Chapter 3b - Development of Truss Equations: Learning Objectives

CIVL 7/8117 Chapter 3b - Symmetry and Bandwidth 1/16
Chapter 3b – Development of Truss Equations
Learning Objectives
• To derive the stiffness matrix for a bar element.
• To illustrate how to solve a bar assemblage by the direct
stiffness method.
• To introduce guidelines for selecting displacement
functions.
• To describe the concept of transformation of vectors in
two different coordinate systems in the plane.
• To derive the stiffness matrix for a bar arbitrarily oriented
in the plane.
• To demonstrate how to compute stress for a bar in the
plane.
• To show how to solve a plane truss problem.
• To develop the transformation matrix in three-
dimensional space and show how to use it to derive the
stiffness matrix for a bar arbitrarily oriented in space.
• To demonstrate the solution of space trusses.
Symmetry and Bandwidth

In this section, we will introduce the concepts of symmetry to
reduce the size of a problem and of banded-symmetric
matrices and bandwidth.
In many instances, we can use symmetry to facilitate the

solution of a problem.
Symmetry means correspondence in size, shape, and

position of loads; material properties; and boundary
conditions that are mirrored about a dividing line or plane.
Use of symmetry allows us to consider a reduced problem

instead of the actual problem. Thus, the order of the total
stiffness matrix and total set of stiffness equations can be
reduced.
Symmetry and Bandwidth - Example 1

Solve the plane truss problem shown below. The truss is
composed of eight elements and five nodes.
A vertical load of 2P is applied at node 4. Nodes 1 and 5 are

pin supports. Bar elements 1, 2, 7, and 8 have an axial
stiffness of AE and bars 3, 4, 5, and 6 have an axial stiffness
of AE.

In this problem, we will use a plane of symmetry.
The vertical plane perpendicular to the plane truss passing
through nodes 2, 4, and 3 is the plane of symmetry because
identical geometry, material, loading, and boundary
conditions occur at the corresponding locations on opposite
sides of this plane.

For loads such as 2P, occurring in the plane of symmetry,
one-half of the total load must be applied to the reduced
structure.
For elements occurring in the plane of symmetry, one-half of
the cross-sectional area must be used in the reduced
structure.
Element  C S C2 S2 CS
1 45° 0.707 0.707 0.5 0.5 0.5
2 315° 0.707 -0.707 0.5 0.5 -0.5
3 0° 1 0 1 0 0
4 270° 0 -1 0 1 0
5 90° 0 1 0 1 0

u1 v1 u2 v2 u1 v1 u3 v3
 1 1 1 1  1 1 1 1
   
AE  1 1 1 1 AE  1 1 1 1
k (1)  k (2) 
2L  1 1 1 1 2L  1 1 1 1
   
 1 1 1 1  1 1 1 1
1 45° 0.707 0.707 0.5 0.5 0.5
2 315° 0.707 -0.707 0.5 0.5 -0.5
3 0° 1 0 1 0 0
4 270° 0 -1 0 1 0
5 90° 0 1 0 1 0

u1 v1 u4 v4 u2 v2 u4 v4
1 0 1 0  0 0 0 0
 0 0  1
AE 0 0
 AE 0 1 0

k (3)  k ( 4) 
L 1 0 1 0 2L 0 0 0 0
   
0 0 0 0 0 1 0 1
1 45° 0.707 0.707 0.5 0.5 0.5
2 315° 0.707 -0.707 0.5 0.5 -0.5
3 0° 1 0 1 0 0
4 270° 0 -1 0 1 0
5 90° 0 1 0 1 0

u3 v3 u4 v4
0 0 0 0
 1
AE 0 1 0

k (5) 
2L 0 0 0 0
 
0 1 0 1
1 45° 0.707 0.707 0.5 0.5 0.5
2 315° 0.707 -0.707 0.5 0.5 -0.5
3 0° 1 0 1 0 0
4 270° 0 -1 0 1 0
5 90° 0 1 0 1 0

Since elements 4 and 5 lie in the plane of symmetry, one half
of their original areas have been used in developing the
stiffness matrices.
The displacement boundary conditions are:
u1  v1  u2  u3  u4  0
By applying the boundary conditions the force-displacement

equations reduce to:
 2 0 1 v 2   0 
AE     
0 2 1 v 3    0 
2L  
1 1 2  v 4  P 

We can solve the above equations by separating the matrices
in submatrices (indicated by the dashed lines). Consider a
general set of equations shown below:
K11 K12   d1   0  K11d1  K12d 2  0

K K  d   F 
 21 22   2    K 21d1  K 22d 2  F
Solving the first equation for d1 gives: d1  K111K12d 2
Substituting the above equation in the second matrix equation

K 21  K111K12d 2   K 22d 2  F
gives:
Simplifying this expression gives:
K 22 
 K 21K111K12 d 2  F

