Chapter Four: Matrix Methods for Plane Frame Analysis

CHAPTER FOUR:

Matrix Methods for Plane Frame Analysis

In this chapter, we will explain the basic fundamentals of using the Matrix method or
stiffness method for analyzing structures. The method will be applied to different types of
plane Frames.

1. Frame-Member Stiffness Matrix

In this section we will develop the

stiffness matrix for a prismatic frame
member referenced from the local
x, y, z coordinate system, Fig.1. Here
the member is subjected to axial loads
q Nx , qFx , shear loads q Ny , qFy and
bending moments q Nz , qFz at its near
and far ends, respectively. These
loadings all act in the positive coordinate
directions along with their associated
Figure 1
displacements. As in the case of beams, :
the moments qNz and qFz are positive counterclockwise.
We have considered each of the load-displacement relationships caused by these
loadings in the previous chapters. The axial load was discussed in reference to Fig.2 (chapter
5), the shear load in reference to Fig.5 (chapter 6), and the bending moment in reference to
Fig.6 (chapter 6). By superposition, if these results are added, the resulting six load-
displacement relations for the member can be expressed in matrix form as:
Nx Ny Nz Fx Fy Fz
 AE AE 
 L 0 0  0 0 
L
 
 q Nx   0
12 EI 6 EI 12 EI 6 EI 
0   d Nx 
  L2  
3
 L L2 L3 
 Ny  
q
6 EI 4 EI 6 EI 2 EI   Ny 
d
1
q   0 0  2  
 Nz    L 2
L L L   d Nz 
 qFx   AE AE  d 
   L 0 0 0 0   Fx 
 q Fy    L   d Fy 
 q   0  12 EI  6 EI 12 EI 6 EI 
 2   d Fz 
 Fz   0
 L3 L2 L3 L 
 0 6 EI 2 EI
0
6 EI
 2
4 EI 
 L 2
L L L 

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 Structural Mechanics For Civil Engineers By Dr. Djomo Mbong

or in abbreviated form as
 q   k d   2
The member stiffness matrix  k   consists of thirty-six influence coefficients that physically
represent the load on the member when the member undergoes a specified unit displacement.
Specifically, each column in the matrix represents the member loadings for unit displacements
identified by the degree-of-freedom coding listed above the columns.

2. Displacement and Force Transformation Matrices

As in the case for trusses, we must be able to transform the internal member loads  q 
and deformations  d  from local x, y, z coordinates to global x , y , z coordinates. For this
reason transformation matrices are needed.

2.1. Displacement Transformation Matrix:

Consider the frame member shown in Fig.2a. Here it is seen that a global coordinate
displacement D Nx creates local coordinate displacements:
d Nx  DNx cos x ; d Ny   DNx cos y
Likewise, a global coordinate displacement D Ny , Fig.2b, creates local coordinate
displacements of
d Nx  DNy cos y ; d Ny  DNy cos x
Finally, since the z and z axes are coincident, that is, directed out of the page, a rotation DNz
about z causes a corresponding rotation d Nz about z . Thus,
d Nz  DNz
In a similar manner, if global displacements DFx in the x direction, DFy in the y direction,
and a rotation DFz are imposed on the far end of the member, the resulting transformation
equations are, respectively,
d Fx  DFx cos x ; d Fy   DFx cos y ; d Fx  DFy cos y ;
d Fy  DFy cos x ; d Fz  DFz

Figure 2:
:

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 Chapter Four: Matrix Methods for Plane Frame Analysis

Letting  x  cos x ,  y  cos y represent the direction cosines of the member, we can
write the superposition of displacements in matrix form as
 d Nx    x  y 0 0 0 0   DNx 
    
 d Ny     y  x 0 0 0 0   DNy 
d   0 0   DNz 
 Nz   
0 1 0 0
   3
 d Fx   0 0 0 x  y 0   DFx 
    
 d Fy   0 0 0  y  x 0   DFy 
d   0 1   DFz 
 Fz   0 0 0 0
Or
 d   T  D  4
By inspection, T  transforms the six global x , y , z displacements  D  into the six local
x, y, z displacements  d  . Hence T  is referred to as the displacement transformation
matrix.

