) can be reac ily calculated. The final solution follows by adding these results to those from the restrained case. The individual elements of the structure stifness matrix K can be computed by introducing successively unit displacements that comrespond to one of the degrees of freedom while all other degrees of freedom are restrained. The exter- nal forces atthe location ofthe degrees of freedom required to satisfy equilibrium of the deformed configuration are the elements of the matrix K. More explicitly, atypical element k, ofthe stricture stifiness matrix K is defined as follows: ky = force at degree of freedom i due to a unit displacement of degree of freedom j when degree of fieedom jis given a unit displacement, all others are restrained. The 2 x 2 Rotational Stiffness Matrix for a Flexural Member In this section we derive the member stiffness matrix for an individual flexural element using only joint rotations as degrees of freedom. The 2 X 2 matrix, that relates moments and rotations at the ends of the member is important because it can be used directly in the solution of many practical problems. such as continuous beams and braced frames where joint translations are pre vented. Furthermore, itis a basic item in the derivation of the more general 4X 4 member stiffness matrix to be presented in Section 18.4, Figure 18.2 shows a beam of length L with end moments M, and Af). AS sign convention the end rotations 6, and @, are positive when clockwise and Figure 18.2: End rotations produced by member fend moments183 m The 2 x 2 Rotational Stiffness Matrix for negative when counterclockwise. Similarly, clockwise end moments are also positive, and counterclockwise moments are negative. To highlight the fact that the derivation to follow is independent of the member orientation, the axis Of the element is drawn with an arbitrary inclination a. In matrix notation, the relationship between the end moments and the resulting end rotations can be written as [ 18.2) Where K is the 2 2 member rotational stiffness matrix. ‘To determine the elements ofthis matrix, we use the slope-deflection equation to relate end moments and rotations (see Equations 12.14 and 12.15). The sign convention and the notation inthis formulation are identical to those used in the original derivation of the slope-deflection equation in ‘Chapter 12. Since no loads ae applied along the member's axis and no chord rotation y occurs (both wand the FEM equal zero), the end moments can be expressed as 2B 7 261 7 (20, + 6) and (6, + 26) Equations 18.3 and 18.4 can be written in matrix notation as (n] = a 4] (*] ass) By comparing Equations [8.2 and 18.5 it follows that the member rotational stiffness matrix k is 2EI[2 1 af | ai We will now illustrate the use of the preceding equations by solving a humiber of examples. To analyze a structure, it is necessary to identify the dogree of freedom firs. Afier the degree of freedom has been identified, the solution process can be conveniently broken down into the following five steps: . Analyze the restrained structure and calculate the clamping forces at the joints Assemble the structure stiffness matrix. . Apply the joint clamping forces but with the sign reversed to the original structure, and then calculate the unknown joint displacements using Equation 18.1 . Evaluate the effects of joint displacements (for example, deflections, moments, shears). Sum the results of steps 1 and 4 to obtain the final solution720 Chapter 18 m Matrix Analysis of Beams and Frames by the Direct Stiffness Method EXAMPLE 18.1 Using the direct stiffness method, analyze the frame shown in Figure 18.34. The change in length of the members may be neglected. The frame consists of two members of constant flexural rigidity ET connected by arigid joint at. Member ‘BC supports a concentrated load P acting downward at midspan, Member AB carries a uniform load w acting to the right. The magnitude of w (in units of load per unit length) is equal to 3PIL. 0125 PL —— Boost = 2s ef ous Ns nas r ‘“ o Figure 18.3: (a) Detalls of frame; (b) Curved arrow indicates positive sense of jin ‘lation at 2; (c) fixedend moments in restrained strctare produced by applied ions (loads omit irom ketch for elarty: the clamp at & apples moment Mf, tothe struct (see detail in lower