Section 7: PRISMATIC BEAMS

Global Stiffness Matrix For Beams

The concept of an overall joint stiffness matrix will be explained in conjunction with
the two span beam shown below. Here no loads are applied on the structure.

The restrained structure and the six possible joint displacements are labeled. Keep in
mind that the axial stiffness is assumed to be large relative to flexural stiffness.
 Section 7: PRISMATIC BEAMS

An overall stiffness matrix, [KJ ], can be

generated that contains terms for all
possible
ibl joint
j i displacements,
di l including
i l di
those restrained at the supports. This
matrix involves application of unit
displacements
p as shown in the figures
g to
the right and below.
 Section 7: PRISMATIC BEAMS

Each column in the stiffness matrix below corresponds to the restraint reactions produced for
each unit displacements application in the restrained structure. Each row corresponds to an
applied unit displacement.
displacement There are six possible applied unit displacements.
displacements

Note that the matrix is square

and symmetric. Expansion
of the determinant of this
matrix would demonstrate
that the matrix is singular
due to the fact that certain
rows and columns are linear
[K J ] = combinations of one another.
 Section 7: PRISMATIC BEAMS

The matrix on the previous page was partitioned according to whether the displacements
identified in the restrained structure, i.e.,

were free to displace in the original, unrestrained structure

With partitioning the matrix can be considered to have four elements as follows

 K K DR 
[ KJ ] = 
 K RD K RR 
 Section 7: PRISMATIC BEAMS

The upper left partition, [K], is a square, symmetric matrix that corresponds to the unknown
displacements. The inverse of this matrix is used in the expression
{D} = [K]-1 {{AD} – {ADL}}
The lower left partition, {KRD }, is rectangular matrix contains actions that correspond to the
support restraints. This partition gives the reactions for the structure due to unit values of the
unknown displacements. From the course Matrix Analysis of Structures the vector of support
actions (moments or forces) would be obtained from
{AR} = {ARL} + {KRD}{D}
The upper right partition, {KDR }, is simply the transpose of {KRD }. The lower right hand
partition, {KRR }, is square and symmetric. It contains actions corresponding to support
restraints due to unit displacements in the restrained structure. The matrices {KDR } and {KRR }
will
ill be
b usedd to analyze
l reactions
i associated
i d known
k support displacements,
di l zero or otherwise.
h i
The stiffness matrix [K] is only a small portion of [KJ]. This is a consequence of the fact that
this particular structure is highly restrained to begin with. In large structures having many
j i andd few
joints f supports, the h matrix
i [K] constitutes
i a large
l portion
i off [KJ].
]
 Section 7: PRISMATIC BEAMS

In Class Example
 Section 7: PRISMATIC BEAMS

Arbitrary Numbering Systems

In the previous section of notes the joint displacements were numbered in a convenient
order, i.e., translations proceeded rotations at each joint. Also, free displacements were
numbered before constrained displacements. Consider the arbitrary numbering system
below. If all matrices were generated conforming to the arbitrary numbering system below
we could lose some
some, if not all
all, of the partition definitions developed in the last section of
notes.

What is required of finite element software algorithms is the ability to take an arbitrary
numbering system like the one above and transform it to the numbering system which
segregates matrix
i elements
l associated
i d with
i h degrees
d off freedom
f d from
f those
h associated
i d withih
support constraints.
 Section 7: PRISMATIC BEAMS

The [K J ] matrix for the arbitrary numbering system is the six by six matrix shown below.

[K J ] =
 Section 7: PRISMATIC BEAMS

In order for this [K J ] matrix to be useful the actual degrees of freedom and support
constraints in the structure must be recognized. If the fourth and sixth rows are switched to
the first and second rows,
rows while all others move downward,
downward we obtain the following matrix:
 Section 7: PRISMATIC BEAMS

Next the fourth and sixth column are moved to the first and second column, while all other
columns move to the right without changing order. This rearrangement produces the [K J]
matrix we had previously,
previously i.e.,
ie

Software algorithms
g must
have the capability to track
degrees of freedom and
perform the necessary
matrix manipulation in
order to identify pertinent
[K j ] = information.
 Section 7: PRISMATIC BEAMS

Analysis of Continuous Beams in General

Continuous beams considered here are pprismatic,, rigidly
g y connected to each beam segment
g
and supported at various points along the beam. Joints are selected at points of support, at
any free end, and changes in cross section (i.e., the beam is prismatic).