2.2. Force Transformation Matrix:

If we now apply each component of load to the near end of the member, we can
determine how to transform the load components from local to global coordinates. Applying
q Nx , Fig.3a, it can be seen that:
QNx  q Nx cos x ; QNy  q Nx cos y
If q Ny is applied, Fig.3b, then its components are
QNx   q Ny cos y ; QNy  q Ny cos x
Finally, since qNz is collinear with QNz we have
QNz  qNz
In a similar manner, end loads of qFx , qFy qFz will yield the following respective components:
QFx  qFx cos x ; QFy  qFx cos y ; QFx   qFy cos y ;
QFy  qFy cos x ; QFz  qFz
These equations, assembled in matrix form with  x  cos x ,  y  cos y yield

Figure 3:
:
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 Structural Mechanics For Civil Engineers By Dr. Djomo Mbong

QNx   x  y 0 0 0 0   q Nx 
    
QNy   y x 0 0 0 0   q Ny 
Q   0   q Nz 
 Nz   
0 0 1 0 0
   5
QFx   0 0 0 x  y 0   qFx 
    
QFy   0 0 0 y x 0   qFy 
Q   1   qFz 
 Fz   0 0 0 0 0
Or
 Q   T   q   6
t

Here, as stated, T  transforms the six member loads expressed in local coordinates into the
t

six loadings expressed in global coordinates.

3. Frame-member global Stiffness Matrix

The results of the previous section will now be combined in order to determine the stiffness
matrix for a member that relates the global loadings  Q  to the global displacements  D  . To
do this, substitute Eq.(4) into Eq.(2). We have
 q   kT  D  7
Here the member forces  q  are related to the global displacements  D  . Substituting this
result into Eq.(6) yields the final result,
Q   T   k T  D
t

Or
Q   k  D  8
Where
 k   T   k T   9
t

Here  k  represents the global stiffness matrix for the member. We can obtain its value in
generalized form using Eqs.(5), (1), and (3) and performing the matrix operations. This yields
the final result given by Eq.(10) (Next page).

Note that this 6  6 matrix is symmetric. Furthermore, the location of each element is
associated with the coding at the near end, N x , N y , N z , followed by that of the far end,

Fx , F y , Fz , which is listed at the top of the columns and along the rows. Like the  k   matrix,
each column of the  k  matrix represents the coordinate loads on the member at the nodes that
are necessary to resist a unit displacement in the direction defined by the coding of the column.
For example, the first column of  k  represents the global coordinate loadings at the near and
far ends caused by a unit displacement at the near end in the x direction, that is, D Nx .

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Chapter Four: Matrix Methods for Plane Frame Analysis

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 Structural Mechanics For Civil Engineers By Dr. Djomo Mbong

4. Application of the Stiffness Method for Frame Analysis

Once the member stiffness matrices are established, they may be assembled into the
structure stiffness matrix in the usual manner. By writing the structure matrix equation, the
displacements at the unconstrained nodes can be determined, followed by the reactions and
internal loadings at the nodes. Lateral loads acting on a member, inclined supports, and internal
supports are handled in the same manner as was outlined for trusses and beams.

Example 1: Determination of the loadings at the joints of the two-member frame shown in
Fig.4a. Take I  500in4 , A  10in2 and E  29  103 ksi for both members.

Figure 4:
:
Notation. By inspection, the frame has two elements and three nodes, which are identified as
shown in Fig.4b. The origin of the global coordinate system is located at ①. The code numbers
at the nodes are specified with the unconstrained degrees of freedom numbered first. From the
constraints at ① and ➂, and the applied loading, we have
5 1
0 6 0
0 7   2
 Dk     ; Qk    0  3
0 8  
  0 4
0 9
 0  5
Structure Stiffness Matrix. Let evaluate first the stiffness matrices of members.
20  0 00
Member 1: The directive cosines are given as:  x   1; y  0
20 20
Using Eq.(10), we have:
4 6 5 1 2 1
 1208.3 0 0 1208.3 0 0 4
 
 0 12.6 1510.4 0 12.6 1510.4  6
 0 1510.4 241700 0 1510.4 120830  5
k1    
 1208.3 0 0 1208.3 0 0 1
 0 12.6 1510.4 0 12.6 1510.4  2
 
 0 1510.4 120830 0 1510.4 241700  3

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 Chapter Four: Matrix Methods for Plane Frame Analysis

20  20 20  0
Member 2: The directive cosines are given as:  x   0; y   1
20 20
Using Eq.(10), we have:
1 2 3 7 8 9
 12.6 0 1510.4 12.6 0 1510.4  1
 
