CHAPTER 1 0 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION 10.1. INTRODUCTION When the methods of Chapters 8 and 9 are applied to the analysis of large structures which are highly redundant or which consist of many elements, then the resulting matrices which must be inverted in the solution process may get very large. This may cause computational difficulties, or may prove impossible when the order of the matrices exceeds the capacity of the available computer. It is possible, however, to avoid the inversion of large matrices by applying the stiffness or flexibility methods and treating substructures as elements of the large structure which is analyzed. A substructure may be any portion of the large structure. Another way to avoid the inversion of large matrices in the analysis of large structures is to select the system coordinates in such a way that the resulting matrix which must be inverted will be a band matrix. [See Equa- tion (8.21),] Using the band matrix, the analysis is conducted by a recursion procedure which requires the inversion of low-order matrices.+ Two more ways to deal with large structures are the relaxation and iteration procedures. In the relaxation procedure, the displacements {u} in the equation (FY - {F}9) (l{u} are computed by a procedure similar to the one discussed in Section 5.7*°. + Not all structures lend themselves to this procedure. (Sce Section 10.6.) 265‘266 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION Chap. 10 The final internal forces {P}/ are then computed from the equation {P}! = {P}° + [x] {u} The moment distribution method developed by Hardy Cross*” is a relaxa- tion procedure In the iteration procedure again the last two equations apply except that the displacements {u} are computed by the iteration procedure dis- cussed in Section 5.6. The Kani method** is an iteration procedure which is applied to frames to yield directly the final moments at the ends of each member. This method uses a form of the last two equations simultaneously. In this chapter, we discuss the analysis of large structures by substructures and by recursion. The analysis of frames by the Kani iteration method is treated in Chapter 11. 10.2, ANALYSIS BY SUBSTRUCTURES The analysis by substructures consists of a repeated application of the procedures developed in Chapters 8 and 9. We shall therefore not introduce new notation in connection with the analysis by substructure but shall use the notation of Chapters 8 and 9. The analysis by substructures will be developed using the stiffness method*?-# in Section 10.3 and using the flexibility method®° in Section 10.4. In each case the development will be related to the appropriate sections in Chapters 8 and 9 10.3. ANALYSIS BY SUBSTRUCTURES USING THE STIFFNESS METHOD Consider the structure of Figure 10.1(a) loaded as shown in Figure 10.2(a). Let us analyze this structure with the following objectives 1. To find the displacements at any point on the structure 2. To find all internal forces If we define a system coordinate at each joint of the structure, the analysis requires the inversion of a 6 x 6 matrix. To avoid this inversion and instead obtain a solution by inverting matrices of order no larger than two, we conduct an analysis by substructures. This amounts to applying the procedure in Section 9.2 to the total structure and to the substructures, as will become evident from the following development. Total Structure Using the steps of Section 9.2 for the structure of Figure 10.1(a), we proceed as follows: 1. We define two system coordinates, Figure 10.1(b), so that we can write {F} = [kl {u) (10.1)Chap. 10 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION 267 The choice of only two system coordinates will cause the solution for {u} to involve the inversion of a 2 x 2 matrix 200" 20 0" 200" ee 1 =|080in* each vertical member I=1200in* each horizontal member (a) Structure (b) System coordinates Substructure I Substructure Il Substructure IL (c) Element coordinates Figure 10.1. 2. Select elements and element coordinates so that system coordinates occur only at their ends. The elements in Figure 10.1(c) consist of three substructures designated by I, II, and III. Using this designation, we write {Ph [eh {3h {Phu p= beh {9}u (10.2) {Phin Cehn J U3} or in general and compact form [see Equation (9.1)] {P} = [x] {5} (10.3)268 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION Chap. 10 The choice of substructures was made in such a way that, again, no greater than a 2 x 2 matrix must be inverted in dealing with any oom Fr aor, sor 16" on [Co we | Polat] eof |? 