I M a t r i x Methods / of Structural

I Analysis
I
1

Second Edition

Chu-Kia Wang
Professor of Civil Engineering The University of Wisconsin

Kurt F. Wendt Library For more information about this document contact the Reference Desk at Wendt Library (askwendt@engr.wisc.edu) or 262-0696

International Textbook Company

An

Ink$ Publisher

Scranton, Pennsylvania

785 7 5

I Preface to Second
I
Edition
In this second edition seven new chapters are added, while the twelve chapters in the original edition are retained intact except for corrections of minor errors. Chapters 13 through 16 treat the direct element method as opposed to the longer but more fundamental approach in previous chapters. Teachers would have the choice for apportionment of class time in variable combinations, with omission of o n e o r the other as extremes. Industrial users would naturally favor the direct element computer programs. Chapters 17 and 18 are conceptionally important for educational purpose in that tearing of structural systems may be effected through matrix condensation. They are of interest to practitioners when large frames are to be analyzed on small computers. Chapter 19 is important to the student because the method of attack is applicable t o the inversion of all large matrices in triband form. Reference t o tall building frame analysis is only incidental. T h e powerful displacement method is easy to teach a n d appeals to the student in that he learns easily too. O n e must note, however, that this textbook deals only with formulation and, as such, it may be used at all levels of education, undergraduate o r graduate. Crucial are the degrees of complexity of the structures being analyzed and the manner in which the analyst is trained to assure the correctness of the computer output. In this sense, computer methods are, indeed, methods of using "the big slide rule." Several former and present graduate students have ably assisted in developing the computer programs associated with the added chapters. T o D r . Alain H. Peyrot, Messrs. Tarun R . Naik, Jaafar K . Al-Abdulla, and Ming-Ta King, the author acknowledges his deep appreciation. C . K. Wang Madison, Wisconsin March, 1970
vii

I Preface to First
I
Edition
'

The purpose of this textbook is t o provide material for an introductory course in which the fundamentals of formulating conventional methods of structural analysis in matrix notations are developed and illustrated with numerical examples. Computer programs in the F O R T R A N language, for typical procedures treated in the body of the text, are listed in the appendices in order t o achieve flexibility in that the course may be conducted without access t o computer usage. Experience in teaching this subject since 1958 has shown that students can best learn the "whys" by working with longhand matrix operations in simple problems. Definitions of matrix operations are made only through analogy with those in systems of linear equations. Inasmuch as matrices are mainly used in this narrow sense in structural analysis, this seems t o be the expedient in introducing matrix structural analysis t o those without a formal preparation in matrix algebra. Students entering this study should have the background of a traditional course in structural analysis, which includes both statically determinate and indeterminate structures. Basic knowledge of computer programming is needed t o apply o r modify the computer programs provided. Until such a time as undergraduate students become better prepared in computer science a n d matrix algebra, a typical one-semester undergraduate course should probably include only Chapters 1 through 7 and Appendices A through E. A typical one-semester graduate course may cover Chapters 1 through 10 and Appendices A through H . At T h e University of Wisconsin, a second-semester graduate course includes material in Chapters 1 1 and 12, with its major coverage in the computer methods o f dynamic, stability, and second-order analysis of framed structures. It may be expected, however, that the subject matter may soon be compacted and offered a t more popular levels. Acknowledgment is due T h e F o r d Foundation for its award which permitted the author t o participate in its project in the use of computers, in engineering education, a t the University of Michigan during the

Preface to First Edition

summer o f 1961; to the Wisconsin Alumni Research Foundation for its support enabling the author to devote several summers t o research in some advanced aspects of this subject; and t o the National Science Foundation and the Wisconsin Alumni Research Foundation for their partial support o f the University o f Wisconsin Computing Center, which has provided computer time. The author wishes to thank especially his daughter Helen for her able assistance in typing the manuscript and in making valuable suggestions.

Madison, Wisconsin May, 1966

1
chapter

Contents

1 Elimination of Intermediate Variables in T w o Systems of Linear Equations. Matrix Notation. Matrix Multiplication. Exercise. Reversible Systems of Linear Equations. Matrix Inversion. T h e Unit Matrix. Exercise. T h e C r o u t Method. Forward Elimination and Back Substitution. Exercises. The Gauss-Jordan Method. Exercises. Matrix Transposition. Some Properties of Matrices. Exercise.
chapter

Matrix Multiplication, Inversion, and Transposition

........................

