Matrix Structural Analysis

Chapter No.2:Matrix Algebra

for
Structural Analysis

Dr. Aeid
Contents:
Fundamentals of the stiffness method
Member stiffness matrix
Displacement & force transformation matrix
Member global stiffness matrix
Truss stiffness matrix
Application of the stiffness method for truss
analysis
Nodal coordinates
Trusses having thermal changes & fabrication
errors
FUNDAMENTAL RELATIONSHIPS FOR
STRUCTURAL ANALYSIS

In general, there are three types of relationships:

● Equilibrium equations,
● compatibility conditions, and
● constitutive relations.
Equilibrium Equations :
A structure is considered to be in equilibrium if,
initially at rest, it remains at rest when subjected to a
system of forces and couples.
FUNDAMENTAL RELATIONSHIPS FOR
STRUCTURAL ANALYSIS

These equations are referred to as the equations of

equilibrium for plane structures
 FUNDAMENTAL RELATIONSHIPS FOR
STRUCTURAL ANALYSIS

These equations are referred to as the equations of

equilibrium of a space (three-dimensional)
 FUNDAMENTAL RELATIONSHIPS FOR
STRUCTURAL ANALYSIS
Compatibility Conditions:
The compatibility conditions relate the
deformations of a structure so that its various
parts (members, joints, and supports) fit together
without any gaps or overlaps. These conditions
(also referred to as the continuity conditions)
ensure that the deformed shape of the structure is
continuous (except at the locations of any internal
hinges)
FUNDAMENTAL RELATIONSHIPS FOR
STRUCTURAL ANALYSIS
 FUNDAMENTAL RELATIONSHIPS FOR
STRUCTURAL ANALYSIS
Constitutive Relations:
The constitutive relations (also referred to as the
stress-strain relations) describe the relationships
between the stresses and strains of a structure.
The constitutive relations provide the link between
the equilibrium equations and compatibility
conditions that is necessary to establish the load-
deformation relationships for a structure or a member.
Global and Local Coordinate Systems:
 FUNDAMENTAL RELATIONSHIPS FOR
STRUCTURAL ANALYSIS
Degrees Of Freedom :
The degrees of freedom of a structure, in general, are
defined as the independent joint displacements
(translations and rotations) that are necessary to
specify the deformed shape of the structure when
subjected to an arbitrary loading.
 FUNDAMENTAL RELATIONSHIPS FOR
STRUCTURAL ANALYSIS
in which d is called the joint
displacement vector

Joint Load
Reaction
VectorVector
MEMBER STIFFNESS RELATIONS IN THE
LOCAL COORDINATE SYSTEM
In the stiffness method of analysis, the joint
displacements, d, of a structure due to an external
loading, P, are determined by solving a system of
simultaneous equations, expressed in the form.

in which K is called the structure stiffness matrix.

It will be shown subsequently that the stiffness
matrix for the entire structure, K, is formed by
assembling the stiffness matrices for its individual
members.
 MEMBER STIFFNESS RELATIONS IN THE
LOCAL COORDINATE SYSTEM
member stiffness relations for plan truss:
MEMBER STIFFNESS RELATIONS IN THE
LOCAL COORDINATE SYSTEM
 Member stiffness matrix

To establish the stiffness matrix for a single

truss member using local x’ and y’ coordinates
as shown in Fig 1
When a +ve displacement dN is imposed on
the near end of the member while the far end
is held pinned, Fig (a)

Theforces developed at the ends of the

members are:
AE AE
q' N  d N ; q' F   dN
L L
Likewise, a +ve displacement dF at the far
end, keeping the near end pinned, Fig (b)
results in member forces
AE AE
q' ' N   d F ; q' ' F  dF
L L
By superposition, Fig (c), the resultant
forces caused by both displacement are
AE AE
qN  dN  dF
L L

AE AE
qF  dF  dN
L L
These load-displacement eqn. may be
written in matrix form as:
q N  AE  1  1 d N 
    
q F  L  1 1 d F 

q  k'd

AE  1  1
k'  
L  1 1
This matrix, k’ is called the member
stiffness matrix
 q Fy q Fx

q Ny

q Nx N

q Nx  1 0 - 1 0 d Nx 
    d 
q
 Ny  AE  0 0 0 0  Ny 
   
 q Fx  L  1 0 1 0  d Fx 

 q Fy   0 0 0 0  d Fy 
 
Displacement & Force Transformation
matrices
Since a truss is composed of many
members, we will develop a method for
transforming the member forces q and disp.
d defined in local coordinates to global
coordinates
Global coordinates convention: +ve x to the
right and +ve y upward
x and y as shown in Fig
Displacement & Force Transformation
matrices
The cosines of these angles will be used in
the matrix analysis as follows
These will be identified as

x  cos  x  cos  ;  y  cos  y  sin 

For e.g. consider member
NF of the truss as
shown in Fig
The coordinates of N & F
are (xN, yN ) and
(xF, yF ) respectively
 xF  x N
x  cos x 
L
xF  xN