 0 1208.3 0 0 1208.3 0 2
1510.4 0 241700 1510.4 0 120830  3
k2    12.6 1510.4

1510.4  7
 0 12.6 0
 0 1208.3 0 0 1208.3 0 8
 
1510.4 0 120830 1510.4 0 241700  9
The structure stiffness matrix is determined by assembling k1  and k2  . The result, shown
partitioned, as  Q    K  D is
1 2 3 4 5 6 7 8 9
 5   1220.9 0 1510.4 1208.3 0 0 12.6 0 1510.4   D1 
     
0   0 1220.9 1510.4 0 1510.4 12.6 0 1208.3 0   D2 
 0   1510.4 1510.4 483300 0 120830 1510.4 1510.4 0 120830   D3 
     
 0   1208.3 0 0 1208.3 0 0 0 0 0   D4 
0    0 1510.4 120830 0 241700 1510.4 0 0 0  D 
     5
Q6   0 12.6 1510.4 0 1510.4 12.6 0 0 0  0 
     
Q7   12.6 0 1510.4 0 0 0 12.6 0 1510.4  0 
Q8   0 1208.3 0 0 0 0 0 1208.3 0  0 
     
Q9   1510.4 0 120830 0 0 0 1510.4 0 241700   0 
Displacements and Loads. Expanding to determine the displacements yields
 5   1220.9 0 1510.4 1208.3 0   D1 
0    
0 1220.9 1510.4 0 1510.4   D2 
  
 0    1510.4 1510.4 483300 0 120830   D3 
     
 0   1208.3 0 0 1208.3 0   D4 
 0  
 0 1510.4 120830 0 241700   D5 
Solving, we obtain
D1  0.696in; D2  1.55  103 in; D3  2.488  103 rad ; D4  0.696in; D5  1.234  10 3 rad
Using these results, the support reactions are determined from structure stiffness matrix as
follows:
 0.696 
Q6   0 12.6 1510.4 0 1510.4   3 
     1.55  10 
Q7    12.6 0 1510.4 0 0 
2.488  103 
Q8   0 1208.3 0 0 0   
    0.696 
Q9   1510.4 0 120830 0 0   3 
 1.234  10 

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 Structural Mechanics For Civil Engineers By Dr. Djomo Mbong

Which gives the final support reactions

Q6  1.87k ; Q7  5.00k ; Q8  1.87k ; Q9  750 k  in
The internal loadings at node ➁ can be determined by applying Eq.(7) to member 1. Here k1 
is defined by Eq.(1) and T1  by Eq.(3). Thus,
4 6 5 1 2 3
 1208.3 0 0 1208.3 0 0  1 0 0 0 0 0  0.696  4
   
 0 12.6 1510.4 0 12.6 1510.4   0 1 0 0 0 0   0  6

 0 1510.4 120830   0 0 1 0 0 0  1.234  10 
3
1510.4 241700 0 5
T1  D    1208.3
q1   k1   
1 0 0  0.696 

 0 0 1208.3 0 0  0 0 0 1
 0 12.6 1510.4 0 12.6 1510.4  0 0 0 0 1 0   1.55  103  2
  
 0 1510.4 120830 0 1510.4 241700   0 0 0 0 0 1  2.488  103  3
 
Note the appropriate arrangement of the elements in the matrices as indicated by the code
numbers alongside the columns and rows. Solving yields
 q4   0 
   
 q6   1.87k 
 q5   0 
  
 q1   0 
 q   1.87k 
 2  
 q3   450k  in 

The above results are shown in Fig.4c. The directions of these vectors are in accordance with
the positive directions defined in Fig.1. Furthermore, the origin of the local x, y, z  axes is at
the near end of the member. In a similar manner, the free-body diagram of member 2 is shown
in Fig.4d.

Figure 4: (Continued)

Example 2: Determination of the loadings at the ends of each member of the frame shown
in Fig.5a. Take I  600in4 , A  12in2 and E  29  103 ksi for both members.

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 Chapter Four: Matrix Methods for Plane Frame Analysis

Figure 5:
:
Notation. To perform a matrix analysis, the distributed loading acting on the horizontal
member will be replaced by equivalent end moments and shears (FEMs). (Note that no external
force of 30k or moment of 1200k  in is placed at ➂ since the reactions at code numbers 8
and 9 are to be unknowns in the load matrix.) Then using superposition, the results obtained
for the frame in Fig.5b will be modified for this member by the loads shown in Fig.5c.