The previous equations can be written as: kc d 2  F
where: kc  K 22  K 21K111K12
d 2   kc  F
1
Therefore, the displacements d2 are:
If we apply this solution technique to our example global

stiffness equations we get:
  1 

AE  0   2 
1
 1 1  1
kc  [1]       
L   2 2  0 1  1 

  2 
Simplifying:
AE   1   AE  1  2L
 kc 
1
kc  [1]     
L   2  L  2  AE
2PL
Therefore, the displacements d2 are: d2  v 4  
AE
The remaining displacements can be found by substituting the
result for v4 in the global force-displacement equations.
 1

v 2   1 0   2   2PL 
        
v 3  0 1  1   AE 
 2 
Expanding the above equations gives the values for the
displacements.
 PL 

 2   AE 
v
  
v 3   PL 
 AE 
The coefficient matrix (stiffness matrix) for the linear equations

that occur in structural analysis is always symmetric and
banded.
Because a meaningful analysis generally requires the use of a

large number of variables, the implementation of
compressed storage of the stiffness matrix is desirable both
from the viewpoint of fitting into memory (immediate access
portion of the computer) and computational efficiency.
Another method, based on the concept of the skyline of the

stiffness matrix, is often used to improve the efficiency in
solving the equations.
The skyline is an envelope that begins with the first nonzero

coefficient in each column of the stiffness matrix (see the
following figure).
In skyline, only the coefficients between the main diagonal

and the skyline are stored.
In general, this procedure takes even less storage space in

the computer and is more efficient in terms of equation
solving than the conventional banded format.
A matrix is banded if the nonzero terms of the matrix are

gathered about the main diagonal.
To illustrate this concept, consider the plane truss shown on

below.
We can see that element 2 connects
nodes 1 and 4.
Therefore, the 2 x 2 submatrices at

positions 1-1, 1-4, 4-1, and 4-4 will
have nonzero coefficients.
The total stiffness matrix of the plane truss, shown in the

figure below, denotes nonzero coefficients with X’s.
The nonzero terms are within the some band. Using a banded
storage format, only the main diagonal and the nonzero
upper codiagonals need be stored.
We now define the semibandwidth: nb as nb = nd(m + 1)
where nd is the number of degrees of freedom per node and

m is the maximum difference in node numbers determined
by calculating the difference in node numbers for each
element of a finite element model.
In the example for the plane truss shown above,

m = 4 - 1 = 3 and nd = 2;
nb = 2(3 + 1) = 8
Execution time (primarily, equation-solving time) is a function

of the number of equations to be solved.
Without using banded storage of global stiffness matrix K, the

execution time is proportional to (1/3)n3, where n is the
number of equations to be solved.
Using banded storage of K, the execution time is proportional

to n(nb)2
The ratio of time of execution without banded storage to that

using banded storage is then (1/3)(n/nb)2
Execution time (primarily, equation-solving time) is a function

of the number of equations to be solved.
square matrix upper triangular matrix
banded matrix skyline matrix

For the plane truss example, this ratio is (1/3)(24/8)2 = 3
Therefore, it takes about three times as long to execute the

solution of the example truss if banded storage is not used.
Several automatic node renumbering schemes have been

computerized.
This option is available in most general-purpose computer

programs. Alternatively, the wavefront or frontal method are
popular for optimizing equation solution time.
In the wavefront method, elements, instead of nodes, are

automatically renumbered.
In the wavefront method the assembly of the equations

alternates with their solution by Gauss elimination.
The sequence in which the equations are processed is

determined by element numbering rather than by node
numbering.
The first equations eliminated are those associated with

element 1 only.
Next the contributions to stiffness coefficients from the

adjacent element, element 2, are eliminated.
If any additional degrees of freedom are contributed by

elements 1 and 2 only these equations are eliminated
(condensed) from the system of equations.
As one or more additional elements make their contributions

to the system of equations and additional degrees of freedom
are contributed only by these elements, those degrees of
freedom are eliminated from the solution.
This repetitive alternation between assembly and solution was

initially seen as a wavefront that sweeps over the structure in
a pattern determined by the element numbering.
The wavefront method, although somewhat more difficult to

understand and to program than the banded-symmetric
method, is computationally more efficient.
A banded solver stores and processes any blocks of zeros

created in assembling the stiffness matrix.
These blocks of zero coefficients are not stored or processed

using the wavefront method.
Many large-scale computer programs are now using the

wavefront method to solve the system of equations.
Homework Problems
5. Do problem B.9 on pages 864 in your textbook “A First

Course in the Finite Element Method” by D. Logan.
Determine the bandwidths of the plane trusses shown in
the figure below. What conclusions can you draw
regarding labeling of nodes?
Homework Problems
6. Solve the following truss problems. You may use

SAP2000 to do truss analysis.
5k 7 8
10 ft
a) For the plane truss shown below,

10 ft
determine the nodal displacements and
element stresses. 10 k
5 6
Nodes 1 and 2 are pin joints.