( xF  x N ) 2  ( y F  y N ) 2

yF  yN
 y  cos y 
L
yF  yN

( xF  x N ) 2  ( y F  y N ) 2
Displacement Transformation matrix
◦ In global coordinates each end of the member can
have 2 degrees of freedom or independent disp;
namely joint N has DNx and DNy, Fig (a) and (b)
◦ Joint F has DFx and DFy, Fig (c) and (d)
◦ When the far end is held pinned & the near end is
given a global disp, Fig (a), the corresponding
displacement along member is DNxcosx
Displacement Transformation matrices

Disp Transformation matrix

◦ A displacement Dny will cause the member to be
displaced DNycosy along the x’ axis, Fig (b)

d N  D N x cos x  D N y cos y

d F  DFx cos x  DFy cos y

 D Fy
d Fx
d Fy
D Fx
F

Y d Ny D Ny
y
X
d Nx N
D Nx

d Nx  DN x cos x  DN y cos y d Fx  DFx cos x  DFy cos y

d NY   DN x cos y  DN y cos x d FY   DFx cos y  DFy cos x
d Nx  DN x cos x  DN y cos y
d NY   DN x cos y  DN y cos x

d Fx  DFx cos x  DFy cos y

d FY   DFx cos y  DFy cos x

d Nx   cos x cos y 0 0  D Nx 
    
d Ny  - cos y cos x 0 0  D Ny 
    
 d Fx   0 0 cos x cos y   D Fx 

 d Fy   0 0  cos y cos x   D Fy 
  

Let  x  cos x ;  y  cos y

d Nx    x y 0 0  D Nx 
    
 Ny    y
d x 0 0  D Ny 
    
 d Fx   0 0 x  y   D Fx 

 d Fy   0 0  y  x   D Fy 
  
 2

y
x
1
Example:
Member global stiffness matrix
we can determine the member’s forces q in
terms of the global disp. D at its end points

q  k ' T D

Q  T  k ' T D
T

or Q  k D
k   T  k ' T 
T
Performing the matrix operation yields:
 Truss Analysis

LOADS RESPONSE ?

(Output)
(Input)
Structure
(System) Displacement Vector
Load Vector Q
Support reaction
Support Displacement D
Internal Forces
Initial Deformation
Q  k D Member Deformation
Truss stiffness matrix
Once all the member stiffness matrices are
formed in the global coordinates, it becomes
necessary to assemble them in the proper
order so that the stiffness matrix K for the
entire truss can be found
This is done by designating the rows &
columns of the matrix by the 4 code
numbers used to identify the 2 global
degrees of freedom that can occur at each
end of the member
The structure stiffness matrix will then have
an order that will be equal to the highest
code number assigned to the truss since this
represent the total number. of degree of
freedom for the structure
This method of assembling the member
matrices to form the structure stiffness
matrix will now be demonstrated by
numerical e.g.
This process is somewhat tedious when
performed by hand but is rather easy to
program on computer
 Example 1 (Matrix Analysis for Truss)
 Determine the structure stiffness matrix for the 2 member truss
shown in Fig 14.7(a)
 AE is constant

1 2
The direction cosines & the stiffness matrix
for each member can now be determined
Member 1

D4

D2
1 2
1 D3
D1
 L = 3m

  0.00

Member 2
 L = 5m
  53.13 D6

3
D5

D2


1 D1
structure stiffness matrix

1 2 3 4 5 6

      1
 
      2
      3
K   
      4
     
  5

     
 6
      
 
     
     
K   
     
     
 

     

 1

 0. 4 0 5      1
 
      
      
K   
      
      
 

      

 1 2

0.4 0 5 0.0 9 6     1
 
      
      
K   
      
      
 

      

  0.4 0 5 0.0 9 6  0.33 3 0  0.0 7 2  0.0 9 6
 
 0.0 9 6 0.1 2 8 0 0  0.0 9 6  0.1 2 8
  0.3 3 3 0 0.3 3 3 0 0 0 
K   
 0 0 0 0 0 0 
  0.0 7 2  0.0 9 6 0 0 0. 0 7 2 0.0 9 6 
 
  0.0 9 6
  0.1 2 8 0 0 0. 0 9 6 0.1 2 8 

 Application of the stiffness method for truss
analysis
The member forces can be determined using
equation
q  k ' T D
q nx  1 0  1 0   x y 0 0  D nx 
q  0  0  D ny 
 ny  AE  0 0 0   y x 0
    
 q fx  L  1 0 1 0  0 
0 x  y  D fx 
 q fy      
0 0 0 0  0 0   y x   D fy 
Example 2 (Matrix Analysis for Truss)
 Determinethe force in each member of the 2-member truss
shown in Fig (a)

 AE is constant
The origin of x , y and the numbering of the
joints & members are shown in Figure
By inspection, it is seen that the known
external displacement are D3=D4=D5=D6=0
Also, the known external loads are Q 1=0,
Q2=-2kN
Hence,
0  3
4 1
Dk  0 5 Qk   0 
0  2 2
0 6
Using the same notation as used here, this
matrix has been developed in example 1
Q = KD for the truss we have

