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STEEL CONSTRUCTION:
APPLIED STABILITY
1. INTRODUCTION
The design of structures requires determination of the internal equilibrium forces
(moments, shears, etc.) in the structure, under given loadings, and confirmation that the
structure is stable under these conditions. It is of fundamental importance to be sure that a
structure, slightly disturbed from an equilibrium position by forces, shocks, vibrations,
imperfections, residual stresses, etc., will tend to return to it when the disturbance is
removed; this required characteristic of elastic stability has become more and more critical
the critical value of the loading under which the instability occurs.
Most of these methods are derived from general energy criteria which come from energy
principles of mechanics. Therefore, the purpose of this lecture is to briefly present to the
student and the practising engineer the principles of mechanics required to understand the
general criteria of elastic stability, thereby giving a better understanding of the methods
used in buckling investigations, especially the energy methods discussed in Lecture 6.4.
The scope of this lecture is restricted to:
2. GENERAL
In this lecture, changes in the configuration of a system from an initial configuration are
considered; any change in the configuration is to be regarded as a displacement. A
configuration can be specified by means of a finite number of independent real variables,
called generalised coordinates, denoted here as q1, q2, ... qn or more generally qi. A singlespan beam may, of course, possess an infinite set of generalised coordinates, such as the
coefficients qi of a Fourier series, that represent its deflection:
y=
qi sin ix/L
This series, however, can be approximated by a finite number of terms with a finite
number of generalised coordinates which denote the degrees of freedom of the system.
Considering the beam in Figure 1, the generalised coordinates could be the degrees of
freedom of the nodes i and j at the ends of the beam: two translations u and v and one
rotation per node (all in plane). It is assumed here that the entire elastic deformed shape
of the beam can be defined by using, for example, interpolation functions. The
displacement vector of the beam can be denoted D = (ui, vi, i, uj, vj, j).
A structural system is generally subjected to internal and external forces; internal forces
are generally tractive forces, i.e. forces due to stresses, on the faces of infinitesimal
cuboids in the material. External forces can act on the volume (for example gravity) and/or
the surface (such as contact forces or couples) of the elements of the structural system.
During a change in the configuration of the system, the Law of Conservation of Energy
may be expressed by:
Wext + Q = T + U
where: Wext - is the work performed on the system by external forces
(1)
(2)
(3)
Because only adiabatic processes are considered here, Q = 0 and Equation(3) yields:
Wint = - U
(4)
(5)
Because only static aspects are considered here, no variation in the kinetic energy is
supposed to occur during the displacement (very slow speed):
T = 0
(6)
(7)
Wext + Wint = 0
(8)
(9)
where Wext is the virtual work of external forces going through the virtual
displacements;
the Principle of Virtual Work may be expressed as follows:
"A rigid system is in its equilibrium configuration if the virtual work of all the external
forces acting on it is zero in any virtual displacement which satisfies the boundary
conditions."
For a deformable system, Equation (7) yields:
Wext = U
(10)
where U is the variation of strain energy in the virtual displacement, and the Principle of
Virtual Work may be expressed as follows:
"A deformable system is in its equilibrium configuration if the virtual work of all the
external forces acting on it is equal to the variation of strain energy in any virtual
displacement which satisfies the boundary conditions."
This is the form of the principle frequently quoted in structural analysis; it is equivalent to
the condition, using Equation (8):
W = Wint + Wext = 0
(11)
Qi qi i=1,2,...,n
(12)
(13)
(14)
Solution of these n simultaneous equations of equilibrium yields the values of the q's
corresponding to the true equilibrium configuration.
(15)
The total amount of potential energy is generally indeterminate. Only changes of potential
energy are measurable and can be investigated.
Because the system is assumed to be fully conservative,
W = - V
(16)
where V is the variation of total potential energy in the virtual displacement, and (11) and
(16) yield:
V = 0
(17)
V =
(18)
(19)
Thus the principle provides n equations of equilibrium expressed in terms of the applied
loads and the generalised coordinates qi from which the values of qi, defining the
equilibrium configuration, can be found.
It should be noted that Equations (12), (16), (18) and (19), and the fact that the values of
qi are arbitrary and independent, give:
= - Qi = 0 i = 1,2,...n
(20)
In summary, it should be noted that for fully conservative systems, the Principle of Virtual
Work becomes the Principle of Stationary Total Potential Energy. The principle is exact
and very powerful and can be used to develop approximate methods for solving stability
problems in structural design.
5. STABILITY OF EQUILIBRIUM
A system is said to be in a stable state of equilibrium if, after the removal of some slight
disturbance, it tends to return to its original equilibrium configuration. If the slight
disturbance results in the system departing from the equilibrium configuration, then it is
unstable. One can conceive of an intermediate situation in which the slightly disturbed
configuration is maintained when the disturbance is removed. This situation is a state of
neutral equilibrium. It has been illustrated in Lecture 6.1 with the well-known example of
ball in a saucer. Evidently, the slight displacements contemplated must be in accordance
with the boundary conditions so that they correspond to slight changes in the generalised
coordinates of the system; a discussion of the stability of equilibrium can thus be based on
virtual displacements.
(21)
V =
or
V = V +
with
2V =
0(3)
2V + 0(3)
qi qj i,j = 1,2,...,n
(22)
(23)
(24)
The Principle of Virtual Work means that a necessary condition for equilibrium is that V
vanishes for all qi, that is:
V = 0 or V/qi = 0
i = 1,2,...,n
(25)
The sign of V is therefore governed by the sign of 2V, so taking into account Equation
(21), the condition for stability becomes:
2V > 0
(26)
aij =
then
2V =
(27)
aij qi qj
i,j = 1,2,...,n
(28)
Introducing the matrix [a] of the coefficients aij, Equation (28) can be written as:
2V = {q}t [a] {q}
(29)
(30)
Considering Equation (29) in the case of the non-trivial configuration {q} 0, the state of
neutral equilibrium is obtained when the matrix [a] is singular.
