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CAE Chapter2

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2.

1 Con 2 & 3 Stiffness Method & Truss Eqs


CHAPTER

2.1 Review of Structure Analysis


2.2 Concept of Stiffness in Spring System
3 Application to Truss
CHAPTER 2

2.1 Review
Con of Structure Analysis (1)

The structural analysis is an extension of elasticity theory


and strength of materials
CHAPTER 2

2.1 Review
Con of Structure Analysis (2)
2.1.1 The Impact of the Digital Computer on Structural
Analysis Procedures

The basic principles employed in the matrix theory of structural analysis were
discovered in the 19th century.

Maxwell-Betti reciprocal theorem (1864, 1872)


Mohr conjugate beam method (1868)
Greene slope-deflection method (early 1900s)

Since the linear analysis of statically indeterminate structures essentially


involves generating and solving a set of linear simultaneous equation
(Hand calculation).
CHAPTER 2

2.1 Review
Con of Structure Analysis (3)
The advent of the electronic digital computer has removed the obstacle
previously presented by large numbers of simultaneous equations.
(Computer analysis of structures using matrix methods)
CHAPTER 2

2.1 Review of Structure Analysis (4)


2.1.2 Advantages of Matrix Methods
The use of matrix methods in structural analysis has two major advantage :
1) Matrix notation provides an extremely concise, clear means of expressing
various relationships. For example, the force-displacement relationships for
any type of structure of any size can be expressed by:
P = Ks D
Where P = vector of loads on the structure,
D = vector of corresponding displacements, Ks = structure stiffness matrix

2) Matrix methods provide a systematic means of carrying out various


procedures. This is mandatory when the digital computer is used to
perform the calculations. The variety of so-called structural design
“methods” advanced in the first half of 20th century were all special
application of basic analysis methods which employed particular
techniques for reducing the amount of hand calculation required in an
analysis.
CHAPTER 2

2.1 Review of Structure Analysis (5)


However, both the classical hand methods and computer methods are
established from the fundamental principles in mechanics, i.e.

a) Force equilibrium or energy balance of a structure.

b) Compatibility in deformation.

c) Consistent with support conditions.


CHAPTER 2

2.1 Review of Structure Analysis (6)


2.1.3 Structural Analysis Methods
The two basic structural analysis methods are:

a) The Stiffness (equilibrium, displacement) method: This method involves


generating and solving a set of simultaneous equilibrium equations for the
structure. The coefficients in the equations are stiffness coefficients and
the equations are solved for displacement of specified points in the
structure.

b) The Flexibility (compatibility, force) method: This method involves


generating and solving a set of simultaneous compatibility equation for
the structure. The coefficients in the equations are flexibility coefficients
and the equations are solved for forces at specified points in the structure.
CHAPTER 2

2.1 Review of Structure Analysis (7)

Both methods are based on the fact that a structure must simultaneously
satisfy two sets of conditions while the material in the structure satisfies known
stress-strain relationships. The conditions are:

a) Equilibrium – the internal forces in all parts of the structure must be in


statical equilibrium with each other and with the externally applied loads.

b) Compatibility – the displacement of each part of the structure must be


compatible with those of all other parts.
CHAPTER 2

2.1 Review of Structure Analysis (8)


2.1.4 Comparison of Flexibility and Stiffness Methods

The flexibility method generally involves considerably less calculation than the
stiffness method. Generally, fewer simultaneous equations need be solved for
the flexibility method than for the stiffness method. (For large problems the
difference is insignificant).

For these reasons, the flexibility method is usually better suited to hand
calculation methods. This is why most hand calculation structural analysis
“methods” of the past have been special cases of the flexibility method.
CHAPTER 2

2.2 Concept of Stiffness in Spring System (1)

1
δ= F
k

F = k ⋅δ

{F } = [K ]⋅ {δ }

Statically redundant pin-


jointed frame
CHAPTER 2

2.2 Concept of Stiffness in Spring System (2)

Stiffness matrix for single elastic spring

 F1   k11 k12  u1  Stiffness Relationship


 =  ⋅  for a Spring
 F2  k 21 k 22  u 2 
CHAPTER 2

2.2 Concept of Stiffness in Spring System (3)


Case1
Force F1 applied at end A.
End B is fixed.
F1a + F2 a = 0

(a) F2 a = − F1a = −ku1

Case 2
Force F2 applied at end B.
End A is fixed.

(b)
F2b = ku 2 = − F1b

Cases 1 & 2 combined

(c)
CHAPTER 2

2.2 Concept of Stiffness in Spring System (4)


Total force acting at node 1 : F1 = F1a + F1b
Total force acting at node 2 : F2 = F2 a + F2b
or F1 = ku1 − ku 2
F2 = −ku1 + ku 2

In the matrix form


− k
 F1   k
 =
 F2  − k
− k   u1 
⋅ 
k  u2 
[K ]
e k
=
k 
− k

The stiffness matrix is symmetrical, ie the coefficient k 21 being


equal to coefficient k12.
CHAPTER 2

2.2 Concept of Stiffness in Spring System (5)

Stiffness matrix for assemblage of springs

 F1   k11 k12 k13  u1 


    
 F2  = k 21 k 22 k 23  ⋅ u 2 
 F  k
 3   31 k 32 k 33  u 3 
CHAPTER 2

2.2 Concept of Stiffness in Spring System (6)

Case 1

Case 2

Case 3
CHAPTER 2

2.2 Concept of Stiffness in Spring System (7)

Case 1

Set u 2 & u3 equal to zero, allow only node 1 to deflect

F1 = k a u1
F2 = − F1
F3 = 0
CHAPTER 2

CHAPTER 2 Stiffness
2.2 Concept Analysis
of Stiffness in Spring System (8)
Case 2

Set u1 & u3 equal to zero, allow only node 2 to deflect

F2 = (k a + k b ) ⋅ u 2
F1 = −k a u 2 (equilibrium of spring a)
F3 = −k b u 2 (equilibrium of spring b)
CHAPTER 2

CHAPTER 2 Stiffness
2.2 Concept Analysis
of Stiffness in Spring System (9)
Case 3

Set u1 & u 2 equal to zero, allow only node 3 to deflect

F3 = k b u 3
F2 = − F3
F1 = 0
CHAPTER 2

2.2 Concept of Stiffness in Spring System (10)


Combined action

Since linear elastic behavior is being considered, the principle of


superposition may be used.

Case 1 Case 2 Case 3

(Total force acting at A) F1 = k a u1 − kau2 0

(Total force acting at B) F2 = − k a u1 k a u 2 + kb u 2 − k b u3


(Total force acting at C) F3 = 0 − kb u 2 k b u3
CHAPTER 2

2.2 Concept of Stiffness in Spring System (11)


Writing these equations in matrix form gives

 ka − ka 0 
[K ] = − ka k a + kb − kb  (A)
 0 − kb kb 

The term in location ii consists of the sum of the direct stiffness of all the
elements meeting at node i.

The term in location ij consists of the sum of the indirect stiffnesses relating
to nodes i and j of all the elements joining node i to node j.
CHAPTER 2

2.2 Concept of Stiffness in Spring System (12)


Solution Procedure

The matrix of equation (A) is singular. Mathematically this is


equivalent to saying that its determinant vanishes, i.e. is equal to
zero, and its inverse does not exit. This problem, which is rigid
body motion, can be remedied by specifying sufficient boundary
conditions.

Assume node 1 to be fixed ( u1 = 0), then


 F1   k a − ka 0  u1 = 0
    
 F2  = − k a k a + kb − kb  ⋅  u2 
F   0 − kb kb   u3 
 3 
CHAPTER 2

2.2 Concept of Stiffness in Spring System (13)

u 2 
{F1 } = [− k a 0] ⋅  
u 3 

 F2  k a + k b − k b  u 2 
 =  ⋅ 
 F3   − k b k b  u 3 

By matrix inverse, u 2 & u3 can be obtained.


2.1 Con
Total Potential Energy of Spring (additional)
Examples 2.1 & 2.5

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