As shown in Fig.5b, the nodes and members are numbered and the origin of the global
coordinate system is placed at node ①. As usual, the code numbers are specified with numbers
assigned first to the unconstrained degrees of freedom. Thus,

0 4
0 5
   0 1
0 6  
 Dk     ; Qk    30  2
0 7
 1200  3
0 8
 
0 9

Structure Stiffness Matrix. Let evaluate first the stiffness matrices of members.

Member 1:
20  0 15  0
x   0.8;  y   0.6
202  152 202  152
Using Eq.(10), we have:

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 Structural Mechanics For Civil Engineers By Dr. Djomo Mbong

4 5 6 1 2 1
 745.18 553.09 696 745.18 553.09 696  4
 
 553.09 422.55 928 553.09 422.55 928  5
 696 928 232000 696 928 116000  6
k1    
 745.18 553.09 696 745.18 553.09 696  1
 553.09 422.55 928 553.09 422.55 928  2
 
 696 928 116000 696 928 232000  3
Member 2:
40  20 15  15
x   1;  y  0
20 20
Using Eq.(10), we have:
1 2 3 7 8 9
 1450 0 0 1450 0 0  1
 
 0 15.10 1812.50 0 15.10 1812.50  2
 0 1812.50 290000 0 1812.50 145000  3
k2    
 1450 0 0 1450 0 0  7
 0 15.10 1812.50 0 15.10 1812.50  8
 
 0 1812.50 145000 0 1812.50 290000  9
The structure stiffness matrix is determined by assembling k1  and k2  . The result, shown
partitioned, as  Q    K  D is
1 2 3 4 5 6 7 8 9
 0   2195.18 553.09 696 745.18 553.09 696 1450 0 0   D1 
     
 30   553.09 437.65 884.5 553.09 422.55 928 0 15.10 1812.50   D2 
 1200   696 884.5 522000 696 928 116000 0 1812.50 145000   D3 
     
 Q4   745.18 553.09 696 745.18 553.09 696 0 0 0   0
 Q    553.09 422.55 928 553.09 422.55 928 0 0 0   0
 5
    
 Q6   696 928 116000 696 928 232000 0 0 0   0
     
 Q7   1450 0 0 0 0 0 1450 0 0   0
 Q   0 15.10 1812.50 0 0 0 0 15.10 1812.50   0 
 8
    
 Q9   0 1812.50 145000 0 0 0 0 1812.50 290000   0 
Displacements and Loads. Expanding to determine the displacements, and solving, we have
 0   2195.18 553.09 696   D1   0
       
 30    553.09 437.65 884.5   D2   0 
 1200  696 884.5 522000   D3   0
Solving, we obtain
D1  0.0247in; D2  0.0954in; D3  0.00217rad
Using these results, the support reactions are determined as follows:

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 Chapter Four: Matrix Methods for Plane Frame Analysis

Q4   745.18 553.09 696   0   35.85k 

       
Q5   553.09 422.55 928  0
 0.0247    
24.63k 
Q6   696 928 116000     0   145.99k  in 
   0.0954       
Q7   1450 0 0    0   35.85k 
 
Q   0  15.10  1812.50   0.00217   0   5.37k 
 8      
Q9   0 1812.50 145000   0   487.60k  in 
The internal loadings can be determined from Eq.(7) applied to members 1 and 2. In the case
of member 1,  q   k1 
T1  D , where k1  is determined from Eq.(1), and T1  from Eq.(3). Thus,
4 5 6 1 2 3
 q4   1160 0 0 1160 0  1
0 0 0 0 0 0  0  4
     
 q5   0 7.73 1160 0 7.73 1160   0 
1 0 0 0 0  0  5

 q6   0 1160 232000 0 1160 116000   0 0 1 0 0 0  0  6
    
 q1   1160 0 0 1160 0 0  0 0 0 1 0 0   0.0247  1
 q   0 7.73 1160 0 7.73 1160   0 0 0 0 1 0   0.0954  2
 2    
 q3   0 1160 120830 0 1160 232000   0 0 0 0 0 1  0.00217  3
Here the code numbers indicate the rows and columns
for the near and far ends of the member, respectively,
that is, 4, 5, 6, then 1, 2, 3, Fig.5b. Thus,
 q4   43.5k 
   
 q5   1.81k 
 q6   146k  in 
  
 q1   43.5k 
 q  1.81k 
 2  
 q3   398k  in 
These results are shown in Fig.5d. Figure 5: Continued
A similar analysis is performed for member 2. The :
results are shown at the left in Fig.5e. For this member we must superimpose the loadings of
Fig.5c, so that the final results for member 2 are shown to the right.

Figure 5: Continued
:

54