right corer of figuey; (J) moment diagrams for restrained struct: (continues on page 722), Solution With axial deformations neglected, the degree of kinematic indeterminac equals 1 (this structure is discussed in Section 18.1). Figure 18,3b illustrat the positive direction (clockwise) selected for the rotational degree of free: dom at joint &.18.3 w The 2 x 2 Rotational Stifiness Matrix for a Flexural Member 719 negative when counterclockwise. Similarly, clockwise end moments are also positive, and counterclockwise moments are negative. To highlight the fact that the derivation to follow is independent of the member orientation, the axis of the element is drawn with an arbitrary inclination a. In matrix notation, the relationship between the end moments and the resulting end rotations can be written as, Rf] where Kis the 2 2 member rotational stiffness matrix, ‘To determine the elements of this matrix, we use the slope-deffection equation 0 relate end moments and rotations (see Equations 12.14 and 12.15). The sign convention and the notation in this formulation are identical to those used in the original derivation of the slope-deflection equation in Chapter 12. Since no loads are applied along the member's axis and no chord rotation # occurs (both yr and the FEM equal zero), the end moments can be expressed as 2E1 08, +9) (183) Elin, v and + 24) (184) Equations 18.3 and 18.4 can be written in matrix notation as M,| _ 2e1f2 1) fa, 85) mJ © Lt 2] Lo, : By comparing Equations 18.2 and 18.5 it follows that the member rotational stiffness matrix kis 2a?! 186) TL 2 sie) We will now illustrate the use of the preceding equations by solving a number of examples. To analyze a structure, itis necessary to identify the degree of freedom first. After the degree of freedom has been identified, the solution process can be conveniently broken down into the following five steps: Analyze the restrained structure and calculate the clamping forces at the joints. Assemble the structure stiffness matrix, Apply the joint clamping forces but with the sign reversed to the original structure, and then calculate the unknown joint displacements using Equation 18.1 Evaluate the effects of joint displacements (for example, deflections, ‘moments, shears) ‘Sum the results of steps 1 and 4 to obtain the final solution,720 Chapter 18 m Matrix Analysis of Beams and Frames by the Direct Stiffness Method EE EXAMPLE 18.1 Using the direct stifiness method, analyze te frame shown in Figure 18,34. The change in length ofthe members may be neglected. The frame consists of two ‘members of constant exural rigidity F connected by rigid join at B. Member ‘BC supports a concentrated load P acting downward at midspan, Member AB carries a uniform load w acting to the right The magnitude of w (in units of load Pet unit length) is equal 10 3P/. degre of freedom Gj 0.135 PL © lang ops er ose! 125 PL a a nasi 2s el 025 P Pe oas a ® Figure 18.3: (a) Details of frame; () Curved arrow indicates positive sense of joint ovation al; (c)fxed-end moments in restained structure produced by applied foads (als omiued from sketch for cavity; the clamp at applies moment to the structure (Gee det in lower tight comer of figure). (4) moment diagrams for restrained structure (continues on page 722). Solution With axial deformations neglected, the degree of kinematic indeterminacy equals | (this structure is discussed in Section 18.1), Figure 18.3b illustrates, the positive direction (clockwise) selected for the rotational degree of free- dom at joint B.18.3 m The 2 x 2 Rotational Stiffness Matrix for a Flexural Member 724 Step 1: Analysis of the Restrained Structure With.the rotation at joint B restrained by a temporary clamp, the structure is transformed ito two fixe end beams (Figure 18.3c). The fixed-end moments (see Figure 12.5) for member AB are and for member BC (see Figure 12.50) PL Mie = ; PL Mex = ~Mpo = (18.10) | Figure 18.3¢ shows the fixed-end moments and the deflected shape ofthe restrained frame. To illustrate the calculation of the restraining moment M,, a free-body diagram of joint B is also shown in the lower right corner of Figure 18.3c. For clarity, shears acting on the joint are omitted. From the re quirement of rotational equilibrium of the joint (My = 0) we obtain PL. PL +m =0 ate from which we compute Inthis 1-degree of freedom problem, the value of M, with its sign reversed is the only clement in the restraining force vector F (see Equation 18.1), Figure 18.3d shows the moment diagrams for the members in the restrained structure Step 2: Assembly of the Structure Stiffness Matrix To assemble the stiffness matrix, we introduce a unit rotation at joint B and calculate the moment required to maintain the deformed configuration. The detected shape of the frame produced by a unit rotation at joint B is shown in Figure 18.3 [continues on next page]722 Chapter 18 m Matrix Analysis of Beams and Frames by the Direct Stiffness Method Example 18.1 continues o Figure 18.3: Coninued (e) Momeats pro- ‘duced by @ unit rotation of joint B; the tit ness coefficient Xj, represents the moment required to produce the unit rotation {f) moment diagrams produced by the nit tosation of joint B (continues). Substituting 6, = @¢ = 0 and Oy = 1 rad into Equation 18.5, we compute the ‘moments at the ends of members AB and BC as 261 (ee) Te (me) "20 Te] ‘These moments are shown on the sketch of the deformed structure in Figure 18,3e, The moment required at joint B to satisfy equilibrium can be easily determined from the free-body diagram shown in the lower right co ner of Figure 18.3¢. Summing moments at joint B, we compute the sti ness coefficient Ky, as Key — MEL 4 SEL SEL seaaterleter (18.12 In this problem the value given by Equation 18.12 is the only element of the stiffness matrix K. The moment diagrams for the members corresponding = the condition 6 = 1 rad are shown in Figure 18.3f, Step 3: Solution of Equation 18.1 Because this problem has only one de- agree of freedom, Equation 18.1 is a simple algebraic equation. Substitut previously calculated values of F and K given by Equations 18.11 and 18 respectively, yields KA Solving for 8y yields ET ‘The minus sign indicates that the rotation of joint B is counterclockwise. Sa is, opposite in sense to the direction defined as positive in Figure 18.318.3 m The 2 X 2 Rotational Stiffness Matrix fora Flexural Member 723 Step 4: Evaluation of the Effects of Joint Displacements. Since the moments produced by a unit rotation of joint B are known from step 2 (see Figure 18.3/), the moments produced by the actual joint rotation are readily ob- tained by multiplying the forces in Figure 18.3/by @,, given by Equation 18.14; proceeding, we find (18.1) (18.16) (18.17) (18.18) The double prime indicates that these moments are associated with the joint displacement condition Step 5: Calculation of Final Results The final results are obtained by adding the values from the restrained condition (step 1) with those produced by the joint displacements (step 4). May ~ Mig + Mig = ~~ ny PL 32) 32 ‘ w= Moths (£2) Mt Myo = Myc + Mfc = Men = Men + Méy =" + 8 ‘The member moment diagrams can also be evaluated by combining the dia ‘grams from the restrained case with those corresponding 10 the joint dis- placements, Once the end moments are known, however, itis much easier to cconsiruct the individual moment diagrams using basic principles of statics. ‘The final results are shown in Figure 18.3¢. ous. rN 2 ® Figure 18.3: Continued (g) Final momen di ‘grams prostuced by superimposing moments in (wit those in CF) mulopied by724 Chapter 18 = Matrix Analysis of Beams and Frames by the Direct Stiffness Method gS EXAMPLE 18.2 Figure 18.4: (a) Details of continous ‘beam; (b) curved arows indicate the posi tive direction ofthe unknen join: ottions at B, C, and D; (6) moments induced in he restrained siiciure by the applied loads bottom figures show dhe moments ating om free-body diagrams of the clamped joints (hears and reactions omitted for eiarty) (continues) Construct the bending moment diagram for the three-span continuous beam shown in Figure 18.42. The beam, which has a constant flexural rigidity El supports @ 20-kip concentrated Toad acting at the center of span BC In addition, a uniformly distributed load of 4.5 kips/tt acts over the length of span CD. 4Skinstt UT "a "EL constant ® 2kips 4 Skips 1a) 1m 10 130 IS ays polls rent py (=) (+ 1150 150 Solution {An inspection of the structure indicates that the degree of kinematic terminacy is three. The positive directions selected for the three deg