THE DIRECT STIFFNESS METHOD FOR PLANAR TRUSSES CE 131L. Matrix Structural Analysis Henri P.

Gavin Fall, 2009

Method
1. Number all of the joints and all of the elements. 2. Identify the Structural Degrees of Freedom in Global Directions. Number all the structural degrees of freedom in your truss. In a planar truss, each joint can have a maximum of two degrees of freedom: one in the global X -direction and one in the global Y -direction. If a degree of freedom is restrained by a reaction, then it doesnt get a number. 3. Joint Locations. Write the (x, y ) coordinates of each joint using units consistent with E and A. In other words, if E and A are given in kN/cm2 and cm2 , write the (x, y ) coordinates in terms of centimeters. 4. Dene each element. Draw each element of your truss individually and draw the local coordinates in the global directions. For example if element number N is a diagonal truss element, and the global directions are X: horizontal and Y: vertical, draw element number N like this:

4 Bar Direction 2
2

3
(x , y )
2

1 1

Local Joint Number Element Coordinate in Global Directions

2 1
(x , y )
1 1

where 1,2,3,4 are the element coordinates of the truss bar in the global directions. The local coordinates are always numbered 1,2,3,4 with 1 and 3 pointing in the global X direction (to the right) and with 2 and 4 pointing in the global Y direction (up). Some or all of these four coordinates will line up with with the structural degrees of freedom that you identied in step 2., above. The angle is the counter-clockwise angle from element coordinate 1 to the truss bar.

CE 131L. Matrix Structural Analysis Duke University Fall 2009 H.P. Gavin

5. Element Stiness Matrices in Global Coordinates, K. For each element, nd its (4x4) element stiness matrix, by evaluating the equations below: L = (x2 x1 )2 + (y2 y1 )2 c = (x2 x1 )/L s = (y2 y1 )/L EA K= L

c2 cs c2 cs cs s2 cs s2 . c2 cs c2 cs 2 2 cs s cs s

or by using the TRUSS script in matlab. You should understand where these equations come from, why this matrix is symmetric, why the diagonal terms are all positive, and what the o-diagonal terms mean. 6. Structural Stiness Matrix, Ks . The structural stiness matrix is a square, symmetric matrix with dimension equal to the number of degrees of freedom. In this step we will ll up the structural stiness matrix using terms from the element stiness matrices in global coordinates (from step 5.) This procedure is called matrix assembly. Recall from step 4. how the element degrees of freedom (1,2,3,4) line up with the structural degrees of freedom in your problem. For example, coordinates (1,2,3,4) might line up with degrees of freedom (3,4,7,8) of the truss. In this case, to assemble this element into the structural stiness matrix,

K(1,1) +> Ks(3,3) | K(1,2) +> Ks(3,4) | K(1,3) +> Ks(3,7) | K(1,4) +> Ks(3,8) ------------------|-------------------|-------------------|-----------------K(2,1) +> Ks(4,3) | K(2,2) +> Ks(4,4) | K(2,3) +> Ks(4,7) | K(2,4) +> Ks(4,8) ------------------|-------------------|-------------------|-----------------K(3,1) +> Ks(7,3) | K(3,2) +> Ks(7,4) | K(3,3) +> Ks(7,7) | K(3,4) +> Ks(7,8) ------------------|-------------------|-------------------|-----------------K(4,1) +> Ks(8,3) | K(4,2) +> Ks(8,4) | K(4,3) +> Ks(8,7) | K(4,4) +> Ks(8,8)

where the +> is short-hand for is added to .... K(1,3) is added to Ks(3,7). Add each element into the structural stiness matrix in this way to get Ks . Note that if one end of the truss element is fully restrained in both the the X - and Y - directions, you will need to place only four of the sixteen terms of the elements 4x4 stiness matrix. 7. Forces, p. Create the force vector p, by nding the components of each applied force in the directions of the global degrees of freedom. Create the force vector by placing these force components into the force vector at the proper coordinates.

Stiness Method for Planar Trusses

8. Deections, d. Find the deections by inverting the stiness matrix and multiplying it by the load vector. You can do this easily in matlab: d = Ks \ p 9. Internal bar forces, n. Again, recall how the global degrees of freedom line up with each elements coordinates (1,2,3,4). For example, in element number N from step 6., the local element deections in the global directions, v1 , v2 , v3 , v4 line up with the structural deections deections d3 , d4 , d7 , d8 . The internal bar forces can be computed from: EA EA [c(v3 v1 ) + s(v4 v2 )] = [c(d7 d3 ) + s(d8 d4 )] n= L L where c and s are the direction cosine and sine for the element from step 5. You should be able to derive this equation. Knowing what each bar force is, the reactions can be easily computed with equilibrium equations. Notation u q k T v f K d p Ks = = = = = = = = = = Element deection vector in the Local coordinate system Element force vector in the Local coordinate system Element stiness matrix in the Local coordinate system ... q = k u Coordinate Transformation Matrix (orthonormal) ... T1 = TT Element deection vector in the Global coordinate system ... u = T v Element force vector in the Global coordinate system ... q = T f Element stiness matrix in the Global coordinate system ... K = TT k T Structural deection vector in the Global coordinate system Structural load vector in the Global coordinate system Structural stiness matrix in the Global coordinate system ... p = Ks d Coordinate System Element Deection Element Force Element Stiness Structural Deection Structural Loads Structural Stiness Local Global u q k v f K d p Ks

CE 131L. Matrix Structural Analysis Duke University Fall 2009 H.P. Gavin

Example

Y
4 E = 30,000 k/sq.in. A = 10 sq.in. 12 ft. 3 3 6 4 5 6 50 k 5

1 1 2 2

3 2 7 1 100 k

5 4

16 ft. 1 2 Global Joint Number Bar Number Bar Direction 1 1 1 Structural Degree of Freedom Applied Force Local Joint Number

16 ft.

System Equation: {f} = [K}{d} {d} : displacement vector = { d1 d2 d3 d4 d5 d6 } {f} : load vector = { 0 100 0 0 50 0 } 4 2 3

Local Degree of Freedom Global Coordinate System 1 2 1

Element Coordinates in Global Directions

Stiness Method for Planar Trusses

function K = truss( x1,y1,x2,y2,E,A ) % K = TRUSS (X1,Y1,X2,Y2,E,A) % Returns a 2-D truss element stiffness matrix in global coordinates % % X1,Y1 are the coordiniates of joint 1 of the truss element % X2,Y2 are the coordiniates of joint 2 of the truss element % E is the elastic modulus % A is the cross sectional area L = sqrt( (x2-x1)^2 + (y2-y1)^2 ); c = (x2-x1) / L; s = (y2-y1) / L; K = (E*A/L) * [ c^2 c*s -c^2 -c*s c*s s^2 -c*s -s^2 -c^2 -c*s c^2 c*s -c*s -s^2 c*s s^2 ; ; ; ];

% --------------------------------------------------------- TRUSS hudson17% matlab >> help truss K = TRUSS (X1,Y1,X2,Y2,E,A) Returns a 2-D truss element stiffness matrix in global coordinates X1,Y1 are the coordiniates of joint 1 of the truss element X2,Y2 are the coordiniates of joint 2 of the truss element E is the elastic modulus A is the cross sectional area >> format bank >> E = 3e4; >> A = 10; % two decimal places after the . % modulus of elasticity % area of cross section

>> K1 = truss(0,0,12*16,12*12,E,A) K1 = 800.00 600.00 -800.00 -600.00 600.00 450.00 -600.00 -450.00 -800.00 -600.00 800.00 600.00 -600.00 -450.00 600.00 450.00

% member 1

CE 131L. Matrix Structural Analysis Duke University Fall 2009 H.P. Gavin

>> K2 = truss(0,0,12*16,0,E,A) K2 = 1562.50 0.00 -1562.50 0.00 0.00 0.00 0.00 0.00 -1562.50 0.00 1562.50 0.00 0.00 0.00 0.00 0.00

% member 2

>> K3 = truss(12*16,0,12*16,12*12,E,A) K3 = 0.00 0.00 0.00 0.00 0.00 2083.33 0.00 -2083.33 0.00 0.00 0.00 0.00 0.00 -2083.33 0.00 2083.33

% member 3

>> K4 = truss(12*16,12*12,12*32,12*12,E,A) K4 = 1562.50 0.00 -1562.50 0.00 0.00 0.00 0.00 0.00 -1562.50 0.00 1562.50 0.00 0.00 0.00 0.00 0.00

% member 4

>> K5 = truss(12*16,12*12,12*32,0,E,A) K5 = 800.00 -600.00 -800.00 600.00 -600.00 450.00 600.00 -450.00 -800.00 600.00 800.00 -600.00 600.00 -450.00 -600.00 450.00

% member 5

>> K6 = truss(12*16,0,12*32,12*12,E,A) K6 = 800.00 600.00 -800.00 -600.00 600.00 450.00 -600.00 -450.00 -800.00 -600.00 800.00 600.00 -600.00 -450.00 600.00 450.00

% member 6

Stiness Method for Planar Trusses

7
% member 7

>> K7 = truss(12*16,0,12*32,0,E,A) K7 = 1562.50 0.00 -1562.50 0.00 0.00 0.00 0.00 0.00 -1562.50 0.00 1562.50 0.00 0.00 0.00 0.00 0.00

>> K8 = truss(12*32,0,12*32,12*12,E,A) K8 = 0.00 0.00 0.00 0.00 0.00 2083.33 0.00 -2083.33 0.00 0.00 0.00 0.00 0.00 -2083.33 0.00 2083.33

% member 8

% ----------------------------

input the Global Stiffness Matrix by hand ...

>> Ks = [ 3925 600 0 0 -800 -600 > 600 2533.33 0 -2083.33 -600 -450 > 0 0 3162.5 0 -1562.5 0 > 0 -2083.33 0 2983.33 0 0 > -800 -600 -1562.5 0 2362.5 600 > -600 -450 0 0 600 2533.33

; ; ; ; ; ]

Ks = 3925.00 600.00 0.00 0.00 -800.00 -600.00

600.00 2533.33 0.00 -2083.33 -600.00 -450.00

0.00 0.00 3162.50 0.00 -1562.50 0.00

0.00 -2083.33 0.00 2983.33 0.00 0.00

-800.00 -600.00 -1562.50 0.00 2362.50 600.00

-600.00 -450.00 0.00 0.00 600.00 2533.33

CE 131L. Matrix Structural Analysis Duke University Fall 2009 H.P. Gavin

>> find(Ks-Ks) ans = [](0x0)

% check to see if Ks is symmetric ... % It is!

>> p = [ 0 -100 0 0 50 0 ] p = 0.00 -100.00 0.00 0.00 50.00 0.00 >> format

% input the load vector

% change formats for more sig. figs

>> d = Ks \ p d = 0.0146067 -0.1046405 0.0027214 -0.0730729 0.0055080 -0.0164325

% compute the joint displacements