A continuous beam having m

members and m+1 joints is
depicted in figure (a) to the left.
Support restraints of two types
may exist at any joint in a
continuous beam. These are
restraints against rotation and/or
restraints against translations.
We will only consider flexural
deformations. Torsion and axial
di l
displacements are not considered.
id d
Thus only two displacements can
occur at each joint.
 Section 7: PRISMATIC BEAMS

Given the numbering system in figure (b) the translation at a particular joint is numbered
prior to a rotation and it follows that the number of translations is equal to the number of
joints minus one, while the rotation is twice the joint number. Thus at joint j the
translations and rotation are number 2j-1 and 2j respectively.

It is evident that the total number

of possible joint displacements is
twice the joints (or 2nj). If the
total number of support restraints
against translation and rotations
is denoted nr, then the actual
degrees of freedom are

n = 2n j − nr
= 2 m + 2 − nr

Here n is the number of degrees

of freedom.
 Section 7: PRISMATIC BEAMS

To relate the end displacements of a particular member to the displacements of a joint,

consider a typical member in figure (c) below. The member end displacements are
numbered j1,
j1 j2,
j2 k1 and k3 and correspond to end displacements 1,
1 2,
2 3 and 4 in figure
(b).
The new notation helps facilitate
computer programming.
programming The four end
displacements correspond to the four joint
displacements as follows:
j1 = 2 j − 1 k1 = 2k − 1
j2 = 2 j k 2 = 2k
Since j and k are equal numerically to i
andd (i+1),
(i 1) then:
h
j1 = 2i − 1 k1 = 2i + 1
j 2 = 2i k 2 = 2i + 2

This indexing system is necessary to

construct the joint stiffness matrix [Sj ]
Section 7: PRISMATIC BEAMS

The analysis of continuous beams

consists of establishing the stiffness
matrix and the load matrix.
matrix The most
important matrix generated is the overall
joint stiffness matrix [SJ ]. The joint
stiffness matrix consists of contributions
from the beam stiffness matrix [SM ].
It is convenient to assess the
contributions for one typical member i
and repeat the process for members 1
through m.
So the next step involves expressing the
stiffness
iff coefficients
ffi i shown
h in
i the
h figure
fi
to the left in terms of the various
member stiffnesses that contribute to the
jointt stiffnesses.
jo st esses.
 Section 7: PRISMATIC BEAMS

This next step requires that the member stiffnesses be obtained from the matrix below:

[k]

For example the contribution to the joint stiffness (Sj )j1,j1 from member i-1 is the
stiffness Sm33 for that member. Similarly, the contribution to (Sj )j1,j1 from member i is
th stiffness
the tiff Sm11 from
f member
b i
 Section 7: PRISMATIC BEAMS

In general the contribution of one member to a particular joint stiffness will be denoted
by appending the member subscript to the member stiffness itself. From this discussion
one can see that the joint stiffness matrix coefficients are generated by the following
expressions:

(S J ) j1, j1 = (S )
M 33 i −1 + (S M 11 )i
(S J ) j 2, j1 = (S )
M 43 i −1 + (S M 21 )i
(S J )k1, j1 = (S M 31 )i
(S J )k 2, j1 = (S M 41 )i

which represent the transfer of elements of the first column of the member stiffness
matrix [[k]] to the appropriate
pp p location in the jjoint stiffness matrix [[Sj]
 Section 7: PRISMATIC BEAMS

Expressions analogous to the previous expressions are easily obtained for a unit
rotation about the z axis at joint j:

(S J ) j1, j 2 = (S )
M 34 i −1 + (S M 12 )i
(S J ) j 2, j 2 = (S )
M 44 i −1 + (S M 22 )i
(S J )k1, j 2 = (S M 32 )i
(S J )k 2, j 2 = (S M 42 )i

Expressions analogous to a unit y displacement at joint k are:

(S J ) j1,k 2 = (S M 13 )i
(S J ) j 2,k1 = (S M 23 )i
(S J )k1,k1 = (S )
M 33 i + (S M 11 )i +1
(S J )k 2,k1 = (S )
M 43 i + (S M 21 )i +1
 Section 7: PRISMATIC BEAMS

Finally the expressions for a unit z rotation at joint k are:

