Structural Analysis 8ed - Chapter14-161767 - Truss Analysis Using Stiffness Method

STRUCTURAL ANALYSIS
EIGHTH EDITION IN SI UNITS

R. C. HIBBELER
CHAPTER 14:
TRUSS ANALYSIS USING THE STIFFNESS METHOD
3 Structural Analysis Eighth Edition l 2012 Pearson Education South Asia Pte Ltd
14
Chapter Outline
14.1 Fundamentals of the Stiffness Method

14.2 Member Stiffness Matrix
14.3 Displacement and Force Transformation Matrices
14.4 Member Global Stiffness Matrix
14.5 Truss Stiffness Matrix
14.6 Application of the Stiffness Method for Truss Analysis
14.7 Nodal Coordinates
14.8 Trusses Having Thermal Changes and Fabrication Errors
14.9 Space-Truss Analysis
14.1
FUNDAMENTALS OF THE STIFFNESS METHOD
5
14.1
Structural Analysis Eighth Edition l 2012 Pearson Education South Asia Pte Ltd
Fundamentals of the Stiffness Method
The stiffness method:

- is a displacement method of analysis
- can be used to analyze both statically determinate and indeterminate
structures
- yields the displacement & forces directly
It is generally much easier to formulate the necessary matrices for the
computer operations using the stiffness method
Application of the stiffness method requires subdividing the structure into a
series of discrete finite elements & identifying their end points as nodes
For truss analysis, the finite elements are represented by each of the
members that compose the truss & the nodes represent the joints
The force-disp properties of each element are determined & then related to
one another using the force equilibrium eqn written at the nodes
Fundamentals of the Stiffness Method
These relationships for the entire structure are then grouped together into
the structure stiffness matrix, K
The unknown displacement of the nodes can then be determined for any
given loading on the structure

When these displacement are known, the external & internal forces in the
structure can be calculated using the force-disp relations for each member
14.2
MEMBER STIFFNESS MATRIX
8
14.2
Structural Analysis Eighth Edition l 2012 Pearson Education South Asia Pte Ltd
Member Stiffness Matrix
To establish the stiffness matrix for a single truss member using local x and
y coordinates as shown
When a +ve disp dN is imposed on the near end of the member while the far
end is held pinned

The forces developed at the ends of the members are:
AE AE
q' N d N ; q' F dN
L L
Likewise, a +ve disp dF at the far end, keeping the near end pinned and
results in member forces
AE AE
q' ' N d F ; q' ' F dF
L L
By superposition, the resultant forces caused by both
disp are
AE AE
qN dN dF
L L
AE AE
qF dF dN
L L
These load-disp eqn may be written in matrix form as:
qN AE 1 1 dN
q d
F L 1 1 F
q k'd
AE 1 1
k'
L 1 1
This matrix, k is called the member stiffness matrix
+ =
14.3
DISPLACEMENT AND FORCE TRANSFORMATION MATRICES
14.3
Displacement and 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
The cosines of these angles will be used in the matrix analysis as follows
These will be identified as
x cos x ; y cos y
For e.g. consider member NF of the truss as shown
The coordinates of N & F are (xN, yN ) and (xF, yF )
xF x N
x cos x
L
xF x N

( xF x N ) 2 ( y F y N ) 2
yF y N
y cos y
L
yF yN

( xF x N ) 2 ( y F y N ) 2
Disp 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
- Joint F has DFx and DFy

- When the far end is held pinned & the near end is given a global disp, the
corresponding disp along member is DNxcosx
- A disp DNy will cause the member to be displaced DNycosy along the x axis
d N D N x cos x DN y cos y
d F DFx cos x DFy cos y
Let x cos x ; y cos y

d N DN x x DN y y ; d F DFx x DFy y
In matrix form,
DN x

d N x y 0 0 DN y
d 0 0 D
F x y Fx
DF
y
d TD
Force Transformation matrix
QN x q N cos x ; QN y q N cos y
- If qF is applied to the bar,
the global force components at F are:
QFx q F cos x ; QFy q F cos y
- Using x cos x ; y cos y

QN x q N x ; QN y q N y
QFx q F x ; QFy q F y

- In matrix form
QN x x 0

QN y y 0 qN
Q 0 x qF
Fx
QF 0 y
y
Q TTq

- In this case, TT transforms the 2 local forces q acting at the ends of the
member into 4 global force components Q
- This force transformation matrix is the transpose of the disp transformation
matrix
14.4
MEMBER GLOBAL STIFFNESS MATRIX
14.4
Member Global Stiffness Matrix
We can determine the members forces q in terms of the global disp D at its
end points
q k ' TD
Substitution yields the final result:
Q T k ' TD T
or Q kD
k T k'T T
Member Global Stiffness Matrix
Performing the matrix operation yields:
14.5
TRUSS STIFFNESS MATRIX
14.5
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 rep the total no. of
degrees 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 14.1
Determine the structure stiffness matrix for the 2-member truss as shown. AE
is constant.
Example 14.1 (Solution)
By inspection, member 2 will have 2 unknown disp components whereas joint

1 & 3 are constrained from disp.
Consequently, the disp component at joint 2 are code numbered first, followed
by those at joints 3 & 1.
The origin of the global coordinate system can be located at any point.
The members are identified arbitrarily & arrows are written along 2 members
to identify the near & far ends of each member.
The direction cosines & the stiffness matrix for each member can now be
determined.
Member 1
We have: 30 00
x 1; y 0
3 3
Using eqn 14.16, dividing each element by L = 3 m, we have:
Member 2
Since 2 is the near end & 1 is the far end, we have:
30 40
x 0.6; y 0.8
5 5
Using eqn 14.16, dividing each element by L = 5 m, we have:

This matrix has an order of 6x6 since there are 6 designated degrees of
freedom for the truss.
Corresponding elements of the above 2 matrices are added algebraically to
form the structure stiffness matrix.
14.6
APPLICATION OF THE STIFFNESS METHOD FOR TRUSS
ANALYSIS
14.6
Application of the Stiffness Method for Truss
Analysis
The global force components Q acting on the truss can then be related to its
global displacements D using
Q KD
This eqn is referred to as the structure stiffness eqn
Expanding yields
Q k K 11Du K 12 D k
Q u K 21Du K 22 D k
Often Dk = 0 since the supports are not displaced, thus
Q k K 11Du
Analysis
Since the elements in the partitioned matrix K11 represent the total
resistance at a truss joint to a unit disp in either the x or y direction, then
the above eqn symbolizes the collection of all the force equilibrium eqn
applied to the joints where the external loads are zero or have a known
value (Qk)
Du K 11 Q k
1
Solving for Du, we have:
With Dk =0, this yields Q u K 21Du

The member forces can be determined from
Analysis
Since qN = qF for equilibrium,
Analysis
Example 14.3
Determine the force in each member of the 2-member truss as shown. AE is

constant.
Analysis
The origin of x, y and the numbering of the joints & members are shown.
By inspection, it is seen that the known external displacements are D3 = D4 =
D5 = D6 = 0
Also, the known external loads are Q1 = 0, Q2 = 2 kN.
Hence,
0 3
0
4 0 1
Dk Qk 2
0 5 2
6
0
Analysis

Using the same notation as used here, this matrix has been developed in
example 14.1.
Writing eqn 14.17, Q = KD for the truss we have
We can now identify K11 and thereby determine Du

By matrix multiplication, 0 D1
AE 0.405 0.096 0
2 0.096 0.128 D2 0
4.505 19.003
D1 ; D2
AE AE
Analysis
By inspection one would expect a rightward and downward disp to occur at

joint 2 as indicated by the +ve & -ve signs of the answers.
Using these results,
Analysis

Expanding & solving for the reactions
Q3 1.5 kN
Q4 0 kN
Q5 1.5 kN
Q6 2.0 kN
The force in each member can be found. Using the data for x and y in
example 14.1, we have: For member 1,
x 1, y 0, L 3m q1 1.5 kN
For member 2,
x 0.6, y 0.8, L 5m q2 2.5 kN
14.7
NODAL COORDINATES
14.7
Nodal Coordinates
A truss can be supported by a roller placed on an incline

When this occurs, the constraint of zero deflection at the support (node)
cannot be directly defined using a single horizontal & vertical global

coordinate system
Consider the truss shown
The condition of zero disp at node 1 is defined only along the y axis
Nodal Coordinates
Because the roller can displace along the x axis this node will have disp
components along both global coordinates axes x & y
To solve this problem, so that it can easily be incorporated into a computer
analysis, we will use a set of nodal coordinates x, y located at the inclined

support
These axes are oriented such that the reactions & support disp are along
each of the coordinate axes

To determine the global stiffness eqn for the truss, it becomes necessary to
develop force & disp transformation matrices for each of the connecting
members at this support so that the results can be summed within the same
global x, y coordinate system
Nodal Coordinates
Consider truss member 1 having a global coordinate system x, y at the near

node and a nodal coordinate system x, y at the far node
Nodal Coordinates
When disp D occur so that they have components along each of these axes
Nodal Coordinates
This disp d in the x direction can be written in matrix form as
DN x

d N x y 0 0 DN y
d 0 0 D
F x y Fx "
DF
y"
Likewise, force q have components
QN x q N cos x QN y q N cos y
QFx " q F cos x" QFy " qF cos y "
Nodal Coordinates
This can be expressed as:
QN x x 0
QN 0 q
y
y N
Q 0 qF
Fx"
x "

QFy " 0 y"
The disp & force transformation matrices in the above eqn are used to
develop the member stiffness matrix for this situation
Nodal Coordinates
We have
k TT k ' T
Nodal Coordinates
Performing the matrix operation yields:
This stiffness matrix is used for each member that is connected to an

inclined roller support
The process of assembling the matrices to form the structure stiffness matrix
follows the standard procedure
Nodal Coordinates
Example 14.6
Determine the support reactions for the truss shown.
Nodal Coordinates
Since the roller support at 2 is on an incline, we must use nodal coordinates at

this node.
Nodal Coordinates
The stiffness matrices for members 1 and 2 must be developed.

Member 1,
x 1, y 0, x" 0.707, y " 0.707
Nodal Coordinates
Member 2,
x 0, y 1, x" 0.707, y " 0.707
Nