Stability of stru

tures, solved example problems

Reijo Kouhia

Pekka Marjamki

De ember, 2005

Equilibrium paths, post riti al state and imperfe tions

Example 1.1

Determine all equilibrium paths of the stru ture onsisting of two rigid bars and

a linear elasti rotational spring. Investigate also the stability of all paths. P = 4k/L.

k 

b


b
@
@

L/2

Solution:

b 
@
b @b

L/2

Let's assume that the bars displa e by an angle

then in the middle pin the angle

will be 2.

b
@
@

2
k 
b

P
`````
``
`b 
@
b@
b

The total potential energy

of the stru ture is thus:

1
= k(2)2 P L(1 cos )
2

= 4k P L sin

2
= 4k P L cos .
2

(1)
(2)

(3)

The stru ture will be in equilibrium when the total potential energy attains its minimum, thus
the rst variation of the TPE will vanish.

= 0 6= 0
=0

=
primary path
0

4k
P =
sek ondary path
L sin

(4)

(5)

Let us rst investigate the primary path. A point on an equilibrium path is stable, if a small
hange (disturban e) in the equilibrium position will will in rease the value of

. Sin e the rst

variation is zero on an equilibrium path, then the se ond variation will determine the hange
in the TPE. Sin e now

= 0,
2 =

2
()2 = 0
2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

2
= 4k P L cos = 4k P L
2
k
Pkr = 4
L

The primary equilibrium path is thus stable up to the point

(6)

( = 0, Pkr ).

Next, the stability properties of the se ondary path is investigated.

2
= 4k P L cos
2

(7)

P = 4k/L sin to the




> 0
= 4k 1
tan

Insering the equation of the se ondary path


2 
2 PII

The se ondary path is this stable for all values of

0, Pkr = 4k/L,

and the se ond variation of

equation above, gives

ex ept the bifur ation point where

(8)

is zero.

The equilibrium paths are shown in the

- oordinate

system in the gure below.

1.2
1
0.8

0.6
0.4
0.2
0
-1

-0.8

-0.6

-0.4

-0.2

0.2

0.4

0.6

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

0.8

Example 1.2

Determine all equilibrium paths of the stru ture onsisting of two rigid bars and

a linear elasti rotational spring. Investigate also the stability of all paths. Are there riti al
points on the paths?

b
@
@


k 
b

P
`````
``
`b 
@
b @b

cos 0 L/2
Solution:

cos 0 L/2

The total potential energy expression is now

1
k[2( 0 )]2 P L(cos 0 cos )
=
2

= 4k( 0 ) P L sin

2
= 4k P L cos
2
The stru ture will be in equilibrium when the total potential energy attains its minimum, thus
the rst variation of the TPE will vanish.

= 0

= 0

4k( 0 )
P =
L sin

An equilibrium state is stable if the se ond variation of the TPE is positive

2 =

2
> 0
2
P <

Inserting the equilibrium equation

ondition for stability

2
()2 > 0
2
4k
.
L cos

P = 4k( 0 )/L sin

in the expression above, gives the



0
4k 1
> 0
tan
0
< 1,

tan
whi h is valid for all non-negative values of

. Thus this equilibrium path does not have riti al

points.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

2
1.8
1.6
1.4
1.2

1
0.8
0.6
0.4
0.2
0
-2

-1.5

-1

-0.5

0.5

1.5

In the gure above, dotted line shows the equilibrium path of the perfe t stru ture
and solid line indi ates the stable path when

0 > 0.

0 = 0,

The path in the negative part of

shown by a solid line is a omplementary path. The load parameter

= P/Pkr = P L/(4k).

axis

is dened as

(9)

Noti e, that the omplementary path is not stable everywhere. Determine the unstable
and stable parths of the omplementary path! Note too, that this means an existen e of a
riti al point on the omplementary path.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

Example 1.3

Determine all equilibrium paths starting from the unloaded state of the stru ture

onsisting of two rigid bars (length L/2) and a linear elasti rotational spring. Investigate also
the stability of all paths. The perturbation load F = 4k/L, where is a dimensionless (se ond)
perturbation parameter.

b
@
@

F

k 
b?

P
`````
``
`b 
@
b @b

cos 0 L/2
Solution:

cos 0 L/2

The total potential energy of the stru ture

is

1
1
(; 0 , ) = k[2( 0 )]2 P L(cos 0 cos ) F L(sin 0 sin )
2
2

(10)

A ne essary ondition of an equilibrium state is the stationarity of the TPE, thus the rst
variation of the total potential energy must vanish



1
d
= 4k( 0 ) P L sin + F L cos = 0
=
d
2

6= 0

(11)

An equilibrium path is thus dened by

 
k 0 + 21 cos
P =4
L
sin
This equation determines a unique path with respe t to

= 20 .

not satisfy the ondition

the unloaded state

Case = 20

P = 0.

(12)

if the perturbation parameters does

In su h a ase the stru ture is a straight bar of length

at

Let us examine this spe ial ase rst.

The equilibrium equation is now

d
= ( 0 ) P L sin + 4k0 cos
d

(13)

= 4k P L sin + 4k0 (cos 1) = 0

(14)

and the two solutions are

=0
 
k + 0 (cos 1)
P =4
L
sin

primary path

PI ,

(15)

se ondary path

PII

(16)

An equilibrium state is stable if the se ond variation of

2 =

d2
()2 = (4k P L cos 4k0 sin )()2
2
d

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

6= 0

(17)

is positive. Let us rst examine stability of the primary path, i.e. when

2 |P =

d2 
()2 = (4k P L)()2
P
2
d

The primary path is thus stable when

riti al load is thus

Pcr = 4k/L.

P < 4k/L

= 0,

and unstable when

thus

(18)

P > 4k/L,

and the

Let us examine wheather the riti al point is a symmetri or

asymmetri bifur ation point. The expression of the third variation of the TPE is

3 |P =
where

d3 
()3
d3 P

(19)

d3
= P L sin 4k0 cos
d3

(20)

At the riti al point the value of the third derivatve of the TPE is on

d3 
= 4k0 6= 0
d3 kr

(21)

thus the riti al point is an asymmetri bifur ation point. The equilibrium path is drawn in
gure 1.

Case 6= 20

Let us examine stability of the equilibrium path, dened in (12). The se ond

variation of the TPE

2 =

d2
()2
d2

(22)

is obtained from the expression of the rst variation (11). An equilibrium state is stable if
the se ond variation of the TPE is positive for all kinemati ally admissible variations

thus

in this single degree of freedom example it is su ient to investigate the sign of the se ond
derivative of the TPE

d2
= 4k P L cos 2k sin
d2

(23)

Let's insert the expression of the equilibrium path (12) in the expression above, gives

sin ( 0 ) cos 21
d2
= 4k
d2
sin
Let us examine the ases
In the ase

> 20

> 20 ,

and

< 20

(24)

separately.

the stru ture is below the horizonal line dened by the supports

before applying the ompressive load, thus the stru ture will ontinue to displa e below the
support line, thus

< 0.

Let us dene

= 20 + ,

and the expression (24) gives

sin cos 0 (1 cos )

d2
= 4k
2
d
sin
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

(25)

Sin e now

< 0

and both the nominator and denominator are negative, thus

positive, i.e. the path is stable when

The ase

< 20

is always

> 20 .

is more interesting. Now

>0

and the denominator of the expression

(24) is always positive but the nominator an have zero points. These roots an be solved from
the trans endental equation

sin ( 0 ) cos 21 = 0.

(26)

Sin e analyti al solution is impossible, let's try the asymptoti analysis assuming that the angles

and

are small, thus

sin 61 3 ,

cos 1 12 2 ,

and the expression (26) will has a form

1 3

21 0 2 + (0 12 ) = 0

(27)

The third order polynomial above an have both negative and positive values for positive values
of

To show that, let us srt al ulate the minumum point

2 0 = 0

= 0 .

The minimum value of the fun tion dened in (27) (kun

nagativity we get an inequality (let's dene

< 20

> 0)

and the ondition for the

= 0 )

13 20 + 1 21 < 0
Taking the ondition

(28)

> 2 31 20

into a ount we'll get a ondition for the perturbation parameter

= 0 :
2 > > 2 31 20

i.e.

20 > > (2 13 20 )0

for the existen e of a limit point on the equilibrium path. In the following gure, some equilibrium paths are shown for some values of the perturbation parameter

To sum up, the equilibrium paths of this stru ture an have

a trivial equilibrium path and an asymmetri bifur ation point if

A stable equilibrium path without riti al points if

= 20 . The

se ondary

path is dened in equation (16).

An equilibrium path has a limit point if

> 20

or if

(2 13 20 )0 / / 20 ,

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

/ (2 13 20 )0 .

= 20
= 1.990
= 1.80
= 2.20

1.5

0.5

-2

-1.5

-1

-0.5

0.5

1.5

Figure 1: Equilibrium paths

= P/Pcr = P L/(4k).

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

4. Problem
The stru ture in the problem 1 is an idealized olumn having a onstant bending stiness

Determine the spring oe ient

EI .

and how the riti al load will dier from the exa t beam

solution.

Solution:

The spring onstant

an be determined either by

letting the bifur ation loads to be equal for both models,

to make the displa ements at the middle equal under uniform load.

to make the displa ements at the middle equal under point load at the middle,

Dee tion under a point load is

Pp =

1 F L3
48 EI

qp =

5 qL4
.
384 EI

and for a unform load

For the spring-bar system the orresponding dee tions are

Pj

1 qL3
1 F L2
j
and q =
.
=
8 k
16 k

Let

Pj = Pp
6EI
kP =
L
qj = qp
12EI
kq =
L
The riti al load of the spring-bar system is thus

Pcr =

24EI
48EI
4k
P
Pkr
=
and Pcrq =
.
2
L
L
L2

One additional way to ompute

is to make the bending strain energies equal under a

uniform load.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

Example 1.4

Determine the equilibrium paths of the simple stru ture shown, onsisting of

rigid bars and elasti springs. Investigate also the stability of the equilibrium paths. Investigate
espe ially ases k1 = k2 ja k1 = 5k2 . What kind of real stru tures these models imitate?

Solution:

The total potential energy expression is

=U +V
1
1
U = k1 L2 sin2 + k2 u2 + k2 [u 2L(1 cos )]2
2
2
V = P u

(29)

The equilibrium paths an be obtained from the stationarity ondition of the TPE:

=
Sin e the variations of the displa ement

+
u = 0

u
u

and rotation

(30)

are arbitrary, the equilibrium paths

are obtained from equations

= k1 L2 sin cos + k2 [u 2L(1 cos )](2L sin ) = 0

= 2k2 u + k2 [u 2L(1 cos )] P = 0

u
(31)

After some manipulations we get

sin [k1 L2 cos 2Lk2 u + 4k2 L2 (1 cos )] = 0

P
2
u=
+ L(1 cos )
3k2 3
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

(32)
(33)

10

Equation (32) is satised, if

sin = 0

tai

(k1 4k2 )L2 cos + 4k2 L2 2k2 Lu = 0

k2 = k


P = kL 4 + ( 32 4) cos

If equation (33) is put into equation (34) and dene

whi h is the proje tion of the se ondary path onto the

ja

k1 = k ,

(34)
we get
(35)

(, P )-plane. A ordingly from equation

(33) we get

cos = 1 +

3u
P

,
2kL 2 L

whi h is substituted into (35)

P =

kL h
ui
2 + (8 3)
,
4
L

whi h des ribes the proje tion of the se ondary path onto the

(u, P )-plane.

The primary paths are dened as

=
and the se ondary paths

Let's investigate the

0
P
u =
3k

P = [4 + ( 3 4) cos ]kL
2
h
kL
ui

P =
2 + (8 3)
4
L
ases = 1 ja = 5.

P = (4 5 cos )kL

2
=1
P = 1 kL 2 + 5 u
3
L

1.8
1.6
1.4
1.2
P
kL

1
0.8
0.6
0.4
0.2
0
-0.3

-0.2

-0.1

0.1

0.2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

0.3

11

4
3.5
0.333*(2+5*x)
3*x

3
2.5
P
kL

2
1.5
1
0.5
0
0

0.2

0.4

0.6

0.8

1
u/L

1.2

1.4

1.6

1.8

We noti e, that displa ements are in reasing more rapidly on the se ondary path than
in the primary path. However, the load an still be in reased over the riti al value at the
bifur ation point.

(Pkr = 32 kL,

thus the se ondary path is stable. In ompressed thin plates

su h kind of behaviour an be obtained. The strong stability of the se ondary paths an be

utilized also in design for some ases.

P = (4 + 7 cos )kL
2


=5
P = kL 10 7 u
L

8
7
6
5
P
kL

4
3
2
1
0
-0.3

-0.2

-0.1

0.1

0.2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

0.3

12

8
7
6
5
P
kL

-10+7*x
3*x

4
3
2
1
0
0

0.5

1.5
u/L

2.5

In this ase the bifur ation load is mu h higher than in the preious one. However, the
se ondary equilibrium path is now unstable. Shells, espe ially exhibit su h kind of unstable
behaviour after bifur ation. If the post-bu kling regime is unstable, su h stru tures are imperfe tion sensitive, whi h means that the riti al load of an imperfe t stru ture is mu h lower than
the theoreti al bifur ation load. Imperfe tions are due to e entri ities, geometri al deviations
et .

Example 1.5

Investigate the ee t of imperfe tions in the previous example. Draw the im-

perfe tion sensitivity diagram for the ase k1 = 5k2.

Solution:

Let's determine the riti al load as a fun tion of

Now

the imperfe tion amplitude

0 .

1
1
U = k1 L2 (sin sin 0 )2 + k2 u2 + [u 2L(cos 0 cos )]2
2
2

and

= k1 L2 (sin sin 0 ) cos + k2 [u 2L(cos 0 cos )](2L sin ) = 0

= 2k2 u + k2 [u 2L(cos 0 cos )] P = 0

u
Solving

from the equation above and substitute it into the equation below, gives

k1 sin sin 0
L 2L(cos cos 0 )
2k2
tan
3k1 sin sin 0
L 8k2 L((cos cos 0 )
P = 3k2 u 2k2 L((cos cos 0 ) =
2
tan
u =

Let's program the equations into matlabiin and draw the fure (2).

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

13

max

as a fun tion of the imperfe tion amplitude

0.5

0.6

Figure 2: The maximum load

8
7
6
5
P
kL

0 = 0
0.003
0.03
0.1

3
2
1
0

0.1

0.2

0.3

0.4

0.7

0.8

0.9

Figure 3: Equilibrium paths with dierent imperfe tion amplitude.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

14

Investigate stability properties of the stru ture below, are there limit or bifur-

Example 1.6

ation points on the paths? (EI = EA = )

c

Solution:

k

a


k 
a


c
c c

Let's determine the displa ements by using the following gure

 
ab

2
b
b
b
b
b
v2
b
b
b3

bc

1
 
!
a!
!


12
!
!!
!
!
v1
!!
!
c!
0

sin 0 =

v2 v1
v2
v1
, sin 12 =
, sin 3 =
L
L
L

In addition

v1
v2 v1
arcsin
L
L
v2 v1
v2
= arcsin + arcsin
L
L

1 = 0 12 = arcsin
2 = 3 + 12

Assuming small rotations we an approximate

springs are

1 =
=
2 =
=

arcsin x x + 1/6 x3 ,

and the rotations at the



1
1 3
2
1 + 1 2 1 + (2 1 )
6
6
1 3 1 3 1 2 1 2
21 2 + 1 2 + 1 2 1 2
3
6
2
2
1 3
1
2 + 2 + 2 1 + (2 1 )2
6
6
1 3 1 3 1 2 1 2
22 1 + 2 1 1 2 + 1 2
3
6
2
2

Dee tion under the load



q
q
p
2
2
2
= L 3 1 1 1 (1 2 ) 1 2


3 2 2 1 3
1 4 1 4 1 3
2
2
L 1 + 2 1 2 + 1 + 2 1 2 + 1 2 1 2
4
4
2
4
2
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

15

The total potential energy expression is

1
1
= (1 , 2 ) = k21 (1 , 2 ) + k22 (1 , 2 ) P (1 , 2 )
2
2
Equilibrium paths are determined from the stationarity ondition

= 0,

whi h gives

1
2

= k1
+ k2
P
=0
1
1
1
1

(36)

1
2

= k1
+ k2
P
=0
2
2
2
2

(37)

in whi h

1
1
2
1

1
1
2
2
2

1
= 2 + 12 + 22 1 2
2
1 2 1 2
= 1 1 2 + 1 2
2

 2
3 2
3 2 1 3
3
= L 21 2 + 1 1 2 + 1 2 2
2
2
2
1 2 1 2
= 1 1 2 + 1 2
2
2
1
2
= 2 + 2 1 2 + 12
2


1 3 3 2
3 2
3
= L 22 1 + 2 1 + 1 2 1 2
2
2
2

Equations (36) and (37) are satised, if

1 = 2 = = 0

i.e.

1 = 2 = 0.

Let's investigate

stability of this primary path. The se ond variation of the total potential energy is

2
2
2
2
[(
)]
+
2
[(2 )]2
(
)(
)
+
1
1
2
2
12

1 2
!
2
2 2
(
)
1
1 2
1
,
= ((1 ) (2 ))
2
2
(2 )
2

2 =

1 2

in whi h the matrix

if

> 0.

K = [ 2 /i j ]

is the stability matrix. The path is stable, if and only

This is true if the stability matrix

is positive denite, whi h means that all its

eigenvalues are positive.

1 = 2 = 0 the elements of the stability matrix are

2
2


2 2
2
2 1
1
2
2
+
k

P
=
k
+
k
+
k
2
1
12
12
1
12
1
12

On the primary path

(38)

2
= 5k 2P L
12
2
= 4k + P L
1 2
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

16

2
= 5k 2P L
22
Denoting

P = k/L

and solving the eigenvalues of

K.

The path is stable, when

is

positive denite, i.e. all its eigenvalues are positive

K x = x (K I)
x = 0 det(K I) = 0
!
5 2
4
det
=0
4
5 2
1 = 1 ja 2 = 9 3

The zero points of the eigenvalues o ur when

path is stable when

< 1.

The eigenmodedes of

obtained from

=1

3
3

3
3

!(

1
2

 
a

=3

1
1

0
0

is:

 
a`

```
```
``` c

1
1

!(

1
2

The primary

1 = 2

Pkr = k/L

0
0

 
aa

a
aa
aa
aa
aaa 


And the bu ling mode orresponding to the riti al load

= 3.

and

i.e. the bu kling modes of the stru ture are

The bu kling mode orresponding to the riti al load

=1

have values

1 = 2

Pkr = 3k/L

is:

Let's nally investigate the post-bifur ation paths after the bran hing point at

1 = 2 = 1 = 2 into the equation of equilibrium







= 0 k + 16 3
2 + 21 2 1 P L 21 3 = 0







k 1 + 16 2 1 + 21 2 P L 1 + 21 2 = 0

= 0 tai PII = 1 + 61 2 Lk

Substituting displa ements

The same orresponding to the higher bifur ation load:

1 )

=3

kohdalla (1

(36).

(39)

= 2 = 2 =





= 0 k 3 + 32 3 2 + 52 2 (1 2 2 ) P L 3 + 29 3 = 0







3k 1 + 12 2 3 + 29 2 P L 3 + 29 2 = 0


= 0 tai PIII = 1 + 21 2 3k
L

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

= 1.