10 ft
Let E = 107 psi and the A = 2.0 in2 for
all elements. 10 k 3 4
10 ft
1 2
Homework Problems
b) For the 25-bar truss shown below, determine the displacements and
elemental stresses. Nodes 7, 8, 9, and 10 are pin connections.
Let E = 107 psi and the A = 2.0 in2 for the first story and A = 1.0 in2 for
the top story. Table 1 lists the coordinates for each node. Table 2 lists
the values and directions of the two loads cases applied to the 25-bar
space truss.
2 1 Node x (in) y (in) z (in)
1 -37.5 0.0 200.0
2 37.5 0.0 200.0
6
5 3 -37.5 37.5 100.0
3
4 4 37.5 37.5 100.0
5 37.5 -37.5 100.0
9 10
7 6 -37.5 -37.5 100.0
7 -100.0 100.0 0.0
8 8 100.0 100.0 0.0
9 100.0 -100.0 0.0
10 -100.0 -100.0 0.0
Note: 1 in = 2.54 cm
Homework Problems
b) For the 25-bar truss shown below, determine the displacements and
Let E = 107 psi and the A = 2.0 in2 for the first story and A = 1.0 in2 for
the top story. Table 1 lists the coordinates for each node. Table 2 lists
the values and directions of the two loads cases applied to the 25-bar
space truss.
2 1
Case Node Fx (kip) Fy (kip) Fz (kip)
6 1 1.0 10.0 -5.0

5
3 2 0.0 10.0 -5.0
4 1
3 0.5 0.0 0.0
10 6 0.5 0.0 0.0

9
7 1 0.0 20.0 -5.0
2
2 0.0 -20.0 -5.0
8
Note: 1 kip = 4.45 kN
Homework Problems
c) For the 72-bar truss shown below, determine the displacements and
Let E = 107 psi and the A = 1.0 in2 for the first two stories and A = 0.5
in2 for the top two stories. Table 3 lists the values and directions of the
two loads cases applied to the 72-bar space truss.
Case Node Fx (kip) Fy (kip) Fz (kip)
17 18
17 0.0 0.0 -5.0
60 in 18 0.0 0.0 -5.0
1
19 0.0 0.0 -5.0
13 14
20 0.0 0.0 -5.0
60 in 2 17 5.0 5.0 -5.0
Note: 1 kip = 4.45 kN.
9 10
15 14
18 3
60 in 16
4 9 8
5 10 17 2
6 13
7
11
1 6
60 in 5
12
1 2
120 in (b)
(a)
End of Chapter 3b

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CIVL 7/8117 Chapter 3b - Symmetry and Bandwidth 1/16

Chapter 3b – Development of Truss Equations

Symmetry and Bandwidth

In many instances, we can use symmetry to facilitate the

Symmetry means correspondence in size, shape, and

Use of symmetry allows us to consider a reduced problem

Symmetry and Bandwidth - Example 1

A vertical load of 2P is applied at node 4. Nodes 1 and 5 are

Symmetry and Bandwidth - Example 1

Symmetry and Bandwidth - Example 1

Symmetry and Bandwidth - Example 1

Symmetry and Bandwidth - Example 1

Symmetry and Bandwidth - Example 1

Symmetry and Bandwidth - Example 1

Symmetry and Bandwidth - Example 1

The displacement boundary conditions are:

By applying the boundary conditions the force-displacement

Symmetry and Bandwidth - Example 1

K11 K12   d1   0  K11d1  K12d 2  0

Solving the first equation for d1 gives: d1  K111K12d 2

Substituting the above equation in the second matrix equation

Simplifying this expression gives:

Symmetry and Bandwidth - Example 1

If we apply this solution technique to our example global

Symmetry and Bandwidth - Example 1

Symmetry and Bandwidth

The coefficient matrix (stiffness matrix) for the linear equations

Because a meaningful analysis generally requires the use of a

Symmetry and Bandwidth

Another method, based on the concept of the skyline of the

The skyline is an envelope that begins with the first nonzero

In skyline, only the coefficients between the main diagonal

In general, this procedure takes even less storage space in

Symmetry and Bandwidth

A matrix is banded if the nonzero terms of the matrix are

To illustrate this concept, consider the plane truss shown on

Therefore, the 2 x 2 submatrices at

Symmetry and Bandwidth

The total stiffness matrix of the plane truss, shown in the

Symmetry and Bandwidth

We now define the semibandwidth: nb as nb = nd(m + 1)

where nd is the number of degrees of freedom per node and

In the example for the plane truss shown above,

Symmetry and Bandwidth

Execution time (primarily, equation-solving time) is a function

Without using banded storage of global stiffness matrix K, the

Using banded storage of K, the execution time is proportional

The ratio of time of execution without banded storage to that

Symmetry and Bandwidth

Execution time (primarily, equation-solving time) is a function

square matrix upper triangular matrix

banded matrix skyline matrix

Symmetry and Bandwidth

For the plane truss example, this ratio is (1/3)(24/8)2 = 3

Therefore, it takes about three times as long to execute the

Symmetry and Bandwidth

Several automatic node renumbering schemes have been

This option is available in most general-purpose computer