2a" 7m a SS - ‘ bo = (a) 3 oN X wore]? ao" ~ (b) Forces {F}f at the coordinates +4 (c) Forces Q; not at the coordinates Figure 10.2. Superposition of forces. substructure. This will become more apparent later when we deal with the substructures separately. 3. Using Figures 10.1(b, ©) we write {5} = [6] {u} (10.4)Chap. 10 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION 269 in which 0 [6] = ° o =! in the present example. 4, [k] of Step 1 is synthesized from [x] and [8] of Steps 2 and 3, re- spectivelyt (k] = (6) Tx] 8] (10.5) Step 4 requires that we know [x] which contains the stiffness matrices of the substructures (the elements). We shall generate these matrices separately later. For the time being let us assume that they have been generated and proceed with Step 5 for the total structure. 5. Apply to the structure of Figure 10.2(a) a superposition of forces followed by a superposition of displacements as shown in Figures 10.2 and 10,3, respectively. Compare these figures with Figures 9.2 and 9.3, respectively. The fixed coordinate forces {F}° in Figure 10.3(b) are computed from the corresponding forces {P}? (s = I, I, III) in that figure tF}° = [BTR }° (10.6) Forces {P}? (s =I, 11,1) will be computed later when we deal separately with each substructure. For the present we assume that they have been computed and proceed to Step 6. 6. From Figures 10.2(b) and 10.3(c) we compute the displacements 1; at the system coordinates {u} = TA (FY — (F}°) (10.7) 7. Substituting Equation (10.7) into Equation (10.4) gives [see Equation (9.1a)) {8} = [AMAT QF}! ~ {F}°) (10.8) and using this expression in Equation (10.3) [see Equation (9.1b)] {P} = Ux)EBIURD UF}! — {F}°) (in) The code system method of Section 9.8 may be used instead.270 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION Chap. 10 8. The final forces {P}¥ at the element coordinates in Figure 10.1(c) are obtained by superposition from Figures 10.2(b), 10.3(b, c). [See Equa- tion (9.1¢).] {P}! = {P}° + (NIB (CF — (F}°) (10.10) 6" (b) Fixed coordinate state (v4 =ug=0) Th (c) Displacement under the action of forces - F° Figure 10.3. Superposition of displacements.Chap. 10 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION 2 The results obtained by Equations (10.7) and (10.10) will yield the displacements at the system coordinates of Figure 10.1(b) and the internal forces at the element coordinates of Figure 10.1(c). But how about displacements and internal forces at other points on the structure of Figure 10.2(a)? To answer this question we now apply the procedure of Section 9.2 to each substructure. Substructure 1 We now treat Substructure I as a completely separate structure and compute all its displacements and internal forces in Figures 10.1(b), 10.3(b, ¢). It is convenient therefore to define additional system coordinates at all (0) System coordinates (>) Element coordinates for substructure I Figure 10.4. joints as shown in Figure 10.4(a). The clement coordinates are shown in Figure 10.4(b). The 4x4 stiffness matrix [k], for the coordinates of Figure 10.4(a) is synthesized from the [x] matrices of the elements in Figure 10.4(b) Tk), = (BY Ex][6] (10.11) To compute [x], which is required in Step 4, Equation (10.5), we partition the foregoing matrix and write Deh = Udi: — (eiolkdaa' [kde (10.12) in which the submatrices are identified from the following equation: (_ [bi a se (Oe. {F}oS: Lele) Udeo dil tude Si In Equation (10.13) {u}, and {F}, are displacements and forces at the coordinates where the substructure connects to the system [coordinates 1 and 2 in Figure 10.4(a)], whereas {u}, and {F}, are displacements and forces at the additional coordinates defined for the substructure [co- ordinates 3, 4 in Figure 10.4(a)].272 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION Chap. 10 To analyze substructure 1, loaded as shown in Figure 10.3(b), we write {uj = {0} and therefore from Equation (10.13) {P}2 = [keafuha Also, writing the equation {6} = [f]{u}, which applies to Figure 10.4, in the partitioned form ' (whi (6) = [ton | war] (6) = [lel | 1] fee then, for {u}, = {0} {8} = [Bletu. Using Equation (9.1c), we compute for the coordinates in Figure 10.4(b) {P}! = (PY + fe] tees (FY — (F)") (10.14) in which [kISt(F! - (F}%)2 = fh (10.14a) Using the appropriate components of vector {P}/ in Equation (10.14), we obtain {P}/ of Step 5, Equation (10.6). In the present example the vector PLY tat of Equation (10.14) is identically equal to P,y° ti (that is {P}?) which is required in Equation (10.6) of Step 5 Following the preceding steps [Equations (10.12) and (10.14)] for each of the substructures of Figure 10.1(c), we obtain [x], and {P}9— fors= Using these values, Equation (10.7)-(10.10) inclusive can be evaluated. Internal Forces and Displacements in Substructure I. As we pointed out carlicr, to get internal forces P, (i = 1,2...,6) at the coordinates in Figure 10.4(b) for the structure loaded as shown in Figure 10.2(a), we must super- pose the corresponding forces from Figures 10.2(b), 10.3(b, ¢). For Figure 10.3(b), these forces are computed by Equation (10.14), In Figures 10.2(b), 10.3(c), we have (ul: ={u} and {F}, = (0} (10.15)Chap. 10 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION 273 in which {u} is given by Equation (10.7) and {u}, and {F}, are identified in Equation (10.13). Substituting these relations into Equation (10.13) we write for Substructure I (using only the second matrix equation) 10} = [k]aitu} + [k]oatu}2 (10.16) Solving for {u}, from Equation (10.16) gives {uja = —Uels2' Ueda fu} (10.17) Combining the first of Equations (10.15) and (10.17), we have (-atha —om Using [A] of Equation (10.11), we write for the element coordinates in Figure 10.4(b) , fu}, {3} = Bh (10.19) {u}2 {P} = [x] {9} Substituting from Equations (10.18) and (10.19) into the last equation, we have and (10.20) Adding Equations (10.14) and (10.20) gives the internal forces at the coordinates of Figure 10.4(b) for the complete structure loaded as shown in Figure 10.22) The displacements at any point are also computed by a superposition of the displacements in Figures 10.2(b), 10.3(b, c). For example, the displace- ment vector {u}, at coordinates 3 and 4 in Figure 10.4(a) for the structure as loaded in Figure 10.2(a) is obtained by [kl F} — UF} 2 = (ela Thas tu} The left and right term can be identified from Equations (10.14a) and (10.17), respectively. The procedure followed here applies to all substructures so that our objectives are fulfilled. Results for the Structure of Figure 10.2(a) The following intermediate and final results were obtained for the structure of Figure 10.2(a) analyzed by substructures (I and / are in in.* and inches respectively).274 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION Chap. 10 For substructure I (kh, = 58 beh = For substructure II Uda = Bel = si, ‘| For substructure II 20E [173 3 t= 87 | 3 ans (0) Displacements uz (arrows show direction of displacements) 6734 1034.9 1420.1 4184 2754 = 492.3 7 TH (b) Internal forces A, in units of in-kip (arrows show direction of forces) Figure 10.5. Displacements u, and internal forces P, for the structure of Fig. 10.2(a)Chap.10 ANALYSIS BY SUBSTRUCTURES AND BY RECURSION 275 Using these submatrices in Equation (10.5) (or using the code system method of Section 9.8) 13.26 3.19 [k] = 5 3.19 13.26 For convenience let us set E = 1*/in.?. Then . 1 [1326 -3.19 Ur = 828.2|-3.19 13.26. Applying Equation (10.7) (a) = GC - (FY) 1 [ne al (= fioas i fae ~ 8282L-3.19 13.26. ( 480 208.16, ) ~ U 11.00 The complete solution for all joint rotations and all internal forces is given in Figures 10.5(a) and 10.5(b), respectively, Suggested Exercise: Do problem 1 10.4. ANALYSIS BY SUBSTRUCTURES USING THE FLEXIBILITY METHOD Consider the structure of Figure 10.6. Let us analyze this structure to fulfill the following objectives: 1. Generate the 4 x 4 flexibility matrix [a]* which will transform forces FF to corresponding displacements uf at the coordinates of Figure 10.6(a). 2. Compute the internal forces {P} caused by the externally applied loads FY. If we proceed with the analysis according to the steps of Section 8.2, then a4 x 4 matrix must be inverted because the degree of indeterminacy of the structure is four. To avoid this inversion and instead obtain a solution by inverting matrices of order no larger than two, we conduct an analysis by substructures. This will amount to an application of the procedure in Section 8.2 to the total structure and to the substructures. Total Structure Using the steps of Section 8.2, we select two redundants as shown in Figure 10,6(b). The structure of Figure 10.6(b) is not determinate. The choice of two redundants will, however, cause the solution to involve the inversion of a 2 x 2 matrix.