freedom (rotations at joints B, C, and D) are shown with curved arro Figure 18.4.18.3 m The 2 x 2 Rotational Stiffness Matrix for a Flexural Member Step 1: Analysis of the Restrained Structure The fixed-end moments induced in the restrained structure by the applied loads are calculated using the formulas in Figure 12.5, Figure |8.4c shows the montent diagram for the restrained condition and the free-body diagrams ofthe joints that are used to calculate the forces in the restraints. Considering moment equilibrium, we ‘compute the restraining moments as follows Joint B: M, + 100 My = -100kip-ft Joint C: = 100 + M, + 150 My = —S0 kip +ft Join D: =150 + My=0 My = 150kip- ft Reversing the sign of these restraining moments, we construct the force vector F! 100 50 | kip: f. (18.19) 150. Step 2: Assembly of the Structure Stiffness Matrix The forces atthe tends of the members resulting from the introduction of unit displacements at each one of the degrees of freedom are shown in Figure 18.4d to f. The elements of the structure stiffness matrix are readily calculated from the free-body diagrams of the joints. Summing moments, we calculate from re 18.4: -0.2EI ~ O1EI + Ky = 0 -00SEI + Ky, =0 0281 ote onset @ Figure 18.4: Continued (a) Sitinesscoeicients produced by a unit rotation of joint B ‘with joints C and D restrained (continues) [continues on next pagel726 Chapter 18 m Matrix Analysis of Seams and Frames by the Direct Stiffness Method Example 18.2 continues From Figure 18.4e, =005EI + Kip O.1EI ~ 0.2EI + -O2EI+ Ky=0 and — Ky, = 0.2 Arranging these stiffness coefficients in matrix form, we produce the follow ing structure stiffness matrix K: 03 005 0 K=£/005 03° Ot 48.20) 0 O11 02 AS we would anticipate from Betti’s law, the structure stiffness matrix K is symmetric, 7 o4er oer O1er asks muha: ya “ax 77k 158 oer 02e7 0 Figure 18.4: Continued (c) Sifiness coefficients produced by a unit rotation of joi © wth joints B an Dcestained; (f) StiTnesscoeiients produced bya unit rttion oF ame _D with joints B and C restrained (conrnues on page 728)18.3 = The 2 x 2 Rotational Stiffness Matrix fora Flexural Member 727. Step 3: Solution of Equation 18.1 Substituting the previously caleu- lated values of F and K (given by Equations 18,19 and 18.20) into Equation 18.1 gives [03 0050 Te,] 100 £1{ 0.05 03 0.1 || 6: 30 8.21) 0 ot o2fle) L-1s0 Solving Equation 18.21, we compute (18.22) a a A ona | Step 4: Evaluation of the Effect of Joint Displacements ‘The mo- ‘ments produced by the actual joint rotations are determined by multiplying the moments produced by the unit displacements (see Figure 18.4d to f) by the actual displacements and superimposing the results. For example, the end ‘moments in span BC are Mic = 8,(O.1ED) + 0,(0.0SEN) + 0,(0) = 48.3 kip-f (18,23) Méy = 9,(Q0SEN) + 6,(0.1E1) + 6,(0) = S78kip-fe (18.24) The evaluation of the member end moments produced by joint dis- Placements using superposition requires that for an n degree of freedom structure we add n appropriately scaled unit cases, This approach becomes increasingly cumbersome as the value of n increases, Fortunately, we can evaluate these moments in one step by using the individual member rote ‘ional stiffness matices. For example, consider span BC, for which the end moments due to joint displacements were calculated previously by using superposition. If we substitute the end rotations 6, and 8» (given by Equation 18,22) into Equation 18.5 with L = 40 ft, we obtain [5] 2erf2 1) [ee] - [3] 18.25) Men] 40 L1 274483] ~ L578] These results are, of course, identical to those obtained by superposition in Equations 18.23 and 18.24 [continues on next pagel728 Chapter 18 m Matrix Analysis of Beams and Frames by the Direct Stiffness Method Example 18.2 continues Proceeding in a similar manner for spans AB ancl CD. we find that [Mie ] [ 0} _ [259 a wollen] LM small Mp] _ 2eI{2 1] 1 (|= 0 [1 2)er ‘The results are plotted in Figure 18.4g, Step 5: Calculation of Final Results The complete solution is obtained by adding the results from the restrained case in Figure 18.4e to those pro~ duced by the joint displacements in Figure 18.4g, The resulting moment di serams are ploted in Figure 18.4h Figure 18.4: Continued (¢) Moments produced by actual joint rotations) Fal moment diagrams (in units of kip