Engineering Systems

Lumped Parameter
Continuous
(Discrete)

• A finite number of • Differential Equations

state variables Govern Response
describe solution
• Algebraic Equations
 Lumped Parameter

Displacements of Joints fully describe solution

Matrix Structural Analysis - Objectives

Use
Equations of Equilibrium
Basic Equations
Constitutive Equations
Compatibility Conditions

Form
[A]{x}={b}

Solve for Unknown Displacements/Forces

{x}= [A]-1{b}
 Terminology

Element:
Discrete Structural Member

Nodes:
Characteristic points that
define element
D.O.F.:
All possible directions of
displacements @ a node
 Assumptions

• Linear Strain-Displacement Relationship

• Small Deformations

• Equilibrium Pertains to Undeformed Configuration

 The Stiffness Method

Consider a simple spring structural member

Undeformed Configuration

Deformed Configuration
 Derivation of Stiffness Matrix Using Basic
Equations

1 2

P1
P2
Derivation of Stiffness Matrix Using Basic
Equations

2

1 +

For each case write basic equations

 Derivation of Stiffness Matrix Using Basic
Equations
X

2=0
1
P11 P21
P11

Equilibrium
P11  P21  0  P11   P21 P11  k 1
Constitutive P21   k 1
P11  k 1
 Derivation of Stiffness Matrix Using Basic
Equations

1=0
2
P12
P22

Equilibrium
P12  P22  0  P22   P12 P22  k 2
Constitutive P12   k 2
P22  k 2
Derivation of Stiffness Matrix Using Basic
Equations
Combined Action

P1
P2

P1  P11  P12  k 1  k 2

P2  P21  P22   k 1  k 2
Derivation of Stiffness Matrix Using Basic
Equations
In Matrix Form

P1  P11  P12  k 1  k 2

P2  P21  P22   k 1  k 2

 P1   k  k   1 
    
 P2    k k   2 
 Consider 2 Springs
1 2 3
k1 k2
2 elements 3 nodes 3 dof

1
Fix Fix

Fix Fix
3

Fix Fix
 2-Springs

 k1  k1 0
  
   
1  P1 
 k1  
 k1   k 2   2    P2 
  k2     
 P
 0  k 2 k 2   3   3

Compare to 1-Spring

 k1  k1   1   P1 
 k    
 1 k1   2   P2 
 Use Superposition

1
1 2 3

2 1 x x x
0
3
12 32
2 x x x
21 X X
3 x0 x x
23 X X

DOF not connected directly yield 0 in SM

Properties of Stiffness Matrix

SM is Symmetric
Betti-Maxwell Law

SM is Singular
No Boundary Conditions Applied Yet

Main Diagonal of SM Positive

Necessary for Stability
 Apply Boundary Conditions

kii kij kik kil kim ui Pi

kji kjj kjk kjl kjm uj Pj
Kff u
kki kkj kkk kK
kl kkm
fs uf
k = P
Pkf
kli klj klk kll klm ul Pl
Ksf Kss us Ps
kli klj klk kll klm um Pm

Kffuf+ Kfsus=Pf uf = K (Pf + Kfsus)

-1
ff

Ksfuf+ Kssus=Ps Ksfuf+ Kssus=Ps

 Transformations
y
Global CS
x
k1 k2
 u2 u6 

u1 u5

P
x u4 u4
Local CS
u3 u3
 
Objective: Transform State Variables from LCS to GCS
 Transformations
Consider P2y P2x y
Global CS
2
x

P1x = P1xcosP1ysin
P1x 
1 P1y = -P1xsinP1ycos
P1x P1y
P1x cos sin P1x
=
P1y -sin cos P1y

P1 = T P1
 Transformations
P2y P2x y
Global CS
2
x
In General
P1x 
1 P1 = T P1 or
P1x P1y P1 =
-1
P1
T
Similarly for u
u1 = T u1 P2 = T P2 or
-1
u2 = T u2 P2 = T P2
 Transformations
Element stiffness equations in Local CS
P2y P2x
P2
2 1 -1 1 P1
k =
P1y -1 1 2 P2

1 Expand to 4 Local dof
P1x P1
1 0 -1 0 u1x P1x
0 0 0 0 u1y P1y
k -1 0 1 0 u2x = P2x
0 0 0 0 u2y P2y
 SM in Global Coordinate System

Introduce the transformed variables…

-1
R K R u = P

K : Element SM in global CS

[T] [0] Both R and T

[R]=
[0] [T] Depend on Particular Element
 Transformations

For example for an axial element with k=AE/L

l2 lm - l2 - lm
m2 - lm - m2
K = AE/L
Symm. l2 lm
m2

l=cos m=sin
 In Summary

• Derivation of element SM – Basic

Equations
• Structural SM by Superposition
• Application of Boundary Conditions -
Elimination
• Solution of Stiffness Equations –
Partitioning
• Local & Global CS
• Transformation