We can now identify K11 and thereby

determine Du
By matrix multiplication,
 0   AE 0.405 0.096   D1   0
 2 0.096 0.128   D2  0

Solving, we get
4.505 19.003
D1  ; D2 
AE AE

Q3  1.5kN
Q4  0kN

Q5  1.5kN
Q6  2.0kN
The force in each member is found from eqn.
{q}  [k ]'[T ]{D}
q1=1.5 q3=1.5

Member #1
 4.505   1.5 
   0 
q1  AE  1  1 1 0 0 0 1  19.003  
         
q 3  3  1 1  0 0 1 0 AE  0   1.5
 0   0 
q5=2.5

Member #2
q1=2.5

 4.505  - 2.5
q1  AE  1  1 0.6 0.8 0 0  1  19.003  0 
 
          
q 3  5  1 1   0 0 0.6 0.8 AE  0   2.5 
 0   0 
 Example 3 (Truss with Support Settlement)
Determine the force in member 2 of the truss shown in Fig (a), if
the support at joint A settles downward 25 mm.
 AE is 8(103) kN.
C

B
A
 1
4

Member #1 L= 3 m Ɵ = 90o
Member #2 L= 5 m Ɵ = 216.86o

Member #3 L= 4 m Ɵ = 0o
By assembling these matrices, the global
stiffness matrix becomes:
 Member #2 L= 5 m Ɵ = 216.86o AE= 8(103) kN.

 0.00556   13.88 
q1  AE  1  1  0.8  0.6 0 0   0.021875  0 
 
         
q 3  5  1 1   0 0  0.8  0.6  0    13. 88
 0   0 
 Trusses Having Thermal Changes
and Fabrication Errors
If some of the members of the truss are
subjected to an increase or decrease in length
due to thermal changes or fabrication errors,
then it is necessary to use the method of
superposition to obtain the solution.

This requires 3 steps

 Trusses Having Thermal Changes
and Fabrication Errors
First, the fixed end forces necessary to
prevent movement of the nodes as caused by
temperature or fabrication are calculated
Second, equal but opposite forces are placed
on the truss at the nodes & the displacement
of the nodes are calculated using the matrix
analysis
Third, the actual forces in the members &
the reactions on the truss are determined by
superposing these 2 results
 Trusses Having Thermal Changes
and Fabrication Errors
Thisforce will hold the nodes of the
member fixed as shown in figure
 Trusses Having Thermal Changes
and Fabrication Errors
This procedure is only necessary if the truss is
statically indeterminate
If a truss member of length L is subjected to a
temperature increase T, the member will undergo
an increase in length of
L =  TL
A compressive force q0 applied to the member will
cause a decrease in the member’s length of
L’ = q0L/AE
If we equate these 2 displacement q0 = AE T
 Trusses Having Thermal Changes
and Fabrication Errors
This force will hold the nodes of the member
fixed as shown in the previous figure
(q N ) 0  AET

(q F ) 0   AET
If a temperature decrease occurs then T
becomes negative & these forces reverse
direction to hold the member in equilibrium
 Trusses Having Thermal Changes
and Fabrication Errors
If a truss member is made too long by an
amount L before it is fitted into a truss, the
force q0 needed to keep the member at its
design length L is q0 = AEL /L

AEL
(q N ) 0 
L
AEL
(q F ) 0  
L
 Trusses Having Thermal Changes
and Fabrication Errors
Ifthe member is too short, then L becomes
negative & these forces will reverse
In global coordinates, these forces are:
 Trusses Having Thermal Changes
and Fabrication Errors
With the truss subjected to applied forces,
temperature changes and fabrication errors, the
initial force-displacement relationship for the truss
then becomes:
Q  KD  Q0
Qo is the column matrix for the entire truss of the
initial fixed-end forces caused by temperature
changes & fabrication errors of the member defined
as:
 Trusses Having Thermal Changes
and Fabrication Errors
Carrying out the multiplication, we obtain:
Qk  K11 Du  K12 Dk  (Qk ) 0
Qu  K 21Du  K 22 Dk  (Qu ) 0

According to the superposition procedure described

above, the unknown displacement are determined
from the first equation by subtracting K12Dk and
(Qk)0 from both sides & then solving for Du
 Trusses Having Thermal Changes
and Fabrication Errors
Once these nodal displacement are obtained, the
member forces are determined by superposition:
If this equation is expanded to determine the force
at the far end of the member, we obtain:

here we have the additional term which represents the initial fixed-end
member force due to temperature changes and/or fabrication error as
defined previously. Realize that if the computed result from this equation is
negative, the member will be in compression.
 Example 4 (Truss with fabrication error )
Determine the force in members 1 and 2 of the pin-connected
assembly if member 2 was made 0.01 m too short before it was
fitted into place.
 AE is 8(103) kN.

1
4

3
Example 4 (Truss with fabrication error )
Since the member is short, then L = -0.01m
 Example 4 (Truss with fabrication error )

Partitioning the matrices as shown and carrying out the multiplication to obtain
the equations for the unknown displacements yields
Example 4 (Truss with fabrication error )
Example 4 (Truss with fabrication error )