1.

571 Structural Analysis and Control

Prof. Connor
Section 5: Non-linear Analysis of Members
5.1 Deformation Analysis
Y
( 1 + y )dy

--- xy
2

dy

( 1 + x )dx
dx
X

5.1.1 Deformation of a fiber dx initially aligned with x .

u1
2
1
v1

v2

u 2 u 1 = u
dx + u 2 u 1 = dx + d u
du
dx 1 + ------ = dx ( 1 + u, x )
dx

u2
dx + u 2 u 1

v 2 v 1 = v
( 1 + x )dx

v,x dx

dv
dv = ------ dx = v, x dx
dx

( 1 + u, x )dx
( 1 + x ) 2 = ( 1 + u, x ) 2 + v, x2
1 + 2 x + x2 = 1 + 2u, x + u, x2 + v, x2
x ( 2 + x ) = u, x ( 2 + u,x ) + v, x2
x
u,x
v,x2
x 1 + ---- = u,x 1 + ------- + ------2
2
2

For small strain ( x 1 )

u, x
v,x2
x = u, x 1 + ------- + ------
2
2

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 1 of 17

If the member does not experience large relative rotations, then the non-linear u,x
term can be ignored.
Then for small relative rotations
1
x = u, x + --- v,x2
2

5.1.2 Deformation of a fiber dy initially aligned with y .

Proceed as done for dx to obtain:
For small strain
v,y
1
y = v,y 1 + ------ + --- u,y2
2
2

For small relative rotations

1
y = v,y + --- u, y2
2

5.1.3 Shear deformation

~ u, y

~ v,x

For small rotations

u,y + v, x

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 2 of 17

5.2 Straight Beams - Non-Linear Analysis for Plane Members

Y

B
y

X
A
dx

5.2.1 Axial Strain

For small rotations

u B = u A y sin
v B = v A y ( cos 1 ) v A
2 1
sin
cos 1
x
x
x
x

5.2.2 Shear Strain

B
B

( uB ) 1 ( vB ) 2
= -------------- + --- -------------
x
2 x
1 v A 2

= ----- ( u A y sin ) + --- --------

2 x
x
1
= u A ,x y, x + --- ( v A , x ) 2
2
= x y, x = xo y
A

u B v B

B = --------- + -------- = ----- ( u A y sin ) + ----- ( v A )

x
y
x
y
B = + vA ,x

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 3 of 17

5.2.3 Summarizing
Define

x ( y ) = x'
= '
x' = x y, x
1
x = u,x + --- v,x2
2
' = v, x

5.2.4 Apply the principle of virtual displacements

- Take a deformable body resisting some external loads
- Produce a perturbation (a virtual displacement)
- If body is in state of equilibrium, the first order work done by the stresses is equal to
the first order work done by the externally applied forces
i.e.

) dVol =

Forces

Virtual Displacements

For a beam: Internal virtual work is caused by stresses x, xy

{ ( x' x'
xA

+ xy'xy ) dA } dx =

Forces

Virtual Displacements

x' = x y, x = x y
u 1 v 2
1
x = u, x + --- v,x2 = ------ + --- -----
x 2 x
2
( u + u ) 1 ( v + v ) 2
( x + x ) = ----------------------- + --- -----------------------
x
2
x
u u 1 v v 2
( x + x ) = ------ + --------- + --- ----- + ---------
x x 2 x x
u u 1 v 2 v v 1 v 2
( x + x ) = ------ + --------- + --- ----- + ----- --------- + --- ---------
x x 2 x
x x 2 x

Then

u v v 1 v 2
x = --------- + ----- --------- + --- --------- = u, x + v, x v, x
x x x 2 x
( + )

y ( + ) = y ------------------------ = y ------ + y --------x

x
x

y = y --------- = y, x
x

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 4 of 17

Therefore

x' = x y,x
v
' = v,x = ----- =
x
( v + v )
' + ' = ----------------------- = +
x
v
' = --------- = v, x =
x