2
I

Analysis of Statically Determinate Trusses by the Method of Joints

...........

I
I

Statically Determinate Trusses. T h e Statics Matrix A . T h e Deformation Matrix B. T h e Pjinciple of Virtual Work. Exercise. Physical Meaning of the A Matrix of a Statically Determinate Truss. Exercises. T h e Method of Joints. Check for

-'

Correctness. Exercises.
chapter

The Displacement Method of Truss Analysis.. . . . . . . . . . . . . . .

..........

34

Introduction. T h e Statics Matrix A and the Deformation Matrix B of a Truss. The Member Stiffness Matrix S . Derivation of the Displacement Method. T h e External Stiffness Matrix K Versus the External Flexibility Matrix 6. Numerical Examples. Check for Correctness. Effect of Initial Elongations. Efl'ect of Support Settlements. Exercises.
1

chapter

The Displacement Method of Continuous-Beam Analysis.

...............

58

Degree of Freedom in Rotation. External Action Versus Internal Resistance. T h e Statics Matrix and the Deformation Matrix. T h e Member StilTness Matrix. Derxi

xii

Contents

ivation o f the Displacement Method. T h e External Joint-Moment Matrix. Numerical Examples. Check for Correctness. Exercises. chapter

Rigid Frames Without Sidesway. T h e Displacement Mcthod. ample. Check for Correctness. Exercises. chapter

Displacement-Method Analysis of Rigid Frames Without Sidesway.

............

74

Numerical Ex-

Displacement-Method Analysis of Rigid Fmmes with Single Degree of Freedom i n Sidesway. . . . . . . . . . . . . . . . .

........

83

Degree of Freedom in Sidesway. The Total Degree of Freedom. T h e Joint-Displacement Diagram. The Statics Matrix. T h e Deformation Matrix. The Principle of Virtual Work. The External-Force Matrix. Numerical Examples. Check for Correctness. Exercises. chapter

Displacement-Method Analysis of Rigid Frames w i t h Multiple Degree of Freedom in Sidesway.

. . . . . . . . . . . . . . . . . . . . . . . . 116

The Displacement Method. Numerical Examples. Analysis of a Tall-Building Frame. Analysis of a Continuous-Gable Frame. Analysis of a Vierendeel Truss. Analysis of a High Tower. chapter

The Force Method Versus the Displacement Method. The Degree of Freedom. The Degree of Indeterminacy. The Basis Determinate Truss. The Redundant Internal-Force Method. The Matrix Equations of Statics. The Matrix Equations 6f'Deformation. The Member Flexibility Matrix. Derivation of the Force Method of Truss Analysis. Numerical Examples. Check for Correctness. Exercises. chapter

The Force Method of Truss Analysis

...........

139

The Force Method of Continuous-Beam and Rigid-Frame Analysis . . . . . . .

.........

156

General Description. The Degree of Indeterminacy. The Total Degree of Freedom. The Basic Determinate Rigid Frame. T h e Matrix Equations of Statics a n d Deformation. The Member Flexibility Matrices. Derivation of the Force Method of Continuous-Beam and Rigid-Frame Analysis. Nunierical Examples--Conventional Moment-Area Solution. Numerical Examples--Matrix Solution. Numerical Examples-Computer Solution. Exercises.

Contents

chapter
10 The Displacement Method of Composite-Structure Analysis

. . . . . . . . . . . . . . 182

General Introduction. T h e Displacement M e t h o d . C o n t i n u o u s Beam Simply Supported o n Flexible Columns. EtTect of Axial Deformation in M u l t i s ~ o r y Frames. Rigid-Frame Towers with Diagonals. Exercises.
chapter
11 Limit Analysis of Rigid Frames by the Displacement Method . . . . . . . . .

. . . . . . . . . .199
; '

General Description. Stiffness Matrix of a Member with Internal Hinge a t O n e End. Hinge K o t a t ~ o n s . Limit Analysis by the Step Procedure. Numerical Examples. Check for Correctness.
chapter
12 The Displacement Method of Plane-Grid Analysis. . . . . . . . . . . . . . . . . . . .

. . . . . . ,236

General Description. T h e Displacement Method. Numerical Examples. Check for Correctness.

chapter
13

I
1

Direct Element Method of Truss Analysis

.......

251

D~rect Element Method. T h e A S A Matrix ~ of 3 M e m b e r In a Truss. Local a n d G l o b a l Degrees of Freedom. Building the A S A Matrix. ~ Computing the Internal Forces. Extension t o Space Trusses.
chapter
14 Direct Element Method of Rigid Frame Analysis. . . . . . . . . . . . . . . . . .

. . . . . . . ..258

General Introduction. T h e A , S , a n d B Matrices of a Member In a Rigid Frame. T h e C o m p u t e r Program.

chapter
15 Direct Element Method of Plane Grid Analysis. . . . . . . . . . . . . . . . .

. . . . . . . . ..263

General Introduction. T h e A , S , a n d B Matrices of a M e m b e r in a Plane G r i d . T h e C o m p u t e r Program.

chapter
16 Direct Element Method of Space Rigid Frame Analysis. . . . . . . . . . . . . .

........

.268

Definition of a Space Rigid F r a m e . Orientation of M e m b e r Longitudinal Axis. Orientation of Member Transverse Axes. Internal Forces a n d Reactions. T h e Local A S A ~ ~a t r i x . T h e Direct Element Method. Numerical Example.

xiv
chapter

Contents

17

I I

Truss Analysis b y M e t h o d o f Parts.

. . . . . . . . . . . 283

Introduction. Principal Parts: Connecting Members; Interior and Connecting Joints. Condensation o f the Force-Displacement Equation of the Principal Part. Method of Parts. Example in Truss Analysis.
chapter

18

Rigid Frame Analysis b y M e t h o d of Parts

. . . . . . . . 292
Numerical

Introduction. The A S A Examples.

chapter

Matrix of a Member in a Rigid Frame.

19

Tall Building Frame Analysis b y Triband Elimination M e t h o d . . . . . . . . . . . .

. . . . . . . . 300

General Introduction. Triband Elimination Method. Computer Space Usage. Regular Tall Building Frames. The Stiffness Submatrix A on the Main Diagonal. The Stiffness Submatrix B above the Main Diagonal. Computing the Output. End Moment Expressions. Numerical Example.
appendices

A B C D E

FORTRAN Programs . . . . . . . . . . . . . . . . . . . . 3 1 5 M a t r i x Multiplication . . . . . . . . . . . . . . . . . . . 3 16 M a t r i x Inversion . . . . . . . . . . . . . . . . . . . . . . 3 18 Truss Analysis b y the M e t h o d of Joints . . . . . . . . . 322 Displacement M e t h o d o f Truss Analysis. . . . . . . . . 325 Displacement M e t h o d of Continuous-Beam a n d Rigid-Frame Analysis. . . . . . . . . . . . . . . . . 328 Force M e t h o d of Truss Analysis. . . . . . . . . . . . . . 333 Force M e t h o d of Continuous-Beam a n d Rigid-Frame Analysis . . . . . . . . . . . . . . . . . . . 34 1 Displacement M e t h o d of CompositeStructure Analysis . . . . . . . . . . . . . . . . . . . . . 346 Limit Analysis of Rigid Frames . . . . . . . . . . . . . . 35 1 Direct Element M e t h o d of Truss Analysis . . . . . . . . 359 Direct Element M e t h o d of Rigid Frame Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . 363 Direct Element M e t h o d of Plane G r i d A n a l y s i s . . . . . . . . . . . . . . . . . . . . . . . . . . . 368 Direct Element M e t h o d of Space Rigid Frame Analysis. . . . . . . . . . . . . . . . . . . . . . . 372 Truss Analysis b y M e t h o d of Parts. . . . . . . . . . . . 381 Rigid Frame Analysis b y M e t h o d of Parts. . . . . . . . 387 Tall B u i l d i n g Frame Analysis. . . . . . . . . . . . . . . 393 Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405