(S J ) j1,k 2 = (S M 14 )i
(S J ) j 2,k 2 = (S M 24 )i
(S J )k1,k1 = (S )
M 34 i + (S M 12 )i +1
(S J )k 2,k 2 = (S )
M 44 i + (S M 22 )i +1

The last 4 sets of equations show that the sixteen elements of the 4 x 4 member stiffness
matrix [k]i for member I contribute to the sixteen of the stiffness matrix [SJ]
coefficients in a very regular pattern. This pattern can be observed in the figure on the
next overhead.
Section 7: PRISMATIC BEAMS

For this structure the number of joints is

seven, the number of ppossible joint
j
displacements is fourteen, and the joint
stiffness matrix [SJ] is dimensionally
14 x 14.
The indexing scheme is shown down the
left hand edge and across the top. The
contributions of individual members are
indicated in the hatched block.,
block each of
which is dimensionally 4 x 4.
The blocks are numbered in the upper
right corner to indicated the member
associated with the block.
The overlapping blocks are
dimensionally 2 x 2 and denote elements
that receive contributions from adjacent
members.
 Section 7: PRISMATIC BEAMS

Suppose that the actual beam has simple supports at all the joints as indicated in the
figure below. The rearranged and partitioned joint stiffness matrix is shown at the
lower right
right.

To obtain this rearranged matrix, rows and

columns of the original matrix have been
switched in proper sequence in order t place the
stiffnesses pertaining to the actual degrees of
freedom in the first seven rows and columns
columns.
As an aid in the rearranging process, the new
row and column designations are listed in the
previous figure for the matrix along the right
hand side and across the bottom. The
rearranging process is consistent with the
numbering system in the figure above.
 Section 7: PRISMATIC BEAMS

In summary, the procedure followed in generating the joint stiffness matrix [SJ ]
consists of taking the members in sequence and evaluating their contributions one at a
time Then the stiffness matrix [k]i is generated,
time. generated and the elements of this matrix are
transferred to the [SJ ] as indicated in the previous overheads. After all members have
been processed in this manner, the [SJ ] matrix is complete. This matrix can be
rearranged and partitioned in order to isolate the [S] matrix. The inverse of this matrix
is then determined and the unknown displacements are computed.
 Section 7: PRISMATIC BEAMS

Example
The continuous beam shown below is restrained against translation at support C and has a
fixed end support at D. At joint B the flexural rigidity changes from EI to 2EI. Determine
the stiffness matrix [S] for the structure.
 Section 7: PRISMATIC BEAMS

The original member and joint numbering scheme is depicted in the previous picture.
From the figure one can see that the number of members , m, is 3, the number of joints, nj,
is four and the number of support restraints, nr is five. Thus the number of degrees of
freedom is
n = 2 n j − nr
= 2(4 ) − 5
= 3
The member properties and the indices are given in the table below. The moment of
inertia and length of each member are input for the analysis.
analysis The remaining quantities are
computed from the joint and member numbering scheme.
 Section 7: PRISMATIC BEAMS

Joint restraints for the beam are depicted in the table below. The index numbers for all
possible displacements are listed for each joint. This is followed by a restraint list, in which
the indicator 1 implies a restraint, and the indicator 0 implies no restraint or a degree of
freedom. The last column depicts the index of the displacement that corresponds to a degree
of freedom when the joint stiffness matrix [SJ] is rearranged
 Section 7: PRISMATIC BEAMS

The member stiffness matrix for each member of the structure is given in the matrices
below.
below

[k]1

[k]2

[k]3
Section 7: PRISMATIC BEAMS

Elements from [k]1, [k]2 and [k]3

are transferred to the SJ matrix as
shown to the left
left. The various
contributions from each member
are delineated by dashed lines. The
regions that overlap are where two
members contribute to the matrix
simultaneously. The joint
numbering system from the original
figure are shown running across the
top and along the left of the matrix.
The matrix will be rearranged based
on the numbering system given in a
previous overhead. That numbering
system is running along the bottom
and down the right hand side of the
matrix.
i
 Section 7: PRISMATIC BEAMS

The third, fourth, and sixth rows and columns are shifted to the first three rows and the first
three columns. All other rows and columns are shifted downward.

The rearrangement is
shown in the matrix to
the left. This matrix is
partitioned,
titi d as
indicated by the dashed
lines in a manners
similar to the matrix
below:
 Section 7: PRISMATIC BEAMS

From the previous overhead one can extract the 3x3 stiffness matrix [S], which is

Inverting this matrix yields