Right hand side of the virtual work equation

{ ( x' x'
xA

Giving

+ xy'xy ) dA } dx

x' x' dA dx
xA

( x' x
xA

x' x' dA dx
xA

( F x
x

xy'' xy dA dx
xA

x y,x ) dA dx

+ M,x ) dx

V dx
x

RHS = ( F x + M,x + V ) dx
x

Integrating by parts uv' = uv u'v

RHS = ( Fu + Fv,x v + M + Vv )

L
0

( Fv,x )
uF, x + v ------------------ + V, x + ( M, x + V ) dx

x
x

Left hand side of the virtual work equation

LHS = b y v dx + b x u dx + m dx + P p
x

Differentiating both RHS and LHS wrt x , recognizing that the first RHS term is a constant and that both the second RHS term and the LHS are integrated over the same
interval, we get
( F, x + b x )u + ( V, x + ( Fv, x ), x + b y )v + ( M, x + V + m ) = 0

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 5 of 17

Since u , v , and are independent, each term becomes and independent expression
F, x + b x = 0
V, x + ( Fv, x ), x + b y = 0
M, x + V + m = 0

These are the governing equations of equilibrium for a non-linear member.

Note: in V, x + ( Fv, x ), x + b y = 0 , ( Fv,x ), x = source of P- effect.
5.3 Compatibility Equations
F =

x' dA
A

F = u, x E dA
A

2
1

-- E x' dA = E u, x + 2 v, x
A
A
1 2
+ --- v,x E dA , x yE dA
2
A
A

y, x dA

If y is measured from the mechanical centroid yE dA = 0

A

Then
1 2
F = D S u, x + --- v, x
2

where

DS =

E dA
A

1 2
M = y x' dA = u, x + --- v, x Ey dA + , x Ey 2 dA

2
A

M = D B , x

where

DB =
M =

Ey
A

2 dA

xy dA
A

G' dA
A

G ( v, x
A

) dA

V = D T ( v,x )
DT =

G dA
A

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 6 of 17

Summarizing
F, x + b x = 0
V, x + ( Fv, x ), x + b y = 0
M, x + V + m = 0
1 2
F = D S u, x + --- v, x
2
M = D B , x

Boundary conditions

V = D T ( v,x )
u or Fx
or M
v or V + Fv,x = Py

Note Py = effective shear

5.3.1 Examples of boundary conditions
a
kr
P
ke

x
L

@x = 0
u = v = = 0

@x = L
F = P
M = k r ( L ) ; M = 0 without spring
V v,x P = k e v ( L )

@x = 0
u = v = = 0

@x = L
F = P
= 0
V v, x P = 0
1.571 Structural Analysis and Control
Prof Connor

Section 5
Page 7 of 17

Example
bx = m = 0
D B, D S, D T = constant

by
P
A

B
F,x + b x = 0 F ( x ) = constant = P
1 2
D S u, x + --- v,x = P
2
P 1 2
u,x = ------ --- v, x
DS 2
Px 1 x 2
u ( x ) u ( A ) = ------ --- v, x dx
DS 2 0
M = D B , x
M, x = D B , xx
M,x + V + m = 0
D B , xx + V = 0
V = D B , xx
D
V
V
------- = v, x v, x = + ------- = ------B- , xx
DT
DT
DT
V,x + ( Fv, x ), x + b y = 0
D B ,xxx Pv, xx + b y = 0
DB
D B ,xxx P , x ------- , xxx + b y = 0
DT
P
D B , xxx ------- 1 P, x + b y = 0
DT
by
P
, xxx + ----------------------------- , x = ---------------------------P-
P-

----------DB 1
DB 1
DT
DT

Define

P
2 = ----------------------------P
D B 1 -------
DT

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 8 of 17

Solving for and then v , starting with

2
,xxx + 2 ,x = ------ b
P y
P
= C 2 + 1 ------- ( C 4 sin x + C 5 cos x ) + part

D T
v =

D
------B- , xx dx
DT

v = C 2 x + C 3 + C 4 cos x + C 5 sin x + v part

M = D B , x = P ( C 4 cos x C 5 sin x ) + D B ( part ), x
V = D B , xx
V = P ( C 4 sin x + C 5 cos x ) D B ( part ),xx

For b y = 0
@x = 0
v = 0 C3 + C4 = 0
M=0

C4 = 0

C4 = 0
C3 = 0

@x = L
v = 0 C 2 L + C 5 sin L = 0
M=0

C 5 sin L = 0

C2 = 0

For a non-trivial solution sin L = 0 (ie L = n , n = 1, 2, )