The coefficients aij of [a] are functions of the geometrical and mechanical characteristics
of the system, and also of the applied loads.
It is of practical importance therefore to determine the critical values of loads leading to a
neutral equilibrium for the system under which a change in the stability state of the
equilibrium configuration occurs.
Introducing a common load multiplier for all loading components and defining a
reference loading system S1 (corresponding to = 1), loads at any time of a proportional
loading history are equal to:
S = S1
(31)
(32)
Solving Equation (32) leads to a set of solutions , denoted cr, whose number is equal to
the number of generalised coordinates of the system. The eigenvectors represent the
deformed configuration associated with each solution . Most of these mathematical
solutions do not correspond to actual behaviour of the structural system; generally, the
designer is only interested in the values of loads above which the system, stable when
unloaded, becomes unstable. These loads are normally obtained with the smallest positive
value cr of cr and so, the critical loads are determined by:
Scr = cr S1
(33)
Because of the boundary conditions, the system has only one degree of freedom. Let us
choose the lateral displacement at B as the generalised coordinate denoted , see Figure 5.
(Another possibility would have been to choose the rotation of the lower or upper rod).
Before studying the stability of this system, let us determine its equilibrium configuration
under the loads P and F. The displacements will be assumed sufficiently small so that
trigonometric functions will be reduced to the first term of series development.
The strain energy of the system in its deformed shape is that of the spring only, that is:
U = UO +
K2
(34)
(35)
(36)
where O is the potential energy of external loads when the system is in its initial
configuration
- is the induced vertical displacement at C (see Figure 5)
It can be demonstrated that, for small displacements,
= 22/L
= O - 2 P2/L - F
(38)
(39)
This yields:
= FL2 / (16K - 4PL)
(40)
The condition for stability, from Equation (26), may be expressed by:
(41)
(42)
(43)
= 4/L,
= FL2 / (16 K)
Equations (43) and (44) yield the equivalent spring constant:
critical value of P is equal to:
Pcr = 12 EI/L2
gives:
(44)
K = 3 EI/L,
and the
(45)
This value is to be compared to the well-known exact value 2 EI/L2; the accuracy of the
result depends, in fact, on the assumptions adopted for the determination of the equivalent
spring constant K.
Example 2
Consider now the rod and spring system shown in Figure 6. The two rods AB and BC,
each of length L, are rigid (no strain energy) and are pinned and linked together at B.
Sideways movement of the pins B and C is restrained by linearly elastic springs, effective
in both tension and compression, of stiffness K1 and K2 respectively. The load P acts
vertically downwards at C, and the external forces F1 and F2 act horizontally leftwards at
B and C respectively.
Taking the boundary conditions into account, the system has two degrees of freedom. The
rotations 1 and 2 of the two rods are chosen as the generalised coordinates (see Figure
7). The equilibrium configuration of the system is determined first and, secondly, its
stability is discussed.
(46)
(47)
(48)
(49)
Equilibrium configuration
The condition of stationary potential energy, Equation (19), provides the following set of
equations:
{ 1 (K1L2 + K2L2 - PL) + 2K2L2 = (F1 + F2) L
(50)
(51)
[a] =
(52)
The conditions for stability requires the matrix [a] to be positive and definite, that is to say
that the following conditions are satisfied:
(K2L2 - PL) K1L2 + PL (PL - 2K2L2) > 0
(53)
K2L2 - PL > 0
(54)
It should be noted that the first condition incorporates condition (51) for existence of an
equilibrium configuration; this results from the fact that V is a quadratic in 's.
It is easy to demonstrate that the more restrictive condition, from Equations (53) and (54),
leads to the following stability requirement for the vertical load P:
P < 0,5 L (K1 + 2K2 - (K12 + 4K22 )1/2)
or
(55)
Figures 8 - 10 illustrate results for the case: L = 400, K1 = 20, K2 = 30, and F1 = F2 = 40
(units: kN cm)
As in Example 1, it is worth noting that the critical values Pcr1 and Pcr2, which bound the
unstable domain, are independent of the external lateral forces F1 and F2 acting on the
system, and are therefore also valid for the particular case F1 = F2 = 0.
8. CONCLUDING SUMMARY
The analysis of stability problems uses general energy criteria derived from the
Principle of Virtual Work and from the Principle of Stationary Total Potential
Energy; the first of these principles is the same as the second for fully conservative
systems.
Any configuration of a system may generally be specified by a set of generalised
coordinates qi. Denoting V as the total potential energy of the system, an
equilibrium configuration satisfies 2V=0 and the condition for stability of this
equilibrium is 2V > 0; the first and second variations of V are evaluated for any
virtual displacement qi satisfying the boundary conditions.
Critical loadings are derived from the condition for neutral equilibrium given by
2V = 0 = minimum.
9. ADDITIONAL READING
1. Mason J.,"Variational, Incremental and Energy Methods in Solid Mechanics and
Shell Theory", Elsevier Scientific Publishing Company, Amsterdam, Oxford, New
York, 1980.
2. Richards T.H., "Energy Methods in Stress Analysis", Rainbow-Bridge Book
Company, 1977.
3. Langhaar H.L., "Energy Methods in Applied Mechanics", John Wiley and Sons,
New York, London, 1962.
4. Massonnet C., "Rsistance des matriaux", Volume 2, Dunod, Paris, 1963.
5. Timoshenko S.P., "Theory of Elastic Stability", McGraw Hill Book Company,
New York, 1960.