(40)

17

Let's draw the paths

4
3.5
3
2.5

PII
PIII

2
1.5
1
0.5
0
-0.4

-0.2

0.2

0.4

If we want to investigate stability properties of the paths

PII

and

PIII

we have to substi-

tute the equations of the paths (39) and (40) into the expression of the se ond variation of the
TPE (38).
For path


2 

12 

PII




12 
2

PIII

it is valid (1

= 2 )



2






1 2
1 2
3 2
1 3
1 3
2
2+
+ k + 0 + k(1) k 1 +
= k + +k 2+
6
2
6
6
2


1
7
= k 3 + 2 + 4 > 0
6
6

For the path

when

PII

PIII (1 = 2 , 1 = 2 )


2



5 2
3 3
3 3
k 3 + (2) + k(1 2 2 )2
= k 3 + 3 + k 2 +
2
2
2



1
15
3k 1 + 2
2 + 2
2
 2

3
7
= k 1 + 2 + 4 < 0,
2
2

is su iently small. Therefore the path

PII

is stable and the path

PIII

is unstable near

the bifur ation point.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

18

Example 1.7

Determine the riti al load of the rigid frame suppotred by two linearly elasti

translational springs. Investigate also stability of the paths. It is assumed that the point C is
not moving horizontally.

P


a D-?




C 

a-




?v

Solution:

The total potential energy expression is

1
1 2
kA + k2B P D
2
2
= k(v 2 + a2 sin2 ) P [v
 + L(1 cos )] 
1
= ka2 (u2 + sin2 ) P u + (1 cos ) ,

(v, ) =

in whi h

v = au

and

a = L.

P = ka, we get the form




1
2
2

= = u + sin u + (1 cos )
ka2

By dening

The equilibrium equations are

= 2u = 0 u =
u
2

= 2 sin cos sin = 0



1
= sin 2 cos = 0

Thus the primary path is dened as

Let's substitute the

sin = 0 = 0
= 2 cos

u = /2

ja

= 0.

Stability of the primary path

2
2
2

=
2,
=
0,
=
2
cos
2

cos
u2
u
2

expressions of the primary path u = /2 and = 0,

matrix:

K=

"

0 2

into the stability

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

19

The riti al value of the load parameter

kr

an be obtained from the ondition det(K)

kr = 2ka = 2 kL.
= 2 cos :
"
#
"
#
2
0
1
0
K=
=2
0 2 cos 2 2 cos2
0 sin2

On the se ondary equilibrium path

The se ondary path is unstable sin e

u = /2

=0

ja

K2 2 = 2 /
= sin2 0 .

1.5

0.5

0
-0.4

-0.2

0.2

0.4

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

20

Continuous models, beams et .

Example 2.1

Derive the expression of urvature for a plane beam using (a) the Lagrangian

and (b) the Eulerian approa h.

Solution:

The dieren e between the Lagrangian and Eulerian approa hes is the meaning of

the independent variable

x. In the Lagrangian approa h the oordinate is atta hed to a material

point. The dispa ement at point

x is

the displa ement of the point a upying the position

at

the initial undeformed onguration. In the Eulerian approa h the oordinate is referring only
to a spatial point

x.

da = dx

x, u

dv

y, v

da
u

Lagrange:

u + du

It is seen from the gure

dv
dv
=
= v
da
dx
= arcsin v

sin =

sin e the urvature is

= 1/R =

we get

1
v
,
= = p
R
1 (v )2

d arcsin x
1
=
dx
1 x2

da

x, u

dv

y, v

da
dx

Euler:

From the gure

da =

p
dv 2 + dx2 = dx (v )2 + 1

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

21

dv
= v
dx
= arctan v

tan =

we obtain for the urvature



1

=
not
=
!!
R
a
x
  

d arctan x
1
dv
1
where
=
=
1 + v 2 a dx
dx
1 + x2
2

1
1 dv

=
(where da = dx 1 + v 2 )
2
2
1 + v dx 1 + v 2
v
v

=
=
(1 + v 2 ) 1 + v 2
(1 + v 2 )3/2
Note! When the higher order terms are negle ted we get the same result for both approa hes:

= v

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

22

Example 2.2

Determine Pcr starting from the dierential equation.

2 EI

EI


x

L/2

e
e

L/2

Solution:
In part 1 1

(4)

v1 + k 2 v1 = 0,

(4)
2 v2

where

k 2 = P/2EI .

(see problem ??)

=0

BC : v1 L2 = v1 L2 = v2
v1 (0) = v2 (0)

L
2

= v2

L
2

=0

v1 (0) = v2 (0)

M
-1


M2
X
 
z  XXX
X
XP

X
XXX
XX
XQ2
Q1 X



P
X

M1 (0) = M2 (0)
Q1 (0) = Q2 (0) + P v2 (0)
Solutions for the homogenious equations are

v1 = C1 sin kx + C2 cos kx + C3 x + C4
v1 = C1 k cos kx C2 k sin kx + C3

v1 = C1 k 2 sin kx C2 k 2 cos kx

v1 = C1 k 3 cos kx + C2 k 3 sin kx
v2 = C5 x3 + C6 x2 + C7 x + C8
v2 = 3C5 x2 + 2C6 x + C7
v2 = 6C5 x + 2C6
v2 = 6C5

Taking the boundary onditions into a ount

Q1 (0) = Q2 (0) + P v2 (0)

2EIv1 (0) = EIv2 (0) + P v2 (0)
2C1 k 3 = 6C5 + 2k 2 C7
1
1
C5 = k 3 C1 + k 2 C7
3
3

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

23

M1 (0) = M2 (0)
2EIv1 (0) = EIv2 (0)

2C2 k 2 = 2C6 C6 = k 2 C2
v1 (0) = v2 (0)

1
1
1
C1 k + C3 = C7 C5 = k 3 C1 + k 2 (C1 k + C3 ) = k 2 C3
3
3
3
v1 (0) = v2 (0)
C2 + C4 = C8


kL
kL
L
L
= 0 C4 = C1 sin
C2 cos
+ C3
v1
2
2
2
 2
L
kL
kL
v1
= 0 C3 = k(C1 cos
+ C2 sin
)
2
2
2
 3
 2
 
1 2
L
L
L
L
2
= 0 k C3
k C2
+ (C1 k + C3 ) + C2 + C4 = 0
v2
2
3
2 
2 

 2
kL
1
kL
kL

1 + (kL)2 + sin
C1
kL cos
2
2
24
2



1
kL
kL
1
2
2
1 + (kL)
C2 = 0
kL sin
+ 1 (kL) cos
4
2
2
24
 
 2
L
L
L

2
v2
= 0 k C3
2k 2 C2 + C1 k + C3 = 0
2
2
2







kL
1
kL
1
2
2
kC1 + kL 1 + (kL) sin
C2 = 0
1 1 + (kL) cos
4
2
4
2

"

a(kL) b(kL)
c(kL) d(kL)

#(

C1
C2

0
0

det = 0 kL 7.55 Pkr = 114

)
EI
L2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

24

Example 2.3

Determine Pcr starting from the dierential equation. ( = 2, = 1)

EI

EI

EA

EA

Sin e

Part 1:
2:

L/2

Solution:

@
@
@
@
@
@
@
@

L/2

= 1 (EA)1 = (EA)2 P1 = P2 = P/2.

(4)
P/2
P
= 4EI
v1 + k12 v1 = 0
k12 = 2EI
(4)

v2 k22 v2 = 0

k22 = 2k12 k2 = 2k1

k22 =

BC : v1 L2 = v1 L2 = v2
v1 (0) = v2 (0)

L
2

P/2
EI

= v2

P
2EI

L
2

=0

M
-1
P 
2 X 
X

v1 (0) = v2 (0)

2
 
z  XXX
X
XP

X
XX Q
XX
X
X X2
Q1 X
z P2
X
 X


M1 (0) = M2 (0)
Q1 (0) = Q2 (0) + P v2 (0)
Solutions for the homogenious dierential equations are

v1 = C1 sin kx + C2 cos kx + C3 x + C4
v1 = C1 k cos kx C2 k sin kx + C3

v1 = C1 k 2 sin kx C2 k 2 cos kx

v1 = C1 k 3 cos kx + C2 k 3 sin kx

v2 = C5 sinh kx + C6 cosh kx + C7 x + C8
v2 = C5 k cosh kx C6 k sinh kx + C7

v2 = C5 k 2 sinh kx C6 k 2 cosh kx

v2 = C5 k 3 cosh kx + C6 k 3 sinh kx
Taking the boundary onditions into a ount

Q1 (0) = Q2 (0) + P v2 (0)

2EIv1 (0) = EIv2 (0) + P v1 (0)
2C1 k13

C5

= C5 k23 + 4k12 (C1 k1 + C3 )

2
1
1
= 3 2k13 C1 + 4k12 C3 = C1 + C3
k2
2
2k1

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

25

M1 (0) = M2 (0)
2EIv1 (0) = EIv2 (0)
2C2 k12

C6 k22

C6 = 2

k1
k2

2

C2 = C2

v1 (0) = v2 (0)
C1 k 1 + C3

= C5 k2 + C7 C7 = C1 k1 + C3 C5 k2 = C3

v1 (0) = v2 (0)
C2 + C4

= C6 + C8 C8 = C2 + C4 C6 = 2C2 + C4


k1 L
k1 L
L
L
= 0 C4 = C1 sin
C2 cos
+ C3
v1
2
2
 2
 2
L
k1 L
k2 L
v1
= 0 C3 = k1 C1 cos
+ C2 sin
2
2
2




k1 L k1 L
k1 L
k1 L
k1 L k1 L
C1 cos
C2

cos
+
sin
C4 = sin
2
2
2
2
2
2
 


L
1
kL
L
k L
2
C1 + C3 sinh 2 C2 cosh 2 C3 + 2C2 + C4 = 0
v2
=
2
2
2
2
2k1

 2
2
k1 L
k2 L
k1 L
1
cos
sinh
C1
+ sin

2
2
2
2
2


2
k2 L
k2 L
k1 L
k1 L
sin
C2 = 0
sinh
cosh
+ 2 cos
2
2
2
2
2


 
k2 L
1
2
2
k1 L
k1 L
L

C1 C1 cos
=
k2 cosh
C2 sin
v2
2
2
2
2
2
2
2
k2 L
k1 L
k1 L
C2 k2 sinh
+ k1 C1 cos
+ k1 C2 sin
=0
2
2
2


k2
k2 L
k1 L
k2 L 2k2
k1 L
cosh
C1
cos
cosh
+ k1 cos
2
2
2
2 
2
2
k1 L
k2 L 2k2
k2 L
k1 L
+ k1 sin
C2 = 0
k2 sinh
sin
cosh
2
2
2
2
2


"

a(kL) b(kL)
c(kL) d(kL)

#(

C1
C2

The riti al load is obtained from the equation det[

= ad bc = 0

k1 L 10, 637 Pkr = 4k12

If the dire tion of the load is reversed, the result is

EI
EI
= 452, 6 2
2
L
L

247, 5EI/L2.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

26

Example 2.4

Derive the Euler equations of the antilever beam shown below. Assume inex-

tensible beam and small dee tions. Solve the equations and determine the eigenmodes and
show that the eigenmodes are orthogonal.

EI

Solution:

The total potential energy fun tional is

1
(v) =
2

ZL
0

where the horizontal dee tion


EI(v )2 P (v )2 dx,

under the load P

an be determined as







dx + du

The Euler equations are obtained from the stationarity ondition of the fun tional

= ,v v =

ZL
0

where

is the variation of the dee tion, i.e. an arbitrary fun tion satisfying the homogenious

v(0) = v (0) = 0.

kinemati al boundary onditions

(EIv v P v v )dx = 0,

After integration by parts we get the term

as a ommon fa tor inside the integral

L
L
ZL
ZL





=  EIv v (EIv ) v dx  P v v + vdx
0

L
L
L
ZL




=  EIv v  (EIv ) v  P v v + [(EIv ) + (P v ) ] vdx

0

At the lower limit

v(0) = v (0) = 0,

and taking into a ount the denitions of the moment

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

27

dv

and shear for e:

M = EIv

sek

Q = (EIv ) ,

we get

ZL

= M(L)v (L) + [Q(L) P v (L)]v(L) +

[(EIv ) + (P v ) ] vdx = 0,

sin e

is arbitrary fun tion satisfying the boundary onditions

(EIv ) + (P v ) = 0
M(L)

=0

Q(L) P v (L) = 0

lowing equations have to be satised

v(0)

=0

v (0) = 0
If the bending stiness

EI

v(0) = v (0) = 0, thus the folx (0, L) (Euleri equation)

natural

boundary onditions

essential

and the ompressive for e

boundary onditions

are onstants in the domain, we

get a homogeneous dierential equation with onstant oe ients

EIv (4) + P v = 0
EIv + P v = Cx + D, (C, D constants)
v = A sin kx + B cos kx + Cx + D, k =

P
EI

The derivatives are

v = Ak cos kx Bk sin kx + C

v = Ak 2 sin kx Bk 2 cos kx

v = Ak 3 cos kx + Bk 3 sin kx

v(0) = 0 B + D = 0

v (0) = 0 Ak + C = 0

v (L) = 0 A sin kL + B cos kL = 0

EIv (L)P v (L) = 0 EI(Ak 3 cos kL+Bk 3 sin kL)P (Ak cos kLBk sin kL+C) = 0

EI
k=
2
L
L
A = 0 C = 0 B cos kL = 0 B = 0
P =

It follows from equation (41) that

If

B=0 v0

(41)

or

cos kL = 0.

it yields a trivial solution, hen e we should have

cos kL = 0 kL =

+ n, n = 0, 1, 2, ...
2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

28

 n =
and the lowest bu kling load is

0 =

 2


2

+ n

2

2 EI
4 L2

Pcr =

The eigenmode orresponding to the eigenvalue

is

vn = B(cos kn x 1), kn =


1 
+ n
L 2

It was asked to give the normalized eigenmodes. For that we should dene how this
normalization should be done. It is usual to use the energy norm

ZL

||vn ||2E =

EI(vn )2 dx.

The energy orthogonality thus means

ZL
0

Lets normalize the eigenmodes

[E1 ] =

vn

EIvn vm
dx = 0, kun n 6= m.
su h, that

Nm.

||vn ||E = E1 ,

vn = Bkn2 cos kn x

E12

EIB 2 kn4

ZL

E1

where

is the energy unit and

cos2 kn xdx

Lets hange variables su h, that

1
y = kn x, dx = dy rajat
kn

x=0

y=0

x=L y=

+ n

+n
2

E12

EIB 2 kn3

cos ydy =

1
EIB 2 kn3

2E12
2E12


=
B2 =
4
EIkn3 2 + n
EI 16 (1 + 2n)4
3/2
4 2L E1

B=
2 (1 + 2n)2 EI


2

+ n

The energy orthonormal eigenfun tions are thus

4 2
E1 L3/2

vn (x) = bn (cos kn x 1), Bn = 2

(1 + 2n)2 EI
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

29

Orthogonality:

ZL
0

EIvn vm
dx = 0, kun n 6= m.

ZL
0

vn vm
dx

ZL
0

h
xi
xi
cos (1 + 2m)
cos (1 + 2n)
2
L
2
L

2L
=

ZL

x
2L
merk. y =
, dx =
dy
2L

cos[(1 + 2n)y] cos[(1 + 2m)y]dy = 0, kun n 6= m.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

30

Example 2.5

Determine the maximum def etion and maximum monents at supports and in

span as a fun tion of the ompressive for e P for the beam shown below.
q

? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? e
e

EI

Solution:

e
e

The dierential equation for the beam- olumn is

v (4) + k 2 v =

q
P
, where k 2 =
EI
EI

The solution is

v = C1 sin kx + C2 cos kx + C3 x + C4 + Ax2 , where A =

q
q
=
.
2
2EIk
2P

Let's hoose the zero o-ordinate at the midspan. From the boundary onditions we get

v (0) = 0 C1 k + C3 = 0

v (0)
 = 0 C1 = 0 C3 = 0
L
kL qL
v
= 0 C2 k sin
+
=0
2
2
2P
qL
C2 =
2kP sin kL
2


kL
L2
L
= 0 C2 cos
+ C4 + A
=0
v
2
2
4
qL2
qL

C4 =
8P
2kP tan kL
2

Denoting



qL
kL kL
q 2
kL
qL
cos kx
cos
+
+
sin
x
v(x) =
kL
kL
2
4
2
2P
2kP sin 2
2kP sin 2

P = EI/L2 , thus kL = .
!

qL
qL2

v(0) =
1 cos

2
8P
2kP sin 2
!

qL2 kL cos kx
q

2
EI =
1
M(x) = EIv = C2 k cos kx
P

2 sin kL
2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

31

The bending moment at the lamped support

x=

L
2

Mt =

qL

2 tan

The bending moment in the midspan

qL2
(x = 0) Mk =

2 sin

P/Pkr

Mt /qL2

Mk /qL2

v(0)/ qL
EI

-0.0833

0.0417

0.0026

0.5

2 2

-0.1363

0.0908

0.0052

-0.2390

0.1911

0.0103

-0.5439

0.4944

0.0257

0.75

0.9

3.6 2

0.6
0.4

Mt
Mk

0.2
M
qL2

0
-0.2
-0.4
-0.6
0

0.1

0.2

0.3

0.4

0.5

P/Pcr

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

0.6

0.7

0.8

0.9

32

Example 2.6

Determine the bending moment distribution at the load levels P/PE = 0.25, 0.50

and 0.75, where PE is the riti al load of the bu kling problem. Determine also the expressions
of the support moments at both ends and the bending moment in the midspan as a fun tion
of the ompressive for e.
F

2 EI

P
x

L/2

EI

?


e
e

L/2

Solution:
Osalla 1
2

(4)

v1 + k 2 v1 = 0,

miss

k2 =

P
2EI

(4)

v2 = 0

BC : v1 L2 = v1 L2 = 0




v2 L2 = v2 L2 = 0
v1 (0) = v2 (0)

v1 (0) = v2 (0)

M
-1


M2
X
z  XXX ?
X
 
XP

X
XXX
XX
XQ2
Q1 X



P
X

M1 (0) = M2 (0)
Q1 (0) = Q2 (0) + P v2 (0) + F
Solution for the homogeneous dierential equations are:

v1 = C1 sin kx + C2 cos kx + C3 x + C4
v1 = C1 k cos kx C2 k sin kx + C3

v1 = C1 k 2 sin kx C2 k 2 cos kx

v1 = C1 k 3 cos kx + C2 k 3 sin kx
v2 = C5 x3 + C6 x2 + C7 x + C8
v2 = 3C5 x2 + 2C6 x + C7
v2 = 6C5 x + 2C6
v2 = 6C5

Taking the boundary onditions into a ount

Q1 (0) = Q2 (0) + P v2 (0)

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

33

2EIv1 (0) = EIv2 (0) + P v2 (0) + F

F
2C1 k 3 = 6C5 + 2k 2 C7 +
EI
1 3
1 2
F
C5 = k C1 + k C7 +
3
3
6EI
M1 (0) = M2 (0)
2EIv1 (0) = EIv2 (0)

2C2 k 2 = 2C6 C6 = k 2 C2
v1 (0) = v2 (0)

1
F
1
F
1
= k 2 C3 +
C1 k + C3 = C7 C5 = k 3 C1 + k 2 (C1 k + C3 ) +
3
3
6EI
3
6EI
v1 (0) = v2 (0)
C2 + C4 = C8


L
kL
kL
L
v1
= 0 C4 = C1 sin
C2 cos
+ C3
2
2
2
 2
kL
kL
L
= 0 C3 = k(C1 cos
+ C2 sin
)
v1
2
2
2
 

  3
 2
L
1 2
L
F
L
L
2
v2
= 0
k C3 +
k C2
+ (C1 k + C3 ) + C2 + C4 = 0
2
3
6EI
2
2 
2



kL
1
kL
kL
1 + (kL)2 + sin
C1
kL cos

2
2
24
2



1
F L3
kL
kL
1
2
2
1 + (kL)
C2 =
kL sin
+ 1 (kL) cos
4
2
2
24
48EI
 

  2
L
F
L
L
v2
= 0 k 2 C3 +
2k 2 C2 + C1 k + C3 = 0
2
2EI 2 
2





1
F L2
kL
kL
1
2
2
kC1 + kL 1 + (kL) sin
kC2 =
1 1 + (kL) cos
4
2
4
2
8EI
The expressions for the bending moments are

(
The oe ients

M1 (x) = 2EIk 2 (C1 sin kx + C2 cos kx)

M2 (x) = EI(6C5 x + 2C6 )

C1

and

C2

C5

and

C6

L
2

x0
L
2

when 0 < x

an be solved from the equation system below

(
The oe ients

when

FL
[] C1 + [] C2 = 48EI
2

L
[] kC1 + [] kC2 = F8EI

have already been solved as a fun tions of

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

C1

and

C2 .
34

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

35

Example 2.7

A beam with ir ular ross-se tion has an initial dee tion v0 (x) = v0 sin(x/L).

What is the safety fa tor with respe t to the yield limit if the ompressive load has the value

P = 50 kN? The yield stress is y = 220 MPa and the Young's modulus E = 210 GPa. The
amplitude of the initial dee tion is v0 = L/1000. Determine also the resistan e and the partial
safety fa tor f a ording to the Finnish steel design spe i ations B7.
b
b
b
@
@ bhhh
h

b 
"
" @
(" b @ b
(((

r = 50mm

t = 5mm




L = 5.0 m

Solution:

The bending moment distribution due to the ompressive for e is

M(x) + P [v(x) + v0 (x)] = 0

v (x) + k 2 v(x) = k 2 v0 (x), where k 2 =

P
EI

(42)

Let's nd the parti ular solution of the dierential equation above.

vy (x) = A sin

 x 
L

Substituting the trial fun tion above into equation 42


x
x
2
2
= k 2 v0 sin
2 + k A sin
L
L
L
k 2 v0
A=
2
k 2 L 2


The solution is the sum of the general solution of the homogeneous equation and the parti ular
solution

v(x) = C1 sin kx + C2 cos kx + C3 x + C4

x
k 2 v0
sin
2
L
k 2 L 2

Boundary onditions:

v(0) = C2 + C4 = 0
v (0) = k 2 C2 = 0

C2 = 0 C4 = 0

v (L) = k 2 C1 sin kL = 0 C1 = 0()

v(L) = C3 L = 0

At

()

the solution

kL = n

is not valid, sin e the equation must hold on for all values of

v(x) =

k:

x
k 2 v0
,
2 sin

L
k 2 L2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

36

and the bending moment has the expression

M(x) = EIv (x) =

The largest bending moment is at the middle

x
EIk 2 v0 2
sin
2
2
2
k L
L

(k 2 = P/EI):

 
P v0 2
L
= P L2
M
2
2
EI
The bu kling load for an ideal straight olumn is

PE = 2 EI/L2 ,

the bending moment an be

expressed as

 
P v0
L
= P
M
2
1
P
E

The bending moment

M(L/2) approa hes

to innity when

of the beam in the outmost bers are

M
P
= P
=
A W

P PE ! The stresses

1 v0
P
1W
PE

at the middle

(43)

Taking the ross-se tion dimensions into a ount

A = (502 452) = 1492mm2

I = 4 (504 454 ) = 1.688 106 mm4

k2

1
I
50 mm2
3

= 1.41 10

= 33760mm3

, when P = 50 kN

From equation 43 we get

= 33.5 15.4 MPa

Let's solve the ompressive for e value
the yield point

y .

P,

when the outmost bers at the mid-se tion attains

From the equation 43 we get

1
A

v0
1
P
1 W
P

y = P
+
E



v
P
P
0
1 y A W
P
=0

PE


P 2 m A + PE + PEWAv0 P + y PE A = 0
Substituting the dimensions, gives

P 509.5P + 45945 = 0

P1 = 117.1 kN
P2 = 392.4 kN

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

37

Safety fa tor with respe t to the yield is thus

n=

117.1
= 2.34
50

Resistan e and partial safety fa tor a ording to B7.

The resistan e of the beam depends on the hosen bu kling urve. Dieren e between the

Let's use the bu kling urve C

bu kling urve is in the assumed level of imperfe tion

i =
k =

=
fck =
NRc

From the resistan e

NRc

v0

= 0.49
r
I
= 33.6 mm
A
r
Lc fy
= 1.53
i E
k 0.2) +
2
1 + (
k
= 0.852
2

k
q
2 )fy = 66.99 MPa
( 2 1/
k

A
= fck
= 66.99 1492 = 99.97 kN
m

we get the partial safety fa tor

f =
If we hoose the bu kling urve A

99.97
= 2.0
50

= 0.21,
f =

it results in

118
= 2.36
50

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

38

Example 2.8

An elasti beam with ir ular ross se tion is loaded by a tensile for e and a

twisting moment. Determine the riti al twisting moment when the beam loses its stability.
Does the beam bu kle if the for e N is ompressive?

M
t
--

Mt



Solution:

@
@

@
@

The equilibrium equations at the deformed state

Let's investigate the proje tions

of

the

dee tion

urve

on

the

o-

ordinate planes

The bending moments aused by

the normal for e are

Ny

ja

Nz .

The twistiong moment produ es

the bending moments

Mz

in

aiheutuu

Vntmomentista

taavasti
and

taivutusmomentit

My

(bending in

(bending
vas-

xy -plane)

xz -plane).

We get the system of equations

EIy = Ny + Mz

EIz = Nz My

Let's try the solution of the form

(44)

y = C1 erx , z = C2 erx

EIr 2 C1 erx = NC1 erx MC2 rerx

EIr 2 C2 erx = NC2 erx + MC1 rerx

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

(45)

39

(45)1 C2 (EIr 2 N) = MC1 r

(45)2 EIr 2 C1 NC1 + Mr

MC1 r
=0
EIr 2 N

(EIr 2 N)2 + M 2 r 2 = 0
By denoting

2 = r 2

(46)

we get from the solutions of the equations (46) the following equations

EI2 N = M 2 +

EI

EI2 + N = M 2

EI

The latter ase is not valid sin e

1 , 2 > 0.
1,2 =

N
EI

=0
(47)

N
EI

=0

Therefore

EI

M 2
EI

N
4 EI

(48)

Thus

y = A1 sin 1 x + B1 cos 1 x + C1 sin 2 x + D1 cos 2 x

z = A2 sin 1 x + B2 cos 1 x + C2 sin 2 x + D2 cos 2 x

Substituting these expressions ba k to the equations (441 ) give

EIz = EIA2 (12 ) sin 1 x EIB2 12 cos 1 x EIC2 22 sin 2 x EID2 22 cos 2 x
Nz = NA2 sin 1 x NB2 cos 1 x NC2 sin 2 x ND2 cos 2 x

My = MB1 1 sin 1 x MA1 1 cos 1 x + MD1 2 sin 2 x MC1 2 cos 2 x

Sin e the equation

EIz Nz My = 0

must hold for all the values of

x,

the following

equations must be fullled

(EI12 N)A2 + MB1 1 = 0

(EI12 N)B2 MA1 1 = 0

(EI22 N)C2 + MD1 2 = 0

(EI22 N)D2 MC1 2 = 0

Taking equations (47) into a ount we get the following relationships for the oe ients

A2 =

M B1 1
EI21 +N

M B1 1
M 1

= B1

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

40

B2 =
C2 =
D2 =

Therefore

M A1 1
EI21 +N
M D1 2
EI22 +N
M C1 2
EI22 +N

M A1 1
M 1
D1 2
= MM
2
M C1 2
= M 2

= A1
= D1

= C1

z = B1 sin 1 x + A1 cos 1 x D1 sin 2 x + C1 cos 2 x.

From the boundary onditions we get

y(0) = 0 B1 + D1 = 0
z(0) = 0 A1 + C1 = 0

y(L) = 0 A1 sin 1 L + B1 cos 1 L + C1 sin 2 L + D1 cos 2 L = 0

z(L) = 0 B1 sin 1 L + A1 cos 1 L D1 sin 2 L + C1 cos 2 L = 0

The riti ality ondition is the zero determinat, thus

2 2(cos 1 L cos 2 L + sin 1 L sin 2 L) = 2 2 cos(1 L 2 L) = 0

i.e.

(1 2 )L = n2 .

On the other hand we get from equation (48) the following relationship

1 2 = 2
If

1 = 2 ,

s

M
2EI

2

N
EI

the solution above is not valid, therefore the trigonometri fun tions should be

repla ed by polynomials (partially). However, this is not possible. A situation where

is possible, but a ording to the equations (44) it would imply

y = z = 0.

N =M =0

This kind of rigid

body motion is prevented by boundary onditions. Su h kind of deformed equilibrium state is

not possible when

When

2 1 = 0, therefore we have to hoose (2 1 )L = 2 .

s
2
N
M
L = 2

2
2EI
EI

2
 2
M
N

2EI
EI
L r
 2
N
+
Mcr = 2EI
EI
L

N > 0, Mcr

always exists

N < 0, Mcr

is possible, until

N = 2 EI/L2

= the Euler bu kling load

This kind of phenomena is present when twisting a string. From a ertain value of the twisting
moment one has to apply also a normal for e to prevent the string to be plaitened.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

41

Example 2.9

A long bolt has been pla ed inside a wide sleeve (of lengtht L) as shown in the

gure below. When starting to tighten the bolt:

1. Determine the for e when the sleeve will bu kle when assuming the rorations at the ends
to be equal for the bolt and the sleeve. Use the Berry's fun tion for ompressed beam for
the sleeve and the orresponding fun tions for a tensile bar for the bolt.
2. What is the value of Pcr , when Ibolt = Isleeve ?
3. What is the value of Pcr , when the normal beam oe ients for a linear bar is used for
the bolt?
4. What is the result if there is no spa e between the bolt and the sleeve?

Solution:
1. Let's use the for e method and denoting the quantities related to the sleeve by a sus ript
1 and ralated to the bolt by a subs ript 2.

L
L
1 M21
1
3EI1
6EI1
L
1
= M0
(1 + 1 )
3EI1
2
L
L
2 M21
2
= M12
3EI2
6EI2
L
1
= M0
(2 + 2 )
3EI2
2

sleeve : 12 = M12

bolt : 12

Sin e

12,sleeve = 12,bolt

M0 6= 0

L
1
1
L
(1 + 1 ) + M0
(2 + 2 ) = 0
3EI1
2
3EI2
2
I1
1
1
(2 + 2 ) + (1 + 1 ) = 0
I2
2
2

M0

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

42

Substituting the Berry fun tions for the tensile and ompressed bars



I1 3
1
1
1
1

I2 (kL)2 tanh(kL)2 (kL)2 (kL)2 sinh(kL)

 2
1
1
1
1
3
=0

+
(kL)1 (kL)
 1 tan(kL)1 sin(kL)
 1  (kL)1

I1 (kL)1
1
1
1
1

=0
I2 (kL)2 tanh(kL)2 sinh(kL)2
sin(kL)1 tan(kL)1
Pcr = EI1 k12

2. If

I1 = I2 (kL)1 = (kL)2 = kL

cosh kL 1
cos kL 1
22.4EI
=
kL 4.73 Pcr =
sinh kL
sin kL
L2

3. If we use the linear oe ients for the bolt, then

2 = 2 = 1

1
I1 3
+ (1 + 1 ) = 0
I2 2
2 

3
1
1
I1 3

=
(kL)1 sin(kL)1 tan(kL)1
I2 2
If

I1 /I2 = 1

EI
L2
then v1 = v2

kL 4.057 Pcr = 16.5

4. If there is no spa e between the bolt and the sleeve,

M1 = EI1 v1 = P v1 M0

M2 = EI2 v2 = P v2 + M0

EI1 v1 + EI2 v2 = 0 v1 = 0

v1 = Ax + B

v1 0 (since v1 (0) = v1 (L) = 0)

Bu kling is not possible. The situation is line in a pretensioned on rete beams.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

43

Example 2.10

What is the bu klng load of a beam with rounded ends. The length to height

ratio is L/h = 20.




 P


@
@
b b

EI

?h
6

L
Solution:



EIv + P v = 0  v
ZL
ZL
EI v (4) vdx + P v vdx = 0
(4)

EI

ZL
0

v (3) v dx P

ZL

v vdx = 0

(M = EIv )
L
ZL
ZL


 M v + EI v v dx P v v dx = 0
0

M(L)
v (L) M(0)
v (0) + EI

ZL

v v dx P

ZL

v v dx = 0

Boundary onditions:

M(0) + P Rv (0) = 0
and orrespondingly, when

x=L

M(L) P Rv (L) = 0

Let's hoose

v(x) = v0 sin x
, v(x) = sin x
L
L

P R[v (L)
v (L) + v (0)
v (0)] + EI

ZL

v v dx P

ZL

v v dx = 0

0
0
 2 L
 2
 4 L
P v0
+ 2P Rv0
=0
EIv0
L
2
L
L
2



 2 L
EI
R
v0
2 2 P 1 4
=0
L 2
L
L
2 EI
P =
L2
1 4R
L
L
10 EI
if R =
P = 2 2
40
9
L

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

44

Example 2.11

Determine the riti al load of the given beam by the nite element method.

Use two Euler-Bernoulli beam elements.

2EI

EI

L/2
Solution:
dom:

@b
b @

L/2

The olumn is divided into two elements, thus the model has three degrees of free-

v2 , 2 , 3 .
1j

Denoting
where

P = EI/L2 .

2j



2
?
1

L/2

Sx,

P


3

?P
@
@
b b

L/2

We get a generalized linear algebrai eigenvalue problem

is the linear stiness matrix

Kx =

is the gemetri stiness matrix, or initial stress

matrix.
The element matri es of the Euler-Bernoulli model are

(e)

(e)

EI
=
L

(e)

=N

12
L2

6
L

L122
L6
12
L2

symm.
6
5L

1
10
2L
15

6
5L
1
10
6
5L

symm.

and the lo al degrees of freedom are thus in the order

6
L

6
L
4
1
10
L
30
1
10
2L
15

v1 , v1 , v2 , v2 .

Now

(1) = N
(2) = P =
N

EI/L2 .
The onne tion from lo al to lo al degrees of freedom is:

(2)
1 , 3

(1)

1 = v2

(2)

(1)

= v1 , 2 = 2

(2)
2 . The elements in the global matri es are:

8 12
EI
8 12
2EI +
EI = 288 3
3
3
L
L
L
EI
(1)
(2)
= K34 + K12 = 24 2
L
EI
(2)
= K14 = 24 2
L
EI
(1)
(2)
= K44 + K22 = 24
L
(1)

(2)

K11 = K33 + K11 =

K12
K13
K22

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

45

(2)

EI
L
EI
=8
L

K23 = K24 = 4
(2)

K33 = K44

(1)

(2)

(1)

(2)

S11 = S33 + S11 = P

24
24EI
=
5L
5L3

S12 = S34 + S12 = 0

EI
1
(2)
=
S13 = S14 = P
10
10L2
2EI
2L
(1)
(2)
=
S22 = S44 + S22 = P
15
15L
L
EI
(2)
S23 = S24 = P
=
60
60L
EI
L
(2)
=
S33 = S44 = P
15
15L
Written in a matrix format:

288 24 24

EI
24
L
24

where it is repla ed

24
4

1 /L
2
3

24
5

= EI 0

1
10

0
2
15
1
60

1
10
1
60
1
15

1 /L

1 1 /L and the uppermost equation is divided by L. From this eigenvalue

i 's and the orresponding eigenve tors

1
24
24
24 10
288 5

2
1 = 0
det
24
24 15 4 + 60
kr = 26.32

1
1
1
4 + 60
8 15
24 10

problem we an solve

Let's investigate the onvergen e of the numeri al solution and how we an esitimate the
error in our nite element solutions and how we an extrapolate an estimate of the exa t
solution.
If we know a priori the asymptoti onvergen e rate of the desired quantitity and the
element in question, we an have have an improved estimate by omputing the problem at least
by two dierent dis retizations, i,e meshes.
The error in the numeri al solution in proportional to

Chk , where C

is a positive onstant,

is the mesh parameter (i.e. the hara teristi length of the largest element) and

is the rate

of onvergen e of the quantity in question.

As an example, let's onsider the estimation of the exa t value of the load parameter by
using extrapolation. The nite element solutions

1 = (h1 )

and

2 = (h2 )

satify

1 = ex + Chk1
2 = ex + Chk2
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

46

First we eliminate
equation, gives

C = (1 ex )hk
1

from the upper equation, and substituting it to the lower

h2
2 = ex + (1 ex )
h1
from where we an solve

ex

k

 k

2 1 hh12
=
 k
1 hh21

If we solve the same problem by using 10 elements (both parts of the beam have 5 equal
elements), we get the value

= 25.18

for the ritial load. The rate of onvergen e of the

eigenvalues of the Euler-Bernoulli beam is

k=4

From this data we get the extrapolated value

and now

h1 = L/2, h2 = L/10 h2 /h1 = 0.2.

1ex = 25.18,

whi h is also obtained by using 50

elements for the beam.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

47

Example 2.12

Determine the bu kling load of the stru ture below by the nite element

method and using one element for a member. The members an be assumed axially innitely
sti i.e. EA = .
P

?
EI

EI

EI

Solution:

2L

Let's rst hoose the global o-ordinate system.

EA = u2 = u3 = 0
6u
2
2

 ?

v2

2j

6u3

? 3

3j

v3

v2 = v3

By symmetry

1 = 4
2 = 3


1 ?e

1j

4 ?e

4j

Therefore

the

bu kling

mode is antisymmetri

The global degrees of freedom are

1 , v2 , 2 .

The elements of the global stiness matrix

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

48

are

(1)

(3)

(1)

(3)

(1)

(3)

(1)

(3)

(1)

(3)

(1)

(2)

EI
4EI
=4
2L
L
6EI
EI
= 2
= 3 2
2
(2L)
L
EI
2EI
=2
=2
2L
L
12EI
EI
=2
=3 3
3
(2L)
L
6EI
EI
= 2
= 3 2
2
(2L)
L

K11 = K22 + K22 = 2

K12 = K23 + K23
K13 = K24 + K24

K22 = K33 + K33

K23 = K34 + K34

(2)

(2)

(2)

(3)

K33 = K44 + K22 + K44 + K24 + K42 + K44 = 2

Note that the term

K33

4EI
2EI
EI
4EI
+2
+2
= 16
2L
L
L
L

has the mixed terms 24 and 42 of the element 2.

The elements of the global geometri stiness matrix are

e
Sije = N

The last element

S33

RL
0

Ni Nj dx

(1)

(3)

(1)

(3)

(1)

(3)

(1)

(3)

(1)

(3)

(1)

(3)

S11

= S22 + S22

S12

= S23 + S23

S13

= S24 + S24

S22

= S33 + S33

S23

= S34 + S34

S33

= S44 + S44

2 2L
8 EI
P =
15
15 L
1 EI
1
= 2 P = 2
10
5 L
2L
2 EI
= 2 P =
30
15 L
6 EI
6
P = 3
=2
5 2L
5 L
1
1 EI
= 2 P = 2
10
5 L
2 2L
8 EI
=2
P =
15
15 L
=2

does not have any terms from the element 2, sin e the normal for e of

that parti ular element is zero. The generalized linear algebrai eigenvalue problem is thus

L3

EI
3
3
= EI
3
v

2
2

L
L L L
L
3
2
2 L 16

8
15
1
5L
2
15

1
5L

6
5L2
1
5L

2
15

v
5L
2

8
2
15

These matri es an be non-dimensionalized by using a dimensionless displa ement

and multiplying the se ond equation by

L.

2 = v2 /L

The lowest eigenvalue, i.e. the bu kling load fa tor

is

kr = 0.528 Pkr = 0.528

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

EI
L2
49

Example 2.13

Determine the riti al load of the stru ture shown below using the nite ele-

ment method and dividing the beam into two Euler-Bernoulli beam elements. Both ends of the
beam are fully lamped. Determine as a fun tion of , espe ially the ase = 2 and 1 4.
Hint:

Determine rst the distribution of the axial for e.

EI

EI

EA

EA

L/2

Solution:

@
@
@
@
@
@
@
@

L/2

The normal for e distribution by solving the dierential equation of the axial dis-

pla ement:

(EA)i u = 0
u 1 = C1 x + C2

u 2 = C3 x + C4

Assuming linear elasti material, we get the for e-dee tion relationship:

Ni = (EA)i u =

EAC1 L2 x < 0

EAC3

0<x

L
2

From boundary onditions:


 

L
L
L
L
= u2
= 0 C1 = C2 , C3 = C4
u1
2
2
2
2
u1 (0) = u2 (0) C2 = C4
C1 = C3

N1 + P = N2 EAC1 + P = EAC3
P
C3 = C1 +
EA
1 P
= C3
C1 =
1 + EA

N1 = EAC1 =
P (compression)
1+
1
P (tension)
N2 = EAC3 =
1+
When

= 1 N1 = N2 = P/2

be reasonable.

and whenn

N1 P, N2 0,

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

whi h seems to

50

The elements of the global stiness matrix:

(1)

(2)

(1)

(2)

(1)

(2)

12EI
96(1 + )EI
12EI
+
=
3
3
(L/2)
(L/2)
L3
6EI
24(1 )EI
6EI
+
=
=
2
2
(L/2)
(L/2)
L2
4EI 4EI
8(1 + )EI
=
+
=
L/2
L/2
L

K11 = K33 + K11

K12 = K34 + K12

K22 = K44 + K22

The elements of the geometri stiness matrix when

(1)

(2)

S11 = S33 + S11 =

S12
S22

(1)

36
P
30(L/2) 1+

(2)

(1)

(2)

2 L
P
15 2 1+

P,
1+

36
1
P
30(L/2) 1+

1
P
= S34 + S12 = 10
1+

= S44 + S22 =

N1 =

1 1
P
10 1+

2 L 1
P
15 2 1+

1
N2 = 1+
P

ja

P = EI
L2

are

12EI 1
5L3 1 +
EI
=
10L2
EI 1
=
15L 1 +
=

The algebrai eigenvalue system is thus

"

96(1+)EI
L3
24(1)EI
L2

24(1)EI
L2
8(1+)EI
L

Using dimensioless unknowns:

denoting

v1
v1

v1 v1 /L,

"

12EI 1
5L3 1+
EI
10L
2

EI 1
15L 1+

v1
v1

and multiplying the lower equation by

= ( 1)/( + 1), we get

#
"
1

24(1

)
+

EI 96(1 + ) 12
5
10
L2 24(1 ) + 1 8(1 + ) 1
10
15

v1
L
v1

0
0

1/L

and




12 2
384
1
48
2


(1 + ) + (1 ) + 786(1 + )2 576(1 )2 = 0,
75
100
15
10

from whi h we an solve the riti al load when the values of

EI
10L
2

= 1, then

= 1071.4

% and 138 %.

or

= 591.4.

and

are known. If

= 2 and

The error to the exa t solution (452.6 ja -247.5) is 137

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

51

3000
2000
1000

0
-1000
-2000
-3000
1

1.5

2.5

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

3.5

52

Example 2.14

Determine the riti al load of the stru ture shown below using the nite ele-

ment method and dividing the beam into two Euler-Bernoulli beam elements. The dee tion
and rotation are supressed for both ends of the beam, but the axial movement is not restrained
at the rhs support.
2 EI

L/2

Solution:

EI

e
e

L/2

v1 (0)

The global degrees of freedom are

v1 (0),

and

and the elements of the global

stiness matrix are

(1)

K11 =

(2)

122EI
(L/2)3

K33 + K11 =
(1)

12EI
(L/2)3

(2)

62EI
K12 = K34 + K12 = (L/2)
2 +
(1)

K22 =

(2)

K44 + K22 =

42EI
L/2

6EI
(L/2)2
4EI
L/2

The elements of the global geometri stineaa matrix, when

(1)

S11 = S33 =

36
P
30(L/2)

(1)

S12 =

1
P
S34 = 10

S22 =

S44 =

(1)

2 L
P
15 2

288EI
L3
24EI
= 2
L
24EI
=
L
=

N1 = P, N2 = 0

ja

P = EI
L2

are

12EI
5L3
EI
=
10L2
EI
=
15L
=

The algebrai eigenvalue system is thus

EI
L2

"

288 L1 24
24

24L

v1
v1

EI
= 2
L

"

12
5L
1
10

1
10
L
15

v1
v1

Using dimensionless quantities

EI
L2

"

1
10
24
288 12
5
1
10
24

1
24 15

v1
L
v1

0
0

The riti ality ondition: det[=0 gives

2 480 + 42240 = 0 = 116, 1 = 363.9

The exa t solution is

= 114.04,

thus the error is 1.8%.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

53

Example 2.15

Cal ulate the bu kling load Pkr of the stru ture shown below by using the

superposition prin iple. The bending stiness EI is onstant.

L/3

Pcr1 =

L/3

L/3

9 2 EI
2 EI
=
4(L/3)2
4 L2

L
3

?
II

2L
3

Pcr2 =

2 EI
9 2 EI
=
4(2L/3)2
16 L2

III

Pcr3 =

1 2 EI
4 L2

A ording to the superposition prin iple the load is on the safe side by the onvexity
prin iple, if

Now

X Pi
1
P
kri
i

P1

{P } =
=P
P2

P
3

Pcr

The exa t value is 1.67



m1

X Pi
m1
m2
m3
=P
+
+

m2

P
P
P
Pcr3
cri
cr1
cr2

i
m
3

2 EI
= m1
=
+ Pmcr22 + Pmcr33
L2
Pcr1
9 2 EI
2 EI
=
=
1.59
56 L2
L2
1

4
9

16
9

+1

2 EI
.
L2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

54

Plasti bu kling, frames

Example 3.1

The bu kling length of a uniform straight olumn is Ln . The stress-strain urve

of the material is quadrati ( = A2 + B + C ), whi h has an apex at 0 = 392MP a, 0 =

0, 002. Determine the expression for the tangent modulus Et () and show that the riti al load

a ording to the tangent modulus theory is Pcr = 20 A( K + 1)/K , where K = (0 L2n A/ 2 I)2 .
Cal ulate the value of the riti al load for the two olumns shown below.

P
@
b @b

L = 9000

jt

D = 410
= 10

@
@

@b
b @

a
L/a = 20

The stress-strain relationship is

= () = A2 + B + C

when

when

when

=0=0C=0
= 0 = 0
= 0 ,

Solution:

Let's denote

Solving

= ()

d
d

=0


d 
= 2A0 + B = 0 B = 2A0
d =0
0
0 = A20 + B0 = A20 A = 2
0


0 2

d
0
0
= 2 +2
1
= Et = 2
0
0
d
0
0



d 
0

= 2 = E Et = E 1
d =0
0
0
 2
r

=
=1 1
+2
0
0
0
0
r0

, when < 0
Et = E 1
0

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

55

The riti al load a ording to the tangent modulus theory

Pcr
2I
2 Et I
,

=
,
merk.

=
kr
L2n
L2n
s A
!
r
2 2
2 2
2 E 2
4 E 4

E
4
A
=

+ 2 E 2 =
1 + 20 2 1
20 A
402 A2
20 A
E


2

20 A 
0 L2n A
1+K 1 , K =
=
K
2I

Pcr =
Pkr

In the example ases

1.

A (D t)t = 1.257 104 mm2 , I /8(D t)3 t = 2.513 108 mm4 , L = 9.0 m
Ln = 0.699L = 6.291 m K = 0.1608 Pcr = 4.742 kN

2. solid ross-se tion

MPa

A = a2 , I = 1/12 a4, L = 20a K = 0.947 cr = Pcr /A = 327

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

56

Determine the dependen e of the riti al stress cr on the slenderness = Ln /i

p
(where Ln is the bu kling length and i = I/A is the radius of gyration of the ross-se tion)
Example 3.2

for a uniform entrally ompressed straight olumn. The tangent modulus Et has the form

d
y
= Et = E
,
d
y c
where y is the yield stress and c is an additional material onstant. Draw the gure showing
the riti al bu kling stress as a fun tion of the slenderness in a (kr /y ) - oordinate system

with (kr /y ) [0, 1], [0, 200] Use the value c = 0, 9 and ratios E/y = 500 (steel) and

E/y = 200 (aluminium, pinewood). Draw also in the same gure the elasti bu kling stress.
Solution:

A ording to the tangent modulus theory the riti al load is obtained from

Pcr =
where

Using notations

i=

cr =

I
2 E yyc
y
Et = E
cr =
y c
L2n A

I/A, = Ln /i
2 Ei2 y cr
L2n y ccr
y cr
2 cr = 2 E
y ccr

E
cr
cr
cr
2 (1 c ) = 2 (1
)
y
y
y
y
 
 2 
cr
E
cr
2
2E
2
+ 2 = 0
+
c
y
y

s y
2
E
cr
E
1
E
2 + 2
= 2 2 + 2
42 c 2
y
2 c
y
y
y

Let's draw the gure using the values

load is

2 Et I
,
L2n

c = 0.9

2 EI
Pcr =

L2n

and

cr
y

E/y
=

= 500 and 200. The elasti riti al

E
y

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

2
2

57

tang. mod. E/y = 200

tang. mod. E/y = 500
elastic E/y =200
elastic E/y =500

0.8

cr
y

0.6

0.4

0.2

0
0

50

100

150

200

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

58

Example 3.3

let's investigate the Shanley model shown below It onsists of two elasto-plasti

strain hardeing springs. Derive

1. the expression for the Euler bu kling load PE = 2El2 /L,
2. the bu kling load a ording to the tangent modulus theory PT = 2ET l2 /L ja
3. the bu kling load a ording to the redu ed modulus theory PR = 2ER l2 /L, where ER =

2EET /(E + ET )

!!
!!ET
!
!

Solution:

Let's denote the stresses in the springs by

areas of the springs equal (A1

= A2 = A)

1 and 2 . Let's assume the ross-se tional

and redining the load as

P = P/A.

The for e and

moment equilibrium equations are then

P = 1 + 2

P L = 2 a 1 a
Let's solve the problem by using rate equations

P = 1 + 2
, where i =
L(P) = 2 a 1 a

The strain rates are

1 = v + a
2 = v a

E i elastic
ET i plastic

1 = v + a
,
2 = v a

Inserting these into the equilibrium equations

P = (E1 + E2 )v + (E1 E2 )a
L(P) = (E2 E1 )av (E1 + E2 )a2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

59

E2 E1
P
+
a
E1 + E2 E1 + E2
E2 E1
4E1 E2 2
L(P) =
aP +
a
E1 + E2
E1 + E2
v =

(P) =
Denoting

E2 E1 a
4E1 E2 a2
P+

E1 + E2 L
E1 + E2 L

E2 E1 a
a2 E1 E2
, P1 = 4
E1 + E2 L
L E1 + E2

(P) = P + P1


integrating

Zt

t0

P P0 0 = (P P0 ) + P1 ( 0 )

In the primary equilibrium path

0 = 0

P = (P P0 ) + P1 P =
If

E1 = E2 = 0
1.
2.

3.

P0 P1

E1 = E2 = E P = P1 = 2E aL = PE
2

E1 = E2 = ET P = P1 = 2ET aL = PT This assumption requires, that i < 0, whi h

not possible unless = 0. If i > 0, the spring will reload elasti ally, i.e. Ei = E .
2

E1 = E, E2 = ET P1 = PR = 2ER aL ,

where

ER = 2(EET )/(E + ET ).

In the ase of plasti bu kling the se ondary paths are stable when
when

is

P0 (PT , PE ).

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

P0 (PT , PR )

and unstable

60

Example 3.4

In the beam theory taking the average transverse shear deformations into a -

ound, the equilibrium equations are

EI kGA(v ) = 0
kGA(v ) P v = 0

(49)

Show that in the ase of entrally ompressed antilever olumn the riti al load is

Pcr =

PE
,
1 + PE

where PE is the Euler bu kling load PE = 2 EI/(4L2 ) and = 1/(kGA) and k = 1/ .

P

Solution :

Equations (49) are the equilibrium equations

M Q = 0

Q P v = 0

expressed in terms of the kinemati al quantites

v and . The bending moment and the transverse

shear for e an be expressed as

(
if

EI, kGA

and

M = EI

Q = kGA(v )

(49)

are onstants.

Dividing the equations (49) by

kGA

we get

v + EI = 0

(1 P )v = 0
Boundary onditions:

v(0) = 0

```
Q
H
H
H






QQ  P

Q(0) = 0
M(L) = EI(L) = 0

Q(L) = P v (L)

Let's try the solution in the form

v = Aerx , = Berx
[Ar + B(EIr 2 1)] erx = 0

[(1 P )Ar 2 Br] erx = 0

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

61

"

r
(1 P )r 2

EIr 2 1
r

To have a meaningfull nontrivial solution (A

A
B

6= 0 6= B ),

it is required

det = 0


r 2 1 + (1 P )(EIr 2 1) = 0

r1,2 = 0 tai 1 + (1 P )(EIr 2 1) = 0

P
r2 =
(1 P )EI

Now

P > 0,

what about

(1 P ) = 1 P/kGA?

Denoting

P = EI/L2

E
I
EI
= 2(1 + )k 1
(inserting G =
, k 1 = )
2
2
kGAL
AL
2(1 + )
I
1
2(1 + )
, 0 , 1, I/A << L
AL2
2
1s
P

i
(1 P )EI
i

P =
=
P <
r =
=

v(x) = A1 + A2 x + A3 sin x + A4 cos x

(x) = B1 + B2 x + B3 sin x + B4 cos x

There are 8 onstants of integration but we have only four boundary onditions. Therefore there
have to be some onne tion between the oe ients
into the rst equilibrium equation

Ai

v + EI = 0

and

Bi .

Inserting the trial fun tions

we get

A2 + A3 cos x A4 sin x (B1 + B2 x + B3 sin x + B4 cos x)

+EI(B3 2 sin x B4 2 cos x) = 0

A2 B1 B2 x (A4 + B3 + EI 2 B3 ) sin x


+ A3 B4 (1 + EI 2 ) cos x = 0
The equations has to be satised for all

x,

therefore

A2 = B1
B2 = 0
1 + EI 2
B4
A3 =

1 + EI 2
B3
A4 =

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

62

and we have only four independent oe ients

A1 , B1 , B3 , B4

1 + EI 2
1 + EI 2
B4 sin x
B3 cos x

(x) = B1 + B3 sin x + B4 cos x

v(x) = A1 + B1 x +

Solving the oe ients from the boundary onditions

1) v(0) = 0
2) (0) = 0

3) (L) = 0
4) Q(L) = P v (L)

A1

1+EI 2
B3

=0

B1 + B4 = 0

B3 cos L B4 sin L = 0
kGA[v (L) (L)] P v (L) = 0
(1 P )v (L) (L) = 0

(1 P ) [(1 + (1 + EI 2 ) cos L) B4 + (1 + EI 2)B3 sin L]

(1 + cos L)B4 B3 sin L = 0

(1 P )B4 + cos LB4 (1 + cos L)B4 = 0

P B4 = 0 B4 = 0 B1 = 0

The riti al load is obtained from 3)

B3 cos L = 0.

cos L = 0 L =

Sin e

B3 6= 0

P
2 EI

=
= PE
1 P
4L2
P = (1 P )PE (1 + PE )P = PE
PE
P =
1 + PE

The bu kling mode is

v(x) =

1+EI 2
B3 (1

(x) = B3 sin x

cos x)

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

63

Example 3.5

Determine the riti al load Pcr for the frame shown below using the slope-

dee tion method.

2P

2P
P -?

Solution:

2j

?
@
@
@
@
@
@
@
4j
5j
@
@
3j

1j

The frame annot move horizontally hen e there are only two unknow nodal rota-

tions when using the slope-dee tion method. The equilibrium equations and the ompatibility
onditions for nodes 2 and 3 are

M21 + M23 = 0
M32 + M34 + M35 = 0

21 = 23 = 2
32 = 34 = 35 = 3

(50)

The basi equations for the slope-dee tion method are in this ase

M21 = A21 2
M23 = A23 2 + B32 3
M32 = A32 3 + B23 2

(51)

M34 = A34 3
M35 = A35 3
The oe ients

Aij =

Aij , Bij

42

are

6(EI)ij
((kL)ij )
6(EI)ij
2 ((kL)ij )
, Bij =
2
2
2
((kL)ij ) ((kL)ij ) Lij
4 ((kL)ij ) ((kL)ij ) Lij

Now the members have dierent

kL-values:

2P 2 P L2
L =
= k 2 L2
2EI
EI
P 2 P L2
L =
= 12 k 2 L2
=
2EI
2EI
2P P 2 P L2
=
L =
= 13 k 2 L2
3EI
3EI

2 2P L2
2P
2
( 2L) =
= 2 2k 2 L2
=
EI
EI

(kL)221 =
(kL)223
(kL)234
(kL)235

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

64

Substituting (51) into equation (50) we get the eigenvalue problem

"

A21 + A23

B32

B23

A32 + A34 + A35

2
3

0
0

The riti al load is obtained from the ondition det[K = 0

2
(A21 + A23 )(A32 + A34 + A35 ) B32
=0
EI
kL = 3.564 Pkr = 12.705 2
L

Sear ing the zero for the determinant is equivalent for solving a non-linear equation.
A non-linear equation

g(x) = 0

an be solved iteratively by using the Newton's method

if the starting point is su iently lose to the solution. Starting from
fun tion

as a Taylor series in the neighbourhood of

x0

x0

and expanding the

gives

g(x) g(x0 ) + g (x0 )(x x0 ) + ...

The Newton's method is obtained when trun ating the series after the rst derivative term

xk+1 = xk
The iteration onverges lo ally if

x0

g(xk )
g (xk )

is su ently lose to the solution.

x.

A simple program whi h solves a non-linear equation by sear hing an interval where the
fun tion

hanges its sign and rening the result in that interval with the Newton's iteration.

IMPLICIT REAL*8 (A-H,O-Z)

COMMON AB
IIN=5
IOUT=6
WRITE(IOUT,'('' TOL MITER X0 XMAX DX A/B'')')
READ(IIN,*) TOL,MITER,X0,XMAX,DX,AB
X=X0
GX=G(X)
80
CONTINUE
GXO=GX
X=X+DX
GX=G(X)
WRITE(IOUT,'('' X G(X) ''2E12.4)') X,GX
IF(((GX*GXO).GT.0.).AND.(X.LT.XMAX)) GOTO 80
IF(((GX*GXO).GT.0.).AND.(X.GT.XMAX)) STOP
WRITE(IOUT,'('' NOLLAKOHTA VLILL ''E12.4'' < X < ''E12.4)')
&
X-DX,X
IT=0.
100 CONTINUE
IT=IT+1
GX=G(X)
H=X/10000.
IF(H.EQ.0.) H=1.D-5
XH=X+H
GXH=G(XH)
DGX=(GXH-GX)/H
DX=-GX/DGX
X=X+DX
GX=G(X)
WRITE(IOUT,'('' IT X DX GX''I5,3E12.4)') IT,X,DX,GX

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

65

IC=ICONV(X,DX,GX,TOL)
IF((IC.EQ.0).AND.(IT.LT.MITER)) GOTO 100
IF(IC.EQ.1) THEN
WRITE(IOUT,'('' RATKAISU = '',1P,E15.7)') X
ELSE
WRITE(IOUT,'('' EI KONVERGOINUT '')')
END IF
STOP
END
FUNCTION ICONV(X,DX,GX,TOL)
IMPLICIT REAL*8 (A-H,O-Z)
IF((DABS(DX/X).LT.TOL).AND.(DABS(GX).LT.TOL)) THEN
ICONV=1
ELSE
ICONV=0
END IF
RETURN
END
C***********************************************************************
C
Berry's fun tions for ompressed members
FUNCTION PSI(X)
IMPLICIT REAL*8 (A-H,O-Z)
PSI=3./X*(1./X-1./TAN(X))
RETURN
END
FUNCTION FI(X)
IMPLICIT REAL*8 (A-H,O-Z)
FI=6./X*(1./SIN(X)-1./X)
RETURN
END
FUNCTION XI(X)
IMPLICIT REAL*8 (A-H,O-Z)
XI=24.*(TAN(X/2.)-X/2.)/X**3
RETURN
END
C***********************************************************************
C
Member oeffi ients in the slope-defle tion method (without 6EI/L)
FUNCTION AIJ(X)
IMPLICIT REAL*8 (A-H,O-Z)
AIJ=2.*PSI(X)/(4.*PSI(X)*PSI(X)-FI(X)*FI(X))
RETURN
END
FUNCTION BIJ(X)
IMPLICIT REAL*8 (A-H,O-Z)
BIJ=FI(X)/(4.*PSI(X)*PSI(X)-FI(X)*FI(X))
RETURN
END
FUNCTION CIJ(X)
IMPLICIT REAL*8 (A-H,O-Z)
CIJ=AIJ(X)+BIJ(X)
RETURN
END
C***********************************************************************
C
Fun ton G related to program NEWTON
C***********************************************************************
FUNCTION G(X)
IMPLICIT REAL*8 (A-H,O-Z)
A21 = 12.*AIJ(X)
XX = SQRT(.5)*X
A23 = 12.*AIJ(XX)
B23 = 12.*BIJ(XX)
A32 = A23
XX = SQRT(1./3.)*X
A34 = 18.*AIJ(XX)
XX = SQRT(2.*SQRT(2.))*X
A35 = (6./SQRT(2.))*AIJ(XX)
G
= (A21 + A23)*(A32 + A34 + A35) - B23**2
END
C***********************************************************************

The program asks the onvergen e toleran e TOL, the maximum number of iterations n
MITER, the limits for the sear h X0, XMAX and the sear h in rement DX.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

66

Below the determinat of the problem in question is drawn as a fun tion of

Newton's method is started from

kL = 0

(kL).

If the

the method onverges to a wrong root.

1000
800
600

det(K)

400
200
0
-200
-400
-600
-800
-1000

kL

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

67

Example 3.6

Determine the maximum allowable load P for the stru ture shown below. The

safety fa tor with respe t to yield is 1.5.

q
P
?
H- ?
????????
EI
2j
3j

q = 180 kN/m2
H = 20 kN
L = 6m
A = 36 103 mm2

EI

I = 650 106 mm4

2L

EI

W = 3, 25 106 mm3
E = 210 GPa

1j

Solution:

4j

m = 220 MPa
b

The for e method is suitable for this problem, three unknowns:

M23 , M34 , 12 .

The equilibrium equations at nodes 2 and 3 are

M21 + M23 = 0 M21 = M23

M32 + M34 = 0 M32 = M34

It an be assumed that the normal for e in the beam 2-3 is small, hen e the ompatibility
equations are

21 = 23

21 =

2L
(k1 2L)M21 + 12
3EI
L
L
0
M23 6EI
M32 + 23
3EI

23 =

L
1
L 2
0
M23 +
(k1 2L) +
M34 12 + 23
=0

EI 3
3
6EI
(
L
L
0
32 = 6EI
M23 + 3EI
M32 + 32
32 = 34
2L
34 = 3EI
(k2 2L)M34 + 12


L
1
L 2
0
M34 +
(k2 2L) +
M23 + 12 32
=0

EI 3
3
6EI


The third equation an be obtained from the horizontal equilibrium equation of the beam

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

68

Q21 + Q34 = H

M21
N12 12
2L
M34
= Q034
N34 12
2L

Q21 = Q021
Q34

H

Q21

Q34

M23 M34 2L(N12 + N34 )12 = 2LM

N23 M34 2L(qL + 2P )12

= 2LM

The resulting equation system is then

EI

2
(k1 2L)
3
1
6

1
3

1
6
2
(k2 2L)
3

1
3

L
2L(qL + 2P ) EI

Using the following loading terms and notations

0
23
=

M23

0
23

M34 = 0

32

L2
EI
2H EI

L 12

H
EI
EI
qL3
qL3
0
, 32
=
, =
, q= 3, P = 2,
24EI
24EI
qL
L
L

the system an be written as

2
(k1 2L)
3
1
6

1
3

1
6
2
(k2 2L)
3

Now

k1 =

1
3

1
1

L
2L(qL + 2P ) EI

M23

1
24

M34 = 1 qL2

24
EI
2

L 12

(52)

N12
EI

M23 + M32
qL 1
N12 = Q23 + P = Q023
+P =P +
+ (M34 M23 )
L
2
L
r
N34
k2 =
EI
qL 1
N34 = P Q32 = P +
+ (M23 M34 )
2
L

Equation (52) an be solved using nondimensional quantities

23 = M23 , M
34 = M34 , 12 = 12 EI
M
2
qL
qL2
qL3
i.e.

23 qL2 = M
23 EI
M23 = M
L
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

69

 34 qL2 = M
34 EI
M34 = M
L
qL3

= 12
12 = 12
EI

Using these notations we get


EI
1
34 M
23
+M
N12
=
+
2

2
 L
1
EI
23 M
34
N34
=
+
+M
L2
s 2 

1

2k1 L = 2 +
+ M34 M23
2
s


1

2k2 L = 2 +
+ M23 M34
2


The largest stresses are either in node 4 or in the span 2-3. Therefore we have to al ulate the
maximum moment in the span 2-3.



6? ? ? ? ? ? ? ? M(x)


1
M(x) = Q23 x + M23 qx2
2
Q(x) = Q23 qx

M23

Q23

-x

The bending moment has an extremum point when

Q(x) = 0 x =

1
M34 M23
Q23
= L+
q
2
qL

To al ulate the stress we have also determine the normal for e

H 

N23

N23 = H Q21

M21
+ N12 12
2L 



M23
1
EI

= H
+
+ M34 M23 +
12
2L
2
L2
= H Q021 +

Q21

All the ne essary quantities are now determined. The al ulation pro eeds as follows:
Start at

P = 0.

Assuming

M23 , M34 = 0

and ompute the normal for es. The equation

system (52) has to be solved. Cal ulate the new values for the normal for es. The pro edure is
repeated until onverged. Che k the stresses and if
(

= 0, 01

< m

in rease the load

P = EI/L

in the program below).

IMPLICIT REAL*8 (A-H,O-Z)

DIMENSION A(3,3),XN(3),XO(3),F(3)
IOUT=6
TOL=1.E-3

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

70

80

100

MITER=10
BETA=1./54.
EE=210.E9
AA=36.E-3
HI=650.E-6
Q=180.E3
W=3.25E-3
XL=6.
H=20.E3
SIGMAX=600.
RLMAX=.4
DLAM=1.E-2
GAM=(Q*(XL)**3)/(EE*HI)
BETA=H/Q/XL
WRITE(IOUT,'('' Beta Gamma '',2F10.5)') BETA,GAM
F(1)=-1./24.
F(2)=F(1)
F(3)=-2.*BETA
DO I=1,3
XN(I)=0.
XO(I)=0.
END DO
RLAM=0.
CONTINUE
IT=0
P=RLAM*EE*HI/XL/XL
WRITE(IOUT,'(50A1)') ('*',I=1,50)
WRITE(IOUT,'('' Lambda ='',F10.5,'', P ='',F10.5,'' kN'')')
&
RLAM,P/1000.
WRITE(IOUT,'(50A1)') ('-',I=1,10)
CONTINUE
IT=IT+1
RN12=RLAM+GAM*(0.5+XN(2)-XN(1))
RK1=2.*SQRT(RN12)
RN34=RLAM+GAM*(0.5-XN(2)+XN(1))
RK2=2.*SQRT(RN34)
A(1,1)=(2.*PSI(RK1)+1.)/3.
A(1,2)=1./6.
A(1,3)=-1.
A(2,1)=A(1,2)
A(2,2)=(2.*PSI(RK2)+1.)/3.
A(2,3)=1.
A(3,1)=A(1,3)
A(3,2)=A(2,3)
A(3,3)=2.*(GAM+2.*RLAM)
DO I=1,3
XN(I)=F(I)
END DO
CALL SOLVE(A,XN,3,IOUT)
WRITE(IOUT,'('' Iteraatio '',I3,'' tuntemattomat '')') IT
DO I=1,3
WRITE(IOUT,'('' X'',I1,1P,F13.5)') I,XN(I)
END DO
DUM=(XN(1)-XO(1))**2+(XN(2)-XO(2))**2+(XN(3)-XO(3))**2
ERROR=SQRT(DUM)
DO I=1,3
XO(I)=XN(I)
END DO
IF((ERROR.GT.TOL).AND.(IT.LT.MITER)) GOTO 100

C --- voimasuureet --RN12=RLAM+GAM*(0.5+XN(2)-XN(1))

RN34=RLAM+GAM*(0.5-XN(2)+XN(1))
FN12=RN12*EE*HI/XL/XL
FN34=RN34*EE*HI/XL/XL
BM23=XN(1)*GAM*EE*HI/XL
BM34=XN(2)*GAM*EE*HI/XL
C --- nurkkajannitys
SIGMA2=-FN12/AA-ABS(BM23)/W
SIGMA3=-FN34/AA-ABS(BM34)/W

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

71

SIG2=SIGMA2*1.E-6
SIG3=SIGMA3*1.E-6
C --- kenttamomentti
Q23=0.5*Q*XL+(XN(2)-XN(1))*GAM*EE*HI/XL/XL
X=Q23/Q
IF((X.GT.0.).AND.(X.LT.XL)) THEN
BMK=Q23*X+EE*HI*XN(1)*GAM/XL-0.5*Q*X*X
ELSE IF(X.LE.0.) THEN
BMK=BM23
ELSE IF(X.GT.XL) THEN
BMK=BM34
END IF
Q21=-0.5*EE*HI*GAM*XN(1)/XL/XL+RN12*XN(3)*GAM*EE*HI/XL/XL
FN23=H-Q21
SIGMAK=-ABS(FN23)/AA-BMK/W
SIGK=SIGMAK*1.E-6
PP=P*1.E-6
TR=FN12+FN34
WRITE(IOUT,'(50A1)') ('-',I=1,10)
WRITE(IOUT,'('' Normaalivoimat (+ puristusta) '')')
WRITE(IOUT,'('' Sauva 1-2 : '',F13.5,'' kN'')') FN12/1000.
WRITE(IOUT,'('' Sauva 2-3 : '',F13.5,'' kN'')') FN23/1000.
WRITE(IOUT,'('' Sauva 3-4 : '',F13.5,'' kN'')') FN34/1000.
WRITE(IOUT,'('' Tukireak. : '',F13.5,'' kN'')') TR/1000.
WRITE(IOUT,'(50A1)') ('-',I=1,10)
WRITE(IOUT,'('' Taivutusmomentit '')')
WRITE(IOUT,'('' Nurkka 2 : '',F13.5,'' kNm'')') BM23/1000.
WRITE(IOUT,'('' Nurkka 3 : '',F13.5,'' kNm'')') BM34/1000.
WRITE(IOUT,'('' Kentta
: '',F13.5,'' kNm kohta ''
&
,F8.5,'' m'')') BMK/1000.,X
WRITE(IOUT,'(50A1)') ('-',I=1,10)
WRITE(IOUT,'('' Suurimmat jannitykset '')')
WRITE(IOUT,'('' Nurkka 2 : '',F13.5,'' MPa'')') SIG2
WRITE(IOUT,'('' Nurkka 3 : '',F13.5,'' MPa'')') SIG3
WRITE(IOUT,'('' Kentta
: '',F13.5,'' MPa'')') SIGK
WRITE(8,'(5E13.5)') RLAM,PP,ABS(SIG2),ABS(SIG3),ABS(SIGK)
SIG=MAX(ABS(SIG2),ABS(SIG3),ABS(SIGK))
IF(ABS(SIG).LT.SIGMAX) THEN
RLAM=RLAM+DLAM
IF(RLAM.LT.RLMAX) GOTO 80
END IF
END
C***********************************************************************
FUNCTION PSI(X)
IMPLICIT REAL*8 (A-H,O-Z)
PSI=3./X*(1./X-1./TAN(X))
RETURN
END
C***********************************************************************
SUBROUTINE SOLVE(A,X,N,IO)
IMPLICIT REAL*8 (A-H,O-Z)
DIMENSION A(N,N),X(N)
N1=N-1
DO IS=1,N1
PIV=A(IS,IS)
IF(ABS(PIV).LE.1.E-15) THEN
WRITE(IO,'('' SYSTEM SINGULAR '')')
STOP
END IF
IS1=IS+1
DO II=IS1,N
CL=A(II,IS)/PIV
X(II)=X(II)-CL*X(IS)
DO IJ=IS1,N
A(II,IJ)=A(II,IJ)-CL*A(IS,IJ)
END DO
END DO
END DO

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

72

X(N)=X(N)/A(N,N)
DO II=1,N1
IS1=IS1-1
CL=0.D0
IJ1=IS1+1
DO IJ=IJ1,N
CL=CL+A(IS1,IJ)*X(IJ)
END DO
X(IS1)=(X(IS1)-CL)/A(IS1,IS1)
END DO
RETURN
END
C***********************************************************************

A listing of the results. The yeild stress

0, 22 = 0, 23.

Therefore we take

m = 220

MPa is ex eeded at load step

max = 0, 22 Pmax = 0, 834

Pallowable =

MN

0, 834
Pmax
=
MN = 0, 56MN
h
1, 5

NOTE ! In stability problems the safety fa tor has to be taken into a ount in the load, not in
the stress sin e the problem is non-linear.
Beta Gamma
0.01852
0.28484
**************************************************
Lambda =
0.00000, P =
0.00000 kN
---------Iteraatio
1 tuntemattomat = unknowns
X1
-0.10386
X2
-0.59441
X3
0.21096
Iteraatio
2 tuntemattomat
X1
-0.10291
X2
-0.59420
X3
0.21225
---------Normaalivoimat (+ puristusta) -- normal for es (+ ompression)
Sauva 1-2 :
486.94139 kN
Sauva 2-3 :
11.49887 kN
Sauva 3-4 :
593.05861 kN
Tukireak. :
1080.00000 kN
-- rea tion for e
---------Taivutusmomentit
---- bending moments
Nurkka 2 :
-66.68697 kNm
Nurkka 3 :
-385.03863 kNm
Kentta
:
591.95724 kNm kohta 2.70523 m (span at point)
---------Suurimmat jannitykset
max stresses
Nurkka 2 :
-34.04522 MPa
Nurkka 3 :
-134.94728 MPa
Kentta
:
-182.46010 MPa
**************************************************
.
.
.
**************************************************
Lambda =
0.22000, P = 834.16667 kN
---------Iteraatio
1 tuntemattomat
X1
0.21453
X2
-0.87948
X3
0.49917
Iteraatio
2 tuntemattomat
X1
0.21502
X2
-0.87959
X3
0.49959
---------Normaalivoimat (+ puristusta)
Sauva 1-2 :
1255.94849 kN
Sauva 2-3 :
13.73872 kN

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

73

Sauva 3-4 :
1492.38485 kN
Tukireak. :
2748.33333 kN
---------Taivutusmomentit
Nurkka 2 :
139.33208 kNm
Nurkka 3 :
-569.97700 kNm
Kentta
:
633.49848 kNm kohta 2.34323 m
---------Suurimmat jannitykset
Nurkka 2 :
-77.75887 MPa
Nurkka 3 :
-216.83267 MPa
Kentta
:
-195.30424 MPa
**************************************************
Lambda =
0.23000, P = 872.08333 kN
---------Iteraatio
1 tuntemattomat
X1
0.25006
X2
-0.91287
X3
0.53204
Iteraatio
2 tuntemattomat
X1
0.25066
X2
-0.91302
X3
0.53254
---------Normaalivoimat (+ puristusta)
Sauva 1-2 :
1286.40548 kN
Sauva 2-3 :
14.02280 kN
Sauva 3-4 :
1537.76119 kN
Tukireak. :
2824.16667 kN
---------Taivutusmomentit
Nurkka 2 :
162.43071 kNm
Nurkka 3 :
-591.63641 kNm
Kentta
:
639.27193 kNm kohta 2.30179 m
---------Suurimmat jannitykset
Nurkka 2 :
-85.71217 MPa
Nurkka 3 :
-224.75756 MPa
Kentta
:
-197.08858 MPa
**************************************************

Below the ompressive stress-load urve. The solid line is the stress at node 3, dotted line
the maximum stress at the span and the dashed line the stress at node 2.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

74

Example 3.7

Determine the riti al ompressive for e for a layered olumn omposed by two

timber beam nailed together. The distan e between the nails is d, the width of the olumn b,
total height 2h and length L. The Young's modulus of the wood (pine) is Ep , and for the steel
nails En . The modulus of inertial of the nails is In .

@
@b

P

b
@
@

Solution:

b
@
@

A
A

The transverse shear has a pronoun ed ee t in this ase, thus

P =

EI
PE
, PE = 2 2
1 + PE
L

First we have to determine the shear exibility

whi h is dened by the equation

= Q
The shear for e in the seam is

QS
bI
Zh
1
S =
bydy = bh2
2
=

I =

1
2
b(2h)3 = bh3
12
3

S
S
3
=
=
=
=
Q
bI
bI
4bh

Let's investigate the ee t of one nail

PP
PP
PP
PP

PP
PP

PP
P P
PP
PP
PP

PP

PP
PP
PP
P

 PP

P

Let's assume that the displa ement

takes pla e be-

tween the upper and lower timber beam. The shear for e
in one nail is thus

db

and we an assume that it is di-

re tly proportional to the displa ement

db = kn = kn h
where

kn

thus des ribes the stiness of one nail.

db
3d
=
=

kn h
4kn h2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

75

What is

kn ?

We an assume that the nail behaves like a beam in an elasti foundation and the

wooden foundation is linearly elasti . Let's investigate two ases:

1. the nail is absolutely rigid
the pressure prole, when one half of the nail displa es the anounth

-

h
1
Ep v = Q Q = kn v
2
2
1
kn = Ep h
4
3d
1 =
4Ep h3

6
h
2

2. The modulus of inertia of the nail is

In .

Let's assume that the stiness of the nail an be

omputed by assuming the nail is an innitely long beam on an elasti foundation.

@
@

an use the theory of innitely long beam.

Q
v(0) ?
?

En , In

2 > 1

Ep
4En In

1/4

Ep
3 d
d
3
2 =
= h
2
2
2 Ep h
2 Ep h3

whi h is

The Young's modulus for steel is

Ep 8 13

2
v(0) =
Q, =
Ep

Ep
kn =

Clearly it should be

= 0 in the seam due to symmetry. Therefore we

3
h
2

> 3 h > 2.

En = 210

GPa and for pinewood (in the ber dire tion)

GPa. The ratio is then

Ep
1
h
Dn4

h
,
I
=
n
En
20
(80In )1/4
64
We get

h
,
Dn

whi h is learly  2.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

76

Example 3.8

Determine the safety against bu kling of a ompressed, hinged build-up olumn.

The ompressive load is P = 80 MN. The material is steel Fe37 whi h have Young's modulus E
= 210 GPa, Poisson's ratio = 0,3 and yield stress y = 240 MPa.

Solution:

The riti al load for bu kling in verti al dire tion is

Pcr =
and

2 EIo
PE
, where PE =
1 + PE
L2

(53)

 2 #
b
= 281 106 mm4 PE = 5.84 MN
Io = 2 Izo + Aa
2
"

Ia , Aa

Ia = Iz0 = 4.95 106 mm4

Ib , Ab

b = 304

Ib = 4.5 106 mm4

Ab = 2400 mm2

E = 210 GPa, G =
a = 985

E
= 80.8 GPa
2(1 + )

is for a battened olumn

and

ab
a2
a
=
+
+
12(EI)b 24(EI)a (1 ) b

GA

(54)

is the shape fa tor, whi h is 1.2 for a re tangular ross-se tion and

is the ratio of the

applied load to the bu kling load of the struts

Pcr
=
2
Sin e

2 (EI)a
a2

(55)

in equation (54) depends on the riti al load to be omputed

Pkr

equation (55), the solution an be obtained iteratively. First we ompute

then we al ulate

Pcr

a ordin to the
at value

= 0,

from (??), whi h is then substituted into the equation (55), and then

is substituted into (54) and so on.

Let's hange the problem in a dimensionless form by introdu ing the ratios

a1 , a2 , a3 , 1 , 2

whi h are dened as:

(EI)b = a1 (EI)o , (EI)a = a2 (EI)o , (GA)b = a3

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

(EI)o a
a
, = 1 , = 2
2
L
b
L
77

Hen e

22
22
1
+
+
121 a1 24a2 (1 )
a3

L2
L2
=
(EI)o
(EI)o

Substituting into (??), we get

2 (EI)o
PE
2 (EI)o


Pcr =
=
=

2
2 2 (EI)o
L
1+
1 + 2
L2 1 + (EI)o L2
=

22
22 L2
2 (EI)o
=
2L2 (1 + 2 ) 2 a2 (EI)o
2a2 (1 + 2 )

The iteration results the following gures

0.05047

0.1842

0.05567

0.1781

0.05546

0.1784

0.05547

0.1783

0.05547

Pcr = 3.77

MN (PE = 5.84 MN)

Let's investigate the bu kling in horizontal dire tion

Io = 2Iyo = 1160.6 106 mm4

2 (EI)o
Pcr =
= 3.33 MN
L2

The struts will yield at load

Sin e

Py

Py = y 2Aa = 2.82

MN, whi h is the dimensioning load.

< 80 MN, the safety fa tor is less than unity!!!

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

78

Example 3.9

Derive the shear exibility fa tor for the spa e-truss olumn shown below.

The ross-se tion of the olumn is equilateral triangle.

Solution:
strain

Let's load the olumn by a for e

Q in y -axis dire tion and al ulate how

will result. The shear exibility fa tor is then

large shear

= Q/ .

First we have to determine the axial for es in the truss from the shear shear for e

Q.

For

that reason we have two uttings (I and II).

Let

d1 , d2 , d3 , d4

1, D
2, D
3, D
4
D

b 3 b
j i + ak
2
2

b 3 b
j + i + ak
2
2
b 3 b
j + i + ak

2
2

b 3 b
j i + ak

2
2

be ve tors parallel to

d1 =
d2 =
d3 =
d4 =

From these equations we get the angle between the diagonals and the oordinate-axis (

a2 + b2

d =

is the length of the diagonals)

d1 i
b
cos
=

2d
2
|d1 |
cos

cos(d2 , x) =
2
cos
cos(d3 , x) =
2
cos

cos(d4 , x) =
2
cos(d1 , x) =

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

79

d1 j
b 3
3

=
cos
cos(d1 , y) =
=
1 |
2d
2
|
d

cos(d2 , y) =
cos
2
3
cos
cos(d3 , y) =
2
3
cos
cos(d4 , y) =
2

The equilibrium equations from utting I, in whi h ase only members 1 and 2 have a omponent
in

y -axis

dire tion, ie. in the dire tion of the shear for e

1 + D
2 ) j = Q D1 cos(d1 , y) + D2 cos(d2 , y) = Q
2(D
2
1 + D
2 ) i = 0 D1 cos(d1 , x) + D2 cos(d2 , x) = 0
2(D
Q
D1 = D2 =
2 3 cos
The equilibrium equations from utting II, in whi h ase members 1-4 have a omponent in

y -axis

dire tion

1 + D
2 + D
2 + D
4 ) j = Q (D1 + D2 D3 D4 ) 3 cos = Q
(D
2
cos

(D1 + D2 + D2 + D4 ) i = 0 (D1 + D2 + D3 D4 )
=0
2
Q
D3 = D4 =
2 3 cos
The for e ve tor of the diagonals is then

D1

1
 D2
Q

S =
D = 23 cos 1

3
1
D4
A ve tor ontaining the hanges of lengths is

D1

 D2
=

D3
D4

d
1/2 EAd
d
1/2 EAd
d
1/2 EAd
d
1/2 EAd

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

D1

D
 
2
= S

D3

D4

80

Using the prin iple of virtual work

 T 
aQ =
S ,

gives

1

 
Q
Q

11 1 1
aQ =

2 3 cos
2 3 cos
1
1


 1
4dQ2
d
Q2
=

1
1

1
=
1 6EAd cos2
4 3 cos2 1/2 EAd

1
3
2dQ
2d Q
=
=
3EAd a cos2
3b2 EAd a
3
2d

=
=
Q
3ab2 EAd

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

81

Example 3.10

How large is the support rea tion for a olumn shown below, so that you an

assume the bu kling length to be L?

j

2j

P- 1b

@b
b @

Solution:

3j

b
@
@

@b
b @

If the olumn in perfe tly straight the support rea tion will be zero. The support

has to be dimensioned from loads aused by the imperfe tions in the stru ture. Let's investigate
the ee t of the following two dierent imperfe tions in the initial geometry of the olumn.
a) Let's investigate how the support rea tion hanges with respe t to the ompressive
loaf

and dierent values of the initial imperfe tion

v0 = L.

P
v0
- bhh
(b
hhh
(((( @
(
@
h
(
@
@
h
(
h
h(
b b
b
L

@b
b @

The equilibrium- and ompatibility onditions at the support

M21 + M23

= 0

21 = 23 M21 + 21 = M23 + 23 2M21 = 2

where

L
21 = 23 = ja =
(kL)
3EI

Denoting

P =

3EI
3EI
EI
3EI
v0 =

M21 =
=

kL
=
2
2
L
L(kL)
L ( )
L( )

The support rea tion an then be solved from the equation

T = Q23 Q21 = 2




2EI
3
M21

+ P = 2
L
L
( )

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

82

T L2
EI

-3.59

the fa t that the imperfe t geometry of the olumn is

-1.15

now taken into a ount as a pres ribed displa ement, so

1.32

it is displa ement type loading. The ee t of ompressive

3.82

for e

6,37

imperfe t olumn an be obtained by adding the value

8.97

6EI/L2

11.62

14.36

ee t if the ompressive for e to the support rea tion

17.18

0.204EI/L2 ,

19.74

of

0,

When

then

T 6EI/L2 .

This is due to

on the support rea tion of an initially unstressed

to the values of

E.g. when

in the table above.

P = 8EI/L2

and

= 1/100,

is the

whi h is approximately 2.5% of the value

P ..

b) Assume now that there is a sinusoidal initial shape in either or both spans. In this ase
the initial dee tion an be taken into a ount by the loading terms

P
v0
- b``
`
@
b @b

L
Denoting

```
@b
b @

nv0

0
ij
(kL).

b
@
@

v0 = L
M21 + M23

= 0

0
0
21 = 23 M21 + 21
= M23 + 23

0
0
0
0
2M21 = 23
21
, 23
= 21
=

(kL)2

2 (kL)2

3EI
1 + n (kL)2

2 2 (kL)2 L(kL)

EI
kL = ,
P = 2
L

3(1 + n)EI

M21 =
2L
( 2 )( )
2M21
3(1 + n)EI

T =
=
2
2
L
L
( )( )
M21 =

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

83

T L2
EI

1.98

4.11

6.42

8.94

11.71

14.78

18.21

22.10

26.55

9.5

29.04

9.8

30.63

31.01

When
0.204

EI/L2

value.

the

=8

i.e.

In the table beside

n = 1.

If the initial dee tion

is only in either side of the olumn (n

= 0),

then the

support rea tion would be one half of the tabulated values

2 tan
= lim

lim
2 ( 2 )( )
2 3( 2 )(tan
)
EI
3
lim2 T = 3 2
() =
6

In the ase of

()

we have used the rule of L'Hospital,

whi h says that the value of a rational term is unaltered

if the nominator and denominator are dierentiated.

P = 8EI/L2

and

= 1/100,

whi h is 2.5% of the value of

then the support rea tion is in the a)- ase

and in the b)- ase 0.221

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

EI/L2

whi h is 2.8 % of

84

Example 3.11

In the gure below a beam is supported by three olumns, frm whi h the

outmost olumns are simply supported at both ends and the middle olumn is build in at the
bottom. The upper ends of the olumns are pinned. What is the bu kling load qcr .

????????????????????
b
b
b

EIv

EI

2EI

EI
L

Solution:

Axial for e distribution of the olumns:

????????????????????
b
b
b

63 qL

610 qL

Denoting

63 qL

= 12 = 34 = 56
34 = 0

3EI

kL
2

M34 + = 0,

Q21 + Q43 + Q65 = 0 N21 N43 N65


1

2 qL3

3 EI

kL < 12 .

M34
L

= 0

N34
10 qL3
(kL)2 =
EI
8 EI
M
34
=0
= 0 2qL
L
 
kL
8
2
=0
1 (kL)
15
2
k=

kL 1.3. Improving the estimate:





3
8
1
1
1
1
2 3
(u) =
1 (kL)
= 0 kL = 1.2875

2u 2u tan 2u
15
kL kL tan kL

Let's start the iteration at a value

The solution is

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

85

The bu kling load of the middle olumn is

N34 = k 2 EI = 1.658

EI
8
EI
qkr =
N34 = 1.326 3
2
L
10L
L

and the bu kling mode

????????????????????
b
b
b
bXX
b


X
X

hhh
(
(
(


hh
h
(((
b


















b
b

Let's investigate the post-bu kling behaviour. When the middle olumn bu kles it bents.
However the outmost olumns remain straight, so the verti al movement at the end of the beam
is

1
1 = (1 cos )L 2 L
2

The displa ement at the top of the middle olumn is

 - k 2 EI
L ?




Q43







6
Q43 = Q21 Q65 = qkr L = 0.6k 2 EI
8
ZL
1
2 =
(v )2 dx
2
0

M
1
v 0.6k 2 EI (L
x)
k 2 EI(L
=
EI
EI
0.6x

v = A cos kx + B sin kx + 1.6L

v =

v(0) = v (0) = 0

re : t

0.6
sin kx + 1.6L 0.6x)
k
v (x) = (1.6kL sin kx + 0.6 cos kx 0.6)
2 = 0.6112L
v(x) = (1.6L cos kx +

The dieren e at the riti al load

slightly in reased by the amount

q = qcr

q ,

is

2 1 = 0.1112L.

Assume that the load

is

Then due to the displa ement dieren e the loads in the

olumns will hange

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

86

qkr + q

????????????????????
b
b
b



6




2qL - ?2qL(1 )















b
b
6qL
The value for

62qL(1 )

an be determined by solving

2 1 =
From this we get the relationship

6qL

and setting

5 q(2L)4 (1 ) q(2L)4

384 EIv
48
EIv

.
= (q)

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

87

Flexural-torsional and lateral bu kling

Example 4.1

Determine the riti al ompressive load Pcr and the orresponding bu kling

mode for a simply supported entrally ompressed beam with a rusiform ross-se tion.

?
t
6

Solution:

The dierential equations for torsional bu kling are

where

EIz v (4) + P (v + zv ) = 0

EIy w (4) + P (w yv ) = 0

EI (4) GI + P (z v y w + r 2 ) = 0

t
v
v

(56)

r 2 = yv2 + zv2 + (Iz + Iy )/A. Sin e the oordinates for the shear enter are now zv = yv = 0,

the equations take the form

All the three equations for

EIz v (4) + P v = 0

EIy w (4) + P w = 0

EI (4) (GI P r 2 ) = 0

v, w

and

(57)

are now un oupled and an thus be solved separately.

From equation (57)1 and (57) 2 we get the bu kling load

Pcr,z = Pcr,y = 2
and the bu kling modes

v = A sin

EIz
L2

x
x
, w = B sin
L
L

Sin e the prin ipal moments of inertia are the same (extremum values) the moment of inertia
is same in every dire tion

Iz = Iy ,

Iyz =

yzdA = 0

Iz = Iz cos2 + Iy sin2 2Izy sin cos = Iz = I

The bu kling an thus o ur in any dire tion.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

88

From equation (57)3 we get (assuming that

(4) +

I 6= 0)

P r 2 GIt
=0
EI
(4) + k 2 = 0 , where k 2 =

Note that now

P > GIt r 2 .

P r 2 GIt
EI

The general solution of this equation is

= A + Bx + C cos kx + D sin kx
and the boundary onditions are

(0) = 0 A + C = 0

(L) = 0 A + BL + C cos kL + D sin kL = 0

(0) = 0 C = 0 A = 0

(L) = 0 C cos kL + D sin kL = 0 D sin kL = 0 B = 0

Sin e

A = B = C = 0,

we get

n
L
P r 2 GIt  n 2
=

EI
L
2
GIt + EI L 2
Pcr, =
r2

sin kL = 0 k =

Let's insert the inertias

It

bt 2
(b + t2 )
12
= 0.78bt3

= 0

Iz

= Iy =

Pcr, =
Now when

I = 0

It
t2
GA
GA = 4.67 2
GA = 4.67
2
Iz + Iy
b +t
1 + (b/t)2

the torsional b kling load is onstant and does not depend on the length of

the beam.
The torsional bu kling load for the ase in question ould be obtained dire tly from
equation (57)3 by setting

I = 0
(P r 2 GIt ) = 0 Pcr, = GIt /r 2

What is the bu kling mode in this ase?

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

89

Example 4.2

Determine the riti al load Pcr for a entrally ompressed lamped beam. The

ross-se tion is shown below and b = 10t, = 0. Determine the riti al load as a fun tion of
the length.
?
t
6

Solution:

The dierential equations for torsional bu kling for a olumn are

EIz v (4) + P (v + zv ) = 0

EIy w (4) + P (w yv ) = 0

EI (4) GI + P (z v y w + r 2 ) = 0

t
v
v
For a T-beam we have

d=
6
?
-

b
?

b
4

zv = 0,

EI = 0

yv = b/4
5
b3 t
, Iz = b3 t
Iy
12
24
Ip
5
2 3
+ yv2 + zv2 = b2
It t b, r 2 =
3
A
24

The equations simplify now to the form

EIz v (4) + P v = 0
EIy w (4) + P [w yv ] = 0

GIt + P [yv w + r 2 ] = 0

The upper equation, i.e. the displa ement in

the

z -dire tion

y -dire tion

un ouples from the displa ement in

and from the twist-rotation, thus the bu kling in

Py = 4 2

ydire tion

gives the load

EIz
L2

Fun tion whi h satisfy the boundary onditions are


nx 
w = B 1 cos 2
L

nx 
= C 1 cos 2
L

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

90

Let's denote

P = GIt r 2
GIt
r2

where

"

= 4 2 (r/L)2 EIy /GIt .

yv
r 2 (1 )

yv

B
C

In order to have a non-trivial solution for

has to vanish. The riti al value for the

A, B

the determinant

parameter an be found by solving the hara teristi

polynomial

If we denote

(yv /r)2 =

Iy = I ,

then


 y 2 
v
2 (1 + ) + = 0
1
r

Iz = 52 I

and

2
I . If
25

=0

then

G = E/2

and

GIt =

1
EI . Also
25

3
, thus the hara teristi polynomial has the form
10

2
where

It =

10
10
(1 + ) + = 0
7
7

125 2
(b/L)2 . The smaller toot is
6

1 = 57 (1 + ) 1
Note, that

1 1 .
Py =

14
1
5(1 + )2

The bu kling load is now the minimum from

EIz
4 2 2
L

 2
 r 2 GI
GIt
625 2 b
t
= 250
=

2
L
r
12
L
r2
2

Pz,,1 = 1

zdire tion
 2
GIt
GIt
125 2 b
2
EIy

=
Py > Pz,,1
Pz = 4 2 2 = 2 =
L
r
6
L
r2
5

Note that, if the torsional mode is prevented the bu kling load in

The riti al load parameter

cr = 1

GIt
r2

is

is shown below as a fun tion of the slenderness

(L/b)

1
0.9
0.8
0.7
0.6

cr 0.5
0.4
0.3
0.2
0.1
0

20

40

60

80

100

L/b
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

91

What is the riti al load for a olumn lamped at its lower end and the upper

Example 4.3

end free. The ompressive for e a ts on the enter or gravity. The hight of the olumn is 1000
mm and the material's Young's modulus is E = 210 GPa, the Poisson ratio = 0.3 and the
yield strength m = 220 MPa. The ross se tion is shown below and the warping an take pla e
freely at the upper end of the olumn. The hight of the ross-se tion is h = 100 mm and the
wall thi kness is t = 10 mm.
?
t
6

h
Solution:

The orresponding dierential equation system is

EIz v (4) + P [v + zv ) ] = 0
EIy w (4) + P [w yv ) ] = 0

EIz (4) GIt + P (zv v yv w + r 2 ) ) = 0

where

(yv , zv )

are the oordinates of the shear enter and

r 2 = yv2 + zv2 + (Iz + Iy )/A.

For the

C-se tion prole in question we have

Iy = 13 h3 t
Iz =

7 3
ht
12
3

It = ht

A = 3ht

We have to ompute the shear enter oordinates, therefore we need the se torial quantities.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

92

Let's hoose the pole B as the orner point

B = B (s) =

s = 2h

s =hhhh

hhh
h2
hhh
hh
h

Zs

h(s)ds

h s h , B = 0

h s 2h , B = h(h s)

When omputing the se torial oordinate

the sign is

positive when we rotate ounter lo kwise and negative

s=0
s=h

when we are moving in a lo kwise dire tion.

The shear enter oordinates are

yv = yB + Iz /Iy = 0 (symmetry)
zv = zB + Iy /Iz

Next we determine

Iy

h/2










h/2



Iy
y

h/2
Now the se torial oordinate

`
3 2 ````
h
```
7
```
`
DD
D
D
D
V D
v
D
D
3
D
h
7
D
D
D
B ````
```
```
`
`

Adding a onstant

th4
h
=
y(s)B (s)t(s)ds = t h(h s)ds =
2
4
h 

h
16
1 47 3
zv =
ht
h t = h
3
4
12
21
521
I
+
I
z
y
=
h2
r 2 = yv2 + zv2 +
A
588

wrt the shear enter.

1 2
h
14

The

v -diagram

above is not nal, sin e it has to fulll

the normalizing ondition

1 2
h
2

v (s)t(s)ds = 0

v -diagram, we have
I
I
I

v tds + Ctds =
v tds + C tds = 0

to the

Z2h

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

93

C =

If we hoose the origin of the

3 2
h
14 ````

DD
D

```
```
`
`

D
D

s- oordinate

3
14
h

v tds
3
= h2
A
14

the point

y = 0, z = h/3.

h
3
h

28 (14s + 13h) , 2 h s 2
3
v (s) =
hs , h2 s h2
3

h (14s 13h) , h s 3 h
28
2
2

D
D
`D ``
```
D
```
``
2
`

27 h2

D
D

2 2
h
7

The warping rigidity is

I =

v2dA = 2t

Zh/2
0

9 2 2
h s ds +
49

3h/2
Z

h/2

1 2
5h5 t
h
(14s

13h)
=
282
84

Now we an investigate the stability of the olumn

The boundary onditions are

v(0) = w(0) = (0) = 0

x
6

v (0) = w (0) = (0) = 0

v (L) = w (L) = (L) = 0

Fun tions satisfying the above boundary onditions are







x
x
x
1 , w = C2 cos
1 , = C3 cos
1
v = C1 cos
2L
2L
2L
Inserting these into the dierential equations we get


2
EIz P C1 P zv C3 = 0
2

 4L2

EIy P C2 = 0
4L2

 2

2
EI + GIt P r C3 = 0
P zv C1 +
4L2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

94

Let's denote

2
2
2
Py =
EI
,
P
=
EI
,
P
=
EI + GIt
z
z
y

4L2
4L2
4L2

0
C1
Py P
0
zv P

0
Pz P
0
C2 = 0
0
C3
zv P
0
P P r 2

In order to have a nontrivial solution we must have

det[]=0



(Pz P ) (Py P )(P P r 2 ) zv2 P 2 = 0
P1 = Pz

tai (r 2 zv2 )P 2 (P p
+ Py r 2 )P + Py P = 0
(P + Py r 2 ) (P + Py r 2 )2 4Py P (r 2 zv2 )
P2,3 =
2(r 2 zv2 )

Inserting the values we get the gures

P1 = 1727 kN, P2 = 964 kN, P3 = 11454 kN

Pkr = P2
Pkr
=
= 321 MPa > m = 220 MPa
A
Pkr 660 kN
So, the yielding takes pla e prior to bu kling, therefore we should determine the plasti -bu kling
load.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

95

Example 4.4

A beam with a re tangular ross-se tion is loaded by a onstant bending moment

M . The lower boundary of the ross-se tion annot move in lateral dire tion but an rotate.
The rotation is supressed at the simply supported boundaries. Determine the riti al bu kling
moment Mcr .

M


M


b
b
6666666666666666666666@
@
@
@
b b

L = 50b

Solution:


b b

In this ase the dierential equations are

EIy w (4) Mz0 = 0

GIt Mz0 w = 0

Dierentiating the lower equation twi e and multiplying by parts the rst equation by

(58)

Mz0 /EIy

we get

(M 0 )
z + Mz0 w (4) = 0
EIy
GIt (4) Mz0 w (4) = 0
Adding these two equations, gives

(M 0 )
z GIt (4) = 0 trial = erx
EIy
0 2
(M )
z r 2 erx GIt r 4 erx = 0
EIy
2
(Mz0 )
2
r =
EIy GIt
Denoting

k 2 = r 2

we get

= A1 sin kx + A2 cos kx + A3 x + A4

(59)

w = B1 sin kx + B2 cos kx + B3 x + B4

(60)

In a similar fashion we get

Substituting equations (59) and (60) to equations (58) we get

B1 = A1

GIt
GIt
,
B
=
A
2
2
Mz0
Mz0

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

96

Sin e the lower boundary is immovable in

w+
Hen e

z -axis

dire tion

5b
w
5b
0
=
2

(61)

w
B2
5b
B1
2GIt
=
= Mz0 =

A1
A2
2
5b

The bu kling mode requires

M0
n
n halfwaves
k=p z
=
L
EIy GIt
2GIt
n p
EIy GIt =
L
5b

Mz0 =

Let's insert the ross-se tional values

Iy =
It =
L =
Mz0 =
n =

5
5b b3
= b4
12
12
5
1
3
5b b = b4
3
3
50b and if G = 0.4E
n 4 p
Eb 0.5 5/12 5/3 = 0.0331nEb3 = 0.267Eb3
50b
8.

The riti al moment an be obtained by substituting equation (61) into equation (582 ):

GIt
Now

6= 0,

sin e if

A=B=00

= 0 = Ax + B .

Mz0



5b

= 0
2

Taking boundary onditions into a ount, we get

and bu kling is not possible hen e

GIt

Mz0

5b

= 0 Mz0 =

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

2GIt
5b

97

Example 4.5

Determine the riti al lateral bu kling moment Mcr for the beam shown below.

The support on the rhs side prevents verti al and lateral displa ements but the ross-se tion
an rotate about the support. The ross-se tion is re tangular with dimensions b h where

h b.

M


M


b
@
@

Solution:

b
@
@
b b

The dierential equations takes now the form

EIy w (4) Mz0 = 0

(62)

GIt Mz0 w = 0

Boundary onditions on the lhs support

w(0) = 0, w (0) = 0, (0) = 0

The rhs boundary onditions are slightly more ompli ated



A ?
A A
A
M
* z -z, w

 A A
A
A
AU A
Ay
A

A
@
@

The kinemati al onstraint at the enter of

gravity of the ross-se tion is

?y, v

h
w(L) = (L)
2

A
M
z
 K

K My-z
A



M
y
?

Let's divide the external moment

into

omponets parallel to the deformed oordinate axis

6z

Mx
w 
(L)
:


C M



CCW z
?
M



Mz M

My = EIy w (L)M

Mx = w (L)M

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

98

The boundary onditions are

w(0) = 0
w (0) = 0
(0) = 0

h
w(L) = (L)
2
EIy w (L) = (L)M
GIt (L) = w (L)M

Substituting equation (622 ) into equation (621 ) saadaan

(4)

M2
+ k w = 0, k =
EIy GIt
w = A sin kx + B cos kx + Cx + D
2

From boundary onditions we get

w(0) = w (0) = 0 D = B = 0
w = A sin kx + Cx

From the dierential equation (622 ) we an dedu e that

is of similar form

= E sin kx + F x

GIt k 2 E sin kx Mk 2 A sin kx = 0

M
E = GI
A
t

Let's substitute the boundary onditions into these trial fun tions

M
A cos kx F ) = (Ak cos kx + C)M
GIt
M
F =
C
GIt
h M
h
(A sin kL + CL)
w(L) = (L) A sin kL + CL =
2

 2 GIt


Mh
Mh
1
A sin kL + 1
CL = 0
2GIt
2GIt
M
(A sin kL + CL)
EIy w (L) = (L)M EIy k 2 A sin kL =
GI
t


M2
M
2
EIy k
A sin kL +
C=0
GIt
GIt
GIt (L) = w (L)M GIt (k

Sin e

k 2 = M 2 /EIy GIt

it follows from equation (63)

(63) we obtain



Mh
1
2GIt

(M/GIt )C = 0 C = 0. From equation


sin kL = 0

The riti al moment is then

Mcr = min

2GIt
,
h

EIy GIt
L

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

)
99

The eigenmodes are

w(x) = A sin kx
M
(x) =
A sin kx
GIt
Note! if

Mcr =

2GIt
h

kL 6= w(L), (L) 6= 0.

If

Mcr =

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

2GIt
h

kL = .

100

Example 4.6

Determine the riti al bu kling moment in the form Mcr =

p
EIy GIt /L, where

the parameter = (k, h/L). Draw the riti al load parameter as a fun tion of k , when

k (1, 1) and L/h = 20, = 0. Use the prin iple of minimum potential energy or some other
numeri al method and use trigonometri trial fun tions.

M


kM


b
@
@

b
@
@
b b

L
Solution by the prin iple of minimum potential energy:

The expression for the total potential

energy is

1
=
2

ZL
0



GIt ( )2 + EIy (w )2 + 2(Mz0 ) w dx

ZL
i
1 h

GIt ( )2 + EIy (w )2 + 2(Mz0 + Mz0 )w dx

=
2
0

where

Mz0 = M(1 x/L) + kMx/L = M[1 + (k 1)x/L] Mz0 = (k 1)M/L.

trial fun tions

ZL

= 0 sin x/L, w = w0 sin x/L.

Let's use the

Hen e

Mz0 w dx = 0

ZL

x
x
L
cos2
dx =
L
L
4




 2 L
 4 L
 2
L
L
1
2
2
GIt
0 + EIy
w0 + 2M
0 w 0
+ (k 1)
=
2
L
2
L
2
L
2
4
Minimizing the potential energy

w0


 2  L
2 GIt
L
=
=0
0 + M
+ (k 1)
w0
2L
L
2
4

 2
4 EIy
L
L
=0
=
w
+
M

+
(k

1)
0
0
3
2L
L
2
4
!
!
"

#
2 EIy
M
k1
w
0
1
+
0
3
2L
=

2L GI 2
k1
M
t
0
0
1
+
2L
2
2L

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

101

The riti al moment is obtained in the form

Mcr =
1
1 + 2 (k 1)
When

k = 1

we get the exa t result. When

GIt EIy
= (k)
L

GIt EIy
L

k 1 ,

thus the trial fun tion is

inadequate to model su h a situation. How the trial fun tion should be sele ted to result in a

-0.6

-0.4

-0.2

0.2

0.4

0.6

0.8

k
meaningful solution for the ase

k = 1?

Solution by the method of weighted residuals:

Let's start from the dierential equations

EIy w (4) (Mz0 ) = 0

GIt Mz0 w = 0.

Multiplying the rst equation by the lateral displa ement weight fun tion

and integrate over the domain

Z L
(4)
w[EI

(Mz0 ) ]dx = 0
yw
0
Z L

0
(GI

t Mz w )dx = 0.

by the rotation weight fun tion

and the lower one

we get

Integrating by parts

L
L
Z L



 [EIy w (M ) ]w  (EIy w M )w +
(w
EIy w w Mz0 )dx = 0
z
z


0
0
0
L
Z L



( GIt M
z0 w )dx = 0.
 GIt +
0

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

102

The boundary terms wanish and if we use same basis for the weight as for the trial ones

(x) = sin(x/L):
w = w0 (x),

= 0 (x),

w = w0 (x),

and

= 0 (x),

we get the equation

w0
0

!T "

K11

MG12

MG21

K22

w0
0

=0

where

G12

K22

L
4 EIy
4
EIy ( (x)) dx =
EIy 4 sin2 (x/L)dx =
L
2L3
0
0
Z L
Z L
2
= G21 =
[1 + (k 1)x/L] (x) dx =
[1 + (k 1)x/L] 2 sin2 (x/L)dx
L
0
0


2
k1

1+
=
2L
2
Z L
2 GIt
=
GIt ( (x))2 dx =
2L
0

K11 =

So we got the same stiness matrix as in the potential energy approa h.

Let's try to write the stiness matrix in a dimensionless form. First we write it in the
form

w0 /L
0
where

Denoting

!T "

11 M G
12
K
21 K
22
MG

w0 /L
0

=0



2
k1
2
4 EIy
22 = K22 GIt

1+
, K
, G12 =
K11 =
2L
2
2
2L
p
M = EIy GIt /L and 2 = EIy /GIt we obtain the matrix in a dimensionless
w0 /L
0

!T

EIy GIt
2L

"

1+

The riti al value for the load parameter

k1
2
1

1+

k1
2

#

w0 /L
0

form

=0

is then

cr =

1+

1
(k
2

1)

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

103

Example 4.7

Determine the riti al moment Mcr for the beam shown below, the proportions

are b = 10t, L = 20b, = 1/3. What is the result if M is negative?

M


M


b
@
@

b
@
@
b b

L
Solution:

b @
I
@
@b

@
R
@
@
@

The ross-se tional onstants are

1 3
1 3
2
2 3
b, zv = 0
It = t b, Iy = tb , Iz = tb , yv =
3 Z
3
12 Z
4 Z

bt 2 1 2
1
2 4
2
2
3
2
y(y + z )dA 2yv ,
y dA = 0,
yz dA = 2
b b =
tb z = 2b
z =
Iz
6 4 2
24

The dierential equations for the lateral/torsional bu kling are

EIy w (4) M = 0

GIt Mw z M = 0
w (4) +

M
w
GIt + z M

M2
w = 0
EIy (GIt + z M)

The general solution is

w = A sin kx + B cos kx + Cx + D

k2 =

where

M2
EIy (GIt + z M)

The boundary onditions are

w(0) = 0 B + D = 0

w (0) = 0

B=0

w(L) = 0

A sin kL + CL = 0
Ak 2 sin kL = 0

w (L) = 0

The lowest bu kling load is obtained when

M 2 z
denoting

p
M = EIy GIt /L

and

n = 1,

kL = n,

hen e

2
2
EI
M

EI
GI
y
y
t 2 = 0
L2
L

EIy = 2 GIt
2 2

z
2 = 0
L

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

104

The roots are

=
Substituting

z =

z
L

2 b, L = 20 b, 2 = 4000/3,
= 2.62 2

1+

4
2 2

L
z

gives the result

2

= 0.04 2

k 2 is positive for negative values, i.e. if it holds GIt +z M > 0.

p
!
EIy GIt
5
= GIt 1 + 2 = 0.02
GIt + z
L
3

Let's he k if the expression for

Therefore the trial fun tion for

is wrong for a negative moment. In this ase

M2
EIy (GIt + z M)
w(x) = A sinh kx + B cosh kx + Cx + D

w k 2 w = 0, where k 2 =

From boundary onditions we get

B=D=0

A sinh kL + CL = 0
Ak 2 sinh kL = 0
Sin e

k 6= 0

and

A=C =0k =0

the beam does not bu kle laterally. However, the anges an bu kle in a plate-like

mode.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

105

Bu kling of plates

Example 5.1

A square plate is stiened by equidistant beams of re tangular ross-se tion in

the loading dire tion. How many stieners are required to obtain a bu kling load Nx at least
2

the value 10 a2D . Thi kness of the plate is h, whi h is also the width of the beam. The height of
the beams is h = 4h. The material is isotropi with Poisson's ratio 0.3. Use the energy method
and a one-parametri trial fun tion for the dee tion w(x, y). The plate is simply supported
and the torsional stiness of the beams need not to be taken into a ount. h = a/40, where a
is the side-length of the plate.

Nx

a
n+1

n kpl palkkeja

?
y

Solution:













Let's use the following trial fun tion to the dee tion

w(x, y) = w0 sin

y
x
sin
a
a

Expression for the total potential energy of the plate is

= UZ + V = Uplate + Ubeams + Vplate + Vbeams

D
Uplate =
(w)2 dA
2
A

w = w,xx + w,yy , and w,xx

D 4 2
w
2 a2 Z0
Nx
Nx 2 2
2
=
w
w,x
dA =
2
2 4 0

x
y
2
sin
= w,yy
= w0 2 sin
a
a
a

Uplate =
Vplate

Ubeams =

n
X
i=1

Vbeams =

EI
2

n
X
i=1

Za

2
w,xx
dx =

x hh
2

Za

EI 4 2 X 2 i
sin
w
4 a3 0
n+1

2
w,x
dx, where x h = Nx

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

106

X
Nx h
i
= w02 2
sin2
n+1

 4 4a
Nx 2 EI 4 X 2 i
Nx h 2 X 2 i
D
w02

+
sin

sin
=
2
3
2 a
2 4
4 a
n+1
4 a
n+1
When omputing the

Vpalkit

term, it is assumed that the load

Nx

is equally distributed for

the ross-se tional area of the beam. Using the notation

Nx =
In the example ase

=4

3 h4
Eh3
2 Eh3
,
I
=
,
D
=
, when = 0
12a2
12
12

and

h = a/40.

"
n
X
i
Eh3 4 2
3 h
sin2
w0 1 +

=
2
24 a
2a i=1
n+1
The equilibrium equations from the ondition
hara terized by

h X 2 i
1
sin
+
4
2a i=1
n+1

= 0 w0 = 0,

!#

and the riti al point is

2
=0
w02 P
i
h
sin2 n+1
1 + 3 2a
P 2 i 10
= 1
h
sin n+1
+ 2a
4
2 = 0

Substituting

=4

ja

h = a/40

n=1
n=2
n=5
n=9

and trying dierent

i
n+1
X
i
sin2
n+1
X
i
sin2
n+1
X
2 i
sin
n+1
X

sin2

n's:

1 + 54
1
1 = 6
+ 20
4
1 + 45 32
3
3
=2 = = 1
1 3 6.8
4
2
+
4
20 2
=1=

= 3 = 8.5
= 5 = 10

Nine stieners will be su ient.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

107

Example 5.2

Determine cr for an innite plate strip using a trial fun tion

w(x, y) = A sin(y/b) sin[(x y)/s]

where s is the half wavelength of the bu kling mode. The plate is simply supported and it's
bending stiness is D . How large is the error in omparison to the analyti al solution cr =

5.35 2 D/b2 t (t is the thi kness of the plate)?

         

b
- - - - - - - - - -

Solution:

Using the trial fun tion

w(x, y) = A sin
where
and

is the half wavelength in

x = y + s

x-axis

sin (x y)
b
s

dire tion. Dee tion vanish (w

= 0)

at lines

x = y

in addition to the boundaries.

s
x

y
b
The expression for the total potential energy is

D
=
2

(w) dA + Nxy

Let's integrate a sli e between the lines

w,x w,y dA

y = 0, y = b, x = y

and

x = y + s,

i.e. the area of

one half-wavelength:

w,x = A sin
cos (x y)
s
b
s
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

108

2
y

w,xx = A 2 sin
sin (x y)
s
b
s
y

sin (x y) A sin
cos (x y)
w,y = A cos
b
b
s
s
b
s
2
y

w,yy = A 2 sin
sin (x y) A
cos
cos (x y)
b
b
s
bs
b
s
2
y

cos
cos (x y) A2 2 sin
sin (x y)
A
sb
b s
b
s
s
2
y

2 2
2
sin (x y)
w = w,xx + w,yy = A 2 + 2 + 2 sin
s
b
s
b
s

2A
cos
cos (x y)
bs
b
s
h
i
y

2
w,x w,y = A sin
cos (x y)
cos
sin (x y) sin
cos (x y)
s
b
s
b
b
s
s
b
s
Change of variables

(
Sin e det[

Zb
0

x = t + r
y=r

(x, y)/(t, r)

xy+s
Z

Z b Zs
0

Z b Zs
0

"

xt yt
xr yr

"

1 0
1

= 1, the s ale is preserved.

(w)2 dxdy =

xy

(x, y)
=

(t, r)

(w)2 dtdr = A2

w,x w,y dtdr = A

Z Z

"

2 2
2
+
+

b2
s2
s2

2

#
4

bs
+ 42
2
(bs) 2 2

2
2
2 r
2 t
2 b
sin
cos
dtdr
=
A

s2
b
s
4 s

#

2 2
4
2
2 b

bs

2
2
2
(1 + ) + 2
+
Nxy = 0
s2
b
4
bs
4 s


s2 b2
2D
2
2 2
2 + 6 + 2 + 2 (1 + )
Nxy =
2b2
b
s

2
2
s
b
2D
2
2 2
2 + 6 + 2 + 2 (1 + )
=
2b2 t
b
s

2
D

=
2
A2
2

"

The expression of the shear stress still ontains two free parameters
obtained when

and

s.

The minimum is

is minimized with respe t to these two paramaters:



2D
s2
b2 (1 + 2 )2
2D 2
=
+
6
+
+
f (, s)
=
2b2 t
b2 s2

2b2 t
f
2s
(1 + 2 )2 (2b2 )
s
=
+
= 0 = 1 + 2
2
3
s
b

s
b
2
1
+

f = + 6 + 2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

109

 f
2
22 (1 + 2 )
1
s

= 2 +6+2
=
0

2
b
2
2D
2D
cr = 4 2 2 5.66 2
bt
bt

The dieren e to the analyti al value 5.35

3
2

2 D
, is thus 5.8 %.
b2 t

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

110

Example 5.3

Derive the bu kling equations for a ir ular plate uniformly ompressed in the

radial dire tion.

Nr =-P

Solution:

Let's rst investigate the equilibrium equations of a plate loaded in its plane The

equilibrium equation in the radial dire tion is

The plate has



d
Nr
dr (r + dr)d Nr rd 2N dr = 0
Nr +
r
2
Nr Nr N
+
=0

r
r
0
0
now a stress state Nr , N . Investigating the equilibrium in a slightly

state, gives

d4 w 2 d3 w
1 d2 w
1 dw
+

3
4
3
2
2
dr
r dr
r dr
r dr

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

dee ted

= p
111

where

p is

Nr0 , N0 :



 


0 dw
0 dw
0 dw
rd + Nr
Nr
dr (r + dr)d
+
prdrd =
Nr
dr
dr r
dr



0 dw
0 dw
0 dw
= Nr
N
rdrd +
Nr
(dr)2 d
drd +
dr
r  r dr 
r
dr
N 0 dw
d
dw
p = r
Nr0
+
r dr
dr
dr

the lateral omponent due to the membrane for es

The resulting dierential equation is thus




d4 w 2 d3 w
1 d2 w
1 dw
1 Nr0 dw
d
0 dw
Nr
+
2 2 3
=
+
dr 4
r dr 3
r dr
r dr
D r dr
dr
dr

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

112

Derive the potential energy expression for a radially ompressed ir ular plate:

Example 5.4

)
#
 2
ZR ( "
2
w
+ w w P (w )2 rdr
(w) =
D (w )2 +
r
r
0

Solution:

The strain energy for a plate is

U =
U0

uo dV = 2
V

ZR Zh/2

U0 dzrdr

0 h/2

1
1
r r + + r0 r + 0
=
2
2

where the strains have expressions

r = r + zr
= + z

Zh/2
1
U = 2
r zdz +
zdz
2
0
h/2
h/2
h/2
h/2
h/2
h/2
h/2
h/2
Z
Z
Z
Z

0
0
0
0
dz rdr
zdz +
dz + r r
dz +
+r r
ZR

= 2

1
r
2

Zh/2

1
r dz +
2

Zh/2

h/2

h/2
R
Z 

1
dz + r
2

h/2

Zh/2

h/2


1
1
1
1
0
0
r Nr + N + r Mr + M + r Nr + N rdr
2
2
2
2

The potential of external loads is



= 2RNr0 u(R) = 2R Nr0 u(R) Nr0 u(0)

ZR 
d 0
0
= 2
Nr u(r) + [Nr u(r)]r dr
dr
0

The bending moments for an isotropi plate are

Mr = D(r + )
M = D( + r )

ZR
0


r D(r + ) + D( + r ) + 2(Nr0 r + N0 r ) rdr

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

113

ZR

= D

ZR

(r Nr + N )rdr 2

ZR 

Nr0 u

(2r + 2 + 2r )rdr + 2

ZR
0


d
0
+ (Nr u)r dr
dr


ZR 
d
0
0
0
0
(Nr r + N )rdr 2
Nr u + (Nr u)r dr +
dr
0

Let's substitute the expressions

du 1
r =
+
dr 2

dw
dr

2

, =

d2 w
1 dw
u
, r = 2 , =
r
dr
r dr

and after some manipulations we get:

ZR 

= D


(w )2 2
(w ) + 2 + w w rdr
r
r
2



ZR  
1 2
0

0
+2
Nr u + (w ) (Nr u) rdr
2
0

+2

ZR

(N0

Nr0 )udr

The expressions for

Nr0

and

N0

Nr =

ZR

(r Nr + N )rdr

in terms of strains are

E
(
1 2 r

N =

+ ), where

E
(
1 2

+ r )

du
= u
dr
u
=
r

r =

Taking the radial equilibrium equation into a ount gives:

dNr Nr N
+
=0
dr
r

u u
1
1

u + u = 0
u + u u 2 +
r
r
r
r
r
1
1

u + u 2 =0
r
r
2
du
2d u
r
+r
u=0
dr 2
dr
Let's make a hange of variables

r = et t = lnr
du dt
1 du
du
=
=
dr
dt 
dr
rdt


1 d2 u du
d 1 du
d2 u
= 2
=

dr 2
dr r dt
r
dt2
dt
After substitutions:

r2

d2 u
du
+r
u=0
2
dr
dr

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

114

d2 u du du

+
u=0
dt2
dt
dt
d2 u
u=0

dt2
u = C1 et + C2 et
C2
u = C1 r +
r

The boundary onditions are



du
u
E
= P, kun r = R
+
=
1 2 dr
r
u(r = 0) < C2 = 0
P (1 )
E
(1
+
)C

C
=

P =
1
1
1 2
E
P (1 )
u=
r
E
Nr0

The for e in the radial dire tion is thus

Nr0 =

E
E
(1 + )C1 = P, N0 =
(1 + )C1 = P Nr0 = N0
2
2
1
1

whi h do not depend on

r.

The potential energy expression is then

#
 2
Z "
Z
Z
w
2
2
0
2

= D
(w ) +
+ w w rdr + Nr (w ) rdr + (r Nr + N )rdr
r
r
The last terms des ribes the energy due to the hanges of the midsurfa e. At the very moment
of bu kling (w

6= 0) this term will vanish,

sin e the midsurfa e do not stret h,

r = = 0. The

nal form of the total potential energy expression is thus

)
#
 2
ZR ( "
2
w
+ w w P (w )2 rdr
D (w )2 +
=
r
r
0

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

115

Example 5.5

Compute the riti al load of an isotropi ir ular plate ompressed uniformly in

the radial dire tion. Use a simple trial fun tion for the dee tion.
Solution:

The potential energy expression is

)
#
 2
ZR ( "
2
w
+ w w P (w )2 rdr
=
D (w )2 +
r
r
0

Let's rst investigate a simply supported plate with a tral fun tion

as



r
w0
r2
w = w0 1 2 w = 2w0 2 w = 2 2
R
R

Z  R
r
r 
4r 3
r
=
D 4 4 + 4 4 + 8 4 P 4 drw02
R
R
R
R
2
d
D
= 0 P = 4(1 + ) 2
2
dw0
R
The error is 24 % in omparison to the analyti al solution (Timoshenko, Gere: Theory of Elasti
Stability).
For a lamped plate let's use the trial fun tion:

w =
w =
w =
=
P =

The analyti al result is 14.68

2

r2
w0 1 2
R 2
r
r
4w0
1 2

R 
R R
r2
4w0
2 13 2
R
R

32D 2

P w02
2
3R
3
D
16 2
R

D/R2 .

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

116

Non onservative problems, algorithms for linear algebrai

eigenvalue problems

Example 6.1

Show, that the following load system is non- onservative. The load P remains

parallel to the beam A-B in the deformed onguration.

P
6

L
q2
A b

k2


?
6

q
1

?O
b
k1


Solution:

The for e is onservative if there exists a potential fun tion

Fi =

su h, that

V
qi

The virtual work done by su h loads is then

W = Fi qi =

V
qi = V
qi

(63)

In our ase

W = Pi xBi
P = P sin q2i P cos q2j
xB = (sin q1 + sin q2 )Li + (cos q1 + cos q2 )Lj

xB = (q1 cos q1 + q2 cos q2 )Li (q1 sin q1 + q2 sin q2 )Lj
W = P L( cos q1 sin q2 sin q1 cos q2 )q1 + 0 q2

From the equation below and from equation (63) we get

V
q1
V
q2

= P L sin(q1 + q2 )
= 0

whi h is learly a ontradi tion. Hen e

P~

V = V (q1 )

is not a onservative for e.

Non- onservativity of a for e an also be proven by examining the work done in a losed
path. If su h a work will vanish for all possible losed paths (i.e. the work is path independent)
the for e is onservati e. In the example it is easy to onstru t a losed path for whi h the work
will not vanish. For example

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

117

1. rotating the bar OA

W1 = 2P L

2. rotating the bar AB

180

180

ounter lo kwise keeping the bat AB in a verti al position

lo kwise

3. rotating the whole olumn OAB

original upright position

W2 = 0

180

lo kwise, after whi h the olumn is ba k in its

W3 = 0

The total work done by this losed deformation path is

W = W1 + W2 + W3 = 2P L 6= 0

the for e

P~

is non- onservative.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

118

Example 6.2

Determine the riti al load of the rigid bar supported by a linear elasti spring

and a linear dashpot.

Solution:

P- b

k
b



Sin e the bar is assumed to be rigid

!
!

!

!
!!
!
6
b!!
- ?
6

EI = .
= L
= L
ZL/2
1
x2 dm = AL3
Jp = 2
12
0

1
1
JA = Jp + AL3 = AL3
4
3

F =

The moment equilibrium with respe t to the point A gives

 2
L
k L2 + P L = 0
Jp AL
2
1
(Jp + AL3 ) L2 (k P L) = 0
4
k PL
L2
+
= 0
+
JA
JA
Let's denote

+ a + b = 0

and using a trial fun tion

= ert ,

we get the hara teristi

equation

a
r 2 + ar + b = 0 r =
2

4b
1 2
a

The behaviour of the solution depends on the properties of the roots of the hara teristi
equation. Let's assume the following initial onditions

(0) = 0 , (0)

=0
We have to investigate the following ve ases

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

119

1.

For

r1 , r2 R ja r1 < 0, r2 > 0


0
(t) =
r2 er1 t r1 er2 t

 r2 r1
(t) , kun t
r2 > 0 ,
1

we have to have

4b
k
>1P >
2
a
L
t

The solution is this unstable and

behaves as shown in the following
gure.

2.

r1 , r2 R ja r1 < 0, r2 = 0
4b
k
1 2 =1P =
a
L
(t) = 0

Now the equation is

3.

4.

+ a = 0.

r1 6= r2 R ja r1 , r2 < 0
4b

0<1 2 <1
a
0
k
k
2 L3
4b
<P <
1 2 > 0 4b > 0
a
L
4JA
L


0
r1 t
r2 t
(t) =
r2 e r1 e
r2 r1
(t) 0, kun t

r1 = r2 R ( r1 = a/2 < 0)
4b
k
2 L3
1 2 =1 P =
a
L
4JA
(t) = 0 er1 t (1 r1 t)

(t) 0, kun t

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

120

0
r1 , r2 C ri = i

(t) = 0 et (cos t sin t)

r
a 4b
a
1
= =
2
2 a2
(t) 0, kun t

5.

The equilibrium is stable if

P <

k
.
L

At rst sight this result might look astonishing, sin e we get the same result as in the ase
without the vis ose dashpot. Let's investigate the post-pu kling behaviour in order to explain
the phenomena.

-?





b

P = k

P
B
&
%
k
I

P sin L = k
k
P =
L sin

Let's think a stru ture with the dashpot to be loaded with a load slightly above the riti al
load, i.e.

P > k/L.

In this ase the equilibrium is unstable. If we perturb the stru ture with a

small disturban e the bar starts to move towards the point B. The bar starts to vibrate around
the point B and due to the vis ose damper the movement nally dies out and the bar remains
in the tilted onguration. So the stru ture will not return to the original equilibrium state

= 0.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

121

Example 6.3

Determine the riti al load pf the two bar olumn using the dynami method.

The for e P is a dead-weight load, i.e. stays verti al.

P
B?

L
q2

b

A
k2







q1

O

? b


k1

?
6

Solution:

The equation of virtual work is

Wi + We = Wj
X

q
Wi =
Li qi = L
X

q
We =
Qi qi = Q
X

Wi =
Ji qi = J q

Now

Wi = M1 q1 M2 q2

= k1 q1 q1 k2 q2 q2

We = P v, jossa v = L[2 cos q1 cos(q1 + q2 )]



= P L [sin
q1 + sin(q1 + q2 )]q1 + sin(q1 + q2 )q2
Z
X
x
xd, jossa d = md
Wj =
sauvat

For bar 1:

ZL

x
xmd

x =
x =

x =
x =

ZL
0

x
xmd =


sin q1

 cos q1 
cos q1
q1
 sin q1 
cos q1
q1


 sin q1 
sin q1
cos q1
(q1 )2
q1
cos q1
sin q1
ZL
1
m 2 q1 q1 d = mL3 q1 q1
3


Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

122

For bar 2:




sin(q1 + q2 )
sin q1

L+
x =
cos(q

 1 + q2 )
 cos q1 
cos(q1 + q2 )
cos q1
(q1 + q2 )
Lq1 +
x =

1 + q2 ) 
 sin(q
 sin q1 
cos(q1 + q2 )
sin q1
cos q1
2
(
q1 + q2 )
(q1 ) +
L
q1
x =
sin(q1 + q2 )

 cos q1
 sin q1
sin(q1 + q2 )
(q1 + q2 )2

cos(q1 + q2 )

ZL
1
1
3

x
xmd = mL q1 q1 + cos q2 (

q1 + q2 )q1 sin q2 (q1 + q2 )2 q1

2
2



1
1
q1 + q2 )(q1 + q2 )
q1 (q1 + q2 ) + sin q2 (q1 )2 (q1 + q2 ) + (
cos(2q1 + q2 )
2
3

From the virtual work equation we get

+Q
= J
L


k1 q1

L =

 k2 q2
sin
q
+
sin(q
+
q
)
1
1
2
=
Q
sin(q1 + q2 )
1
1
4
q1 + q2 ) sin q2 (q1 + q2 )2
J1 = mL3 q1 + cos q2 (
3
2
2

1
1
1
2
cos(2q1 + q2 )
q1 + sin q2 (q1 ) + (
q1 + q2 )
2 
3
3

1
1
1
3
2
J2 = mL cos(2q1 + q2 )
q1 + sin q2 (q1 ) + (
q1 + q2 )
2
3
3
Linearizing this non-linear equation at the point

(
qe , 0, 0)

we get

Q
= Q(
qe , 0) + Q (
qe , 0)
q +
(
qe , 0)q
Q

q
q

L
= L(
qe , 0) +
L
(
qe , 0)
q +
(
qe , 0)q
q
q

0)
+ J (
0)
q + J (
0)q + J (
J = J(
qe , 0,
qe , 0,
qe , 0,
qe , 0, 0)q
q
q
q
and Q
do not depend on angular velo ities we have L/
q = Q/
q = 0. At equilibrium
L
0)
and also J/ q(
0)
= J/ q(
0)
= 0.
qe , 0,
qe , 0,
qe , 0,
have (

Sin e
we

Sin e

qe , 0) + L(
qe , 0) = J(
qe , 0, 0)
Q(
we an write the linearized equation in the form

K q + M q = 0
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

123

where

L
Q
K = (
qe , 0)
(
qe , 0)
" q
# " q
#
k1 0
2 1
=

P L, attheequilibriumpoint
0 k2
1 1
"
#
5 1
J
1
M =
mL3
(
qe , 0, 0) =
q
3 1 1

 
0
qe =
0

Using the trial fun tion:

Let's assume that

k1 = k2 = k

q = est x


K + s2 M x = 0

and denote

P = k/L

and

r 2 = s2 mL3 .

Hen e we get



4 4
5
r + k 2 r 2 + k 2 (1 3 + 2 ) = 0
9
3
q
2

r =k

The riti al situation is when

r = 0,

2 + 35

2 34 +

20
9

8/9

so we get

5
3
3 + 1 = 0 =
2
2
2

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

124

Example 6.4

Investigate the eigenvalue solution of the following stru ture dis retized by FEM.
P

EI

EI

EI

2L

1. Show that in this parti ular ase the initial stiness matrix
matrix

Solution:

and the geometri al stiness

are positive denite.

A matrix is SPD (=Symmetri Positive Denite) if it is symmetri and all its

eigenvalues are positive. In this ase

4 3

, S =
K=
3
3
3

2 3 16

8
15
15
2
15

2
15 15
6
5
1
5

15

8
15

The hara teristi equation is now third order polynomial, let's solve the eigenvalues by
Matlab

>> K = [4 -3 2;-3 3 -3;2 -3 16

K =
4

-3

-3

-3

-3

16

>> S = [8./15 -0.2 -2./15; -.2 1.2 -.2; -2./15 -.2 8./15
S =
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

125

0.5333

-0.2000

-0.1333

-0.2000

1.2000

-0.2000

-0.1333

-0.2000

0.5333

>> k= eig(K)
k =
0.3860
5.4268
17.1872
>> s = eig(S)
s =
1.2899
0.6667
0.3101
2. Solve the lowest bu kling load and the orresponding eigenve tor by the inverse power
iteration method

Solution:
(a)

The inverse power iteration algorithm:

initial guess for

eigenmode

(b)

iterating

1 ,

x1

whi h should have a omponent in the dire tion of the wanted

omputing the ve tor

k = 1, 2, ...,

until

y1 = Sx1

|(k+1 k )/k+1 | < T OL

Kxk+1 = yk
yk = Sxk
xTk+1 yk
(xk+1 ) = T
xk+1 yk+1
yk+1
yk+1 =
T
(xk+1 yk+1 )1/2

If

y1T 1 6= 0,

then

yk+1 S1 , (xk+1 ) 1 , when k

Let's program this routine as a fun tion in Matlab

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

126

fun tion [arvo,vektori,tol,k=h19b(K,M,x1)

k = 1;
y1 = M*x1;
p1 = 0;
while (k > 0)
xk =K\y1;
yk = M*xk;
pk = xk'*y1/(xk'*yk);
tol(k) = abs((pk-p1)/pk);
if (tol(k) < 1e-15)
k = -k-1;
end
p1=pk;
y1=yk/(xk'*yk)^.5;
k = k+1;
end
eigenvalue = pk;
eigenve tor = xk/(xk'*yk)^0.5;
and running it gives

>> [eigenvalue eigenve tor tol=h19b(K,S,[1;1;1)

eigenvalue =
0.5284

eigenve tor =
0.6820
0.9350
0.0823

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

127

tol =
3.8974e-09
3. Use shifting in the inverse power iteration, and use a shift whi h is
(a)

50 %

(b)

90 %

( )

99 %

from the eigenvalue just solved.

Solution:

Shifting inuen es the rate of onvergen e of the inverse iteration. The idea is

the following:

K = S = aS + (1 a)S
(K S) = S
= S
K

The eigenve tors are learly the same. The wanted eigenvalues an be obtained from

= + .

The shifted inverse power iteration nds the lowest eigenvalue to the shift.

Using the Matlab fun tion above. Shifting is just substra tion from

the matrix

p1 S :

--------------- (a) --------------------->> sK = K - 0.5*oa*S;

>> [a v t k=h19b(sK,S,[1;1;1)
a =
0.2642

v =
0.6820
0.9350
0.0823

t =

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

128

8.9474e-08

k =
-3
>> a+0.5*oa
ans =
0.5284
--------------- (b) --------------------->> sK = K - 0.9*oa*S;
>> [a v t k=h19b(sK,S,[1;1;1)
a =
0.0528

v =
0.6820
0.9350
0.0823

t =
1.5519e-10

k =

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

129

-3
>> a+0.9*oa
ans =
0.5284
--------------- ( ) --------------------->> sK = K - 0.99*oa*S;
>> [a v t k=h19b(sK,S,[1;1;1)
a =
0.0053

v =
0.6820
0.9350
0.0823

t =
3.6936e-07

k =
-2
>> a+0.99*oa
ans =

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

130

0.5284
4. Solve the same problem using the Rayleig quotien iteration

Solution:
(a)

The Rayleigh quotient algorihm utilizes shifting at every iteration step:

starting from an initial quess

of the vanted eigenve tor

(b)

iterating

k = 1, 2, ...,

1 ),

until

x1

(have to have a strong omponent in the dire tion

omputing ve tor

y1 = Sx1

|(k+1 k )/k+1 | < T OL

(K (xk )S)xk+1 = yk

yk = Sxk
xT yk
(xk+1 ) = T k+1
+ (xk )
xk+1 yk+1
yk+1
yk+1 =
T
(xk+1 yk+1)1/2

If

y1T 1 6= 0,

then

yk+1 S1 , (xk+1 ) 1 , when k

Let's program the RQI in a Matlab fun tion

fun tion [value,ve tor,tol,k=h19d(K,M,y1)

k

= 1;

p1 = 0;
sK = K;
while (k>0)
xk = sK\y1;
yk = M*xk;
pk = xk'*y1/(xk'*yk) + p1;
tol(k) = abs(pk-p1);
if (tol(k) < 1e-15)
k = -k-1;
end
p1=pk;
y1=yk/(xk'*yk)^.5;
k = k+1;
sK = (K-pk*M);
end
Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

131

value = pk;
ve tor = xk/(xk'*yk)^0.5;
and running it gives the solution

>> [a v t k=h19d(K,S,[1;1;1)
a =
0.5284

v =
0.6820
0.9350
0.0823

t =
4.2295e-08

k =
-3
5. Let's draw the onvergen e plots.

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

132

kaanteisiteraatio
shift +
Rayleigh

1+

ln(virhe) 1e-10

1e-20
1

4
iteraatiokierros

Rak-54.131 Stability of stru tures  exer ises / 12.12.2005

133