For n = 1
So

L = = --L
2
P
----- = ---------------------------2
P
L

D B 1 -------
DT

P cr

2 DB
------------L2 = --------------------- 2 DB
1 + -----------L2 DT

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 9 of 17

5.4 Member Relations Geometrically Non-Linear Case

Y, v

uA
A

vB vA
= ----------------L

vB

vA

X, u

uB
VB

MB
P

VA

FB

FA

vB vA

L
PL 2
( L ) 2 = --------- = 2
DB
D B = EI
D = 2 ( 1 cos L ) L sin L
D 1 = L ( sin L L cos L )
D 2 = L ( L sin L )
3 = 1 + 2

Assumption: Neglect transverse shear deformation wrt bending deformation

uA

uB

uA = vA

uB = vB

FA

FB

FA =

VA
MA

1.571 Structural Analysis and Control

Prof Connor

FB =

VB
MB

Section 5
Page 10 of 17

5.4.1 Member Equations

PL
1
u B = u A ------- --- v,x2 dx
DS
2
1 1
e r = --- --- v, x2 dx
L 2
PL
u B = u A ------- e r L
DS

Set

DS
F B = ------ ( u B u A + e r L ) = P (member in compression)
L
D
M B = ------B- ( 1 B + 2 A 3 )
L
DB
M A = ------- ( 1 A + 2 B 3 )
L
DB 3
- ( B + A 2 ) P
V B = -----------L2
V A = VB

Write member equations as

DS L

MB

0
0

DS L

2D B 3
--------------L3
DB 3
-----------L2

FB
VB =

DB 3 uB
-----------vB +
L2
DB1 B
-----------L

k BB

FB

0
0

2D B 3
--------------L3
DB 3
-----------L2

DS er
DB3 uA
-----------v A + P
L2
0
DB 2 A
------------L

k BA

uA

uB

FB( r )

( i)

If FB = Forces due to span loads

( r)

Likewise
DS L
FA
VA =
MA
FB

( i)

F B = k BB u B + k BA uA + FB + F B

0
0

0
2D B 3
--------------L3
DB 3
-----------L2

DS L

0
DB 3 uB
------------vB +
L2
DB 2 B
-----------L

k TBA

uB

0
0

2D B 3
--------------L3
DB 3
-----------L2
k AA

DS er
DB 3 uA
-----------v A + P
L2
DB 1 A
0
-----------L
uA

F A( r )

(i)

T u + k u + F (r) + F
F A = k BA
A
A
B
AA A

Note: This formulation is wrt local frame and must be transformed to use global frame
1.571 Structural Analysis and Control
Prof Connor

Section 5
Page 11 of 17

5.5 Applications
1. A Frame
W

W
IB

IC

IC

Consider

IB =
W

Boundary Conditions
vB

H
B

A = B = 0

vA = 0

vB
= ----L

vB = v

P = W

VB = H

x
A
y

End actions at B
2D B 3
- v W =
V B = --------------L3

2D B 3
--------------3
L

W
----- v = H
L

DB3
-v
M B = -----------L2

Write

V B = H = kv
12D B 3 WL2
- ----- --------------
k = ------------L 3 6 12D B

For W = 0
3 = 6

If we apply W = P cr = 2 D B L 2

12D B
k = ------------L3
L =

3 = 2 2

12D B 3 W 2
- ----- ------- ------ = 0 for W = Pcr
k = ------------L 3 6 Pcr 12
1.571 Structural Analysis and Control
Prof Connor

Section 5
Page 12 of 17

2 Cantilever
W

Boundary Conditions

H, vB

A = v A = 0

MB = 0
VB = H
P = W
A

Solution
vB
M B = 1 B 3 ----- = 0
L
DB 3
v
v
- B 2 ----B- P ----B- = k H v B
V B = H = -----------L
L
L2
DB 3

- 2 ----3- P
--k H = -----------1 L
L3

Note, from elementary mechanics for a cantilevered column

Then

2 DB
2D
P cr = -------------B2- = -----------( 2L )
4L 2

If W = 0
P = 0

1 = 4

2 = 2

3 = 6

3D B
- Linear case
k H = --------L3

If W 0
kH

DB
32

P
------
= 3 2 3 ----- --------------------2
1 ( DB L )
L

At the critical load

L = --2

D = 2 --2

D 1 = --2

2
D 3 = ---
2

kH = 0

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 13 of 17

1
At P = --- P cr
2

1
L = --- ------- 1.11
2 2
cos L 0.445
sin L 0.9
1 4
3 6
kH

DB
32 4P
DB
-----= 3 2 3 ----- ------2- 1.77 ------31
L
L

So, about a 40% reduction in stiffness due to axial loading.

3 Simply Supported Beam-Column
v

MB *
P
A

Boundary Conditions
MA = 0
M B = MB *

Solution

vA = 0
vB = 0

MA = 0 = 1 A + 2 B
2
A = ----- B
1
DB
22
M B = ------- 1 ----- B = k B B
L
1

If P = 0
DB
k B = 3 ------- (Linear case)
L

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 14 of 17

4 Multi Span Beam-Column

H, v C
B

L1

L2

Segment A-B (from example 3)

M B, B
MB = k B B

P
A

B
L1

Segment B-C

H, v C

B
kB
B

vC
= ----L2

L2

Boundary Conditions
MC = 0
vB = 0
M B = k B B (be careful of sign convention)
VC = H
H

M B, B

Solution
i)

DB
vC
M B = ------- 1 B + 2 C 3 ----- = k B B
L2
L2

ii)

DB
vC
M C = ------- 1 C + 2 B 3 ----- = 0
L2
L 2

Use i) and ii) to solve B and C in terms of v C

DB vC
DB DB

B k B + ------- 1 + ------- 2 C = ------- 3 ----L 2 L2

L2 L 2

v
----2- B + C = ----3- -----C
1
1 L2

Then substitute in expression for H

v
D B 3
v
- C B + 2 -----C P -----C
H = -----------L2
L2
L 22

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 15 of 17

5.5 Incremental Formulation

5.5.1 Some simplifications
1.
1
e r = ------ v, x2 dx
2L
v v
L

B
A
- =
Take v,x ----------------

Then

2
1
e r ------ ( 2 L ) = ----2L
2

2. Assume s are constant during incremental motion. This results in k BB , k AA , and

k BA constant. (ie dk = 0 )
3. Consider small increment, ie work with first order change.
(r )

(i)

dF B k BB u B + k BA u A + dF B + dFB
(r)

(i)

T u + k u + dF
dF A = k BA
A + dF A
B
AA
A
(r)

(r)

dF A = dFB
(r)

dF B = dF

(r)

(r)

D
------S 2
2
FB =
FB
0
0

DS er
=

DS
F B = ------ ( u B u A ) + D S e r
L

operating on dF ( r )
dF

(r)

D S d
= F d + dF
B
B
0

v B v A
d = -----------------------L
D
v B v A
dF B = -----S- ( u B u A ) + D S -----------------------

L
L
1.571 Structural Analysis and Control
Prof Connor

Section 5
Page 16 of 17

Then

dF

dF

(r)

(r)

DS
--------- ( v B v A )
L
= F
DS
DS 2
- ( u B u A ) + ----------------B- ( v B v A ) + --------- ( v B v A )
L
L
L
0
= K R ( u B u A )
0

DS
--------L

KR = D F
DS 2
S
--------- -----B- + ------------ 0
L L
L
0
0
0

5.5.2 Summarizing
(i )

dFB ( k BB + K R )u B + ( k BA K R )u A + dF B

(i)

dF A ( k BA + K R ) T u B + ( k AA + K R )u A + dF A

These two expressions define the tangent stiffness for a member. One usually retains
the non-linear terms only when the axial force is compressive since the stiffness is
reduced. A tensile axial force increases the stiffness.
5.5.3 Linearized Stability Analysis
1. Take = 0 in KR .
2. Find axial forces with linear analysis (ie ignore KR .) Evaluate s.
3. Test determinant of tangent stiffness matrix.

1.571 Structural Analysis and Control

Prof Connor

Section 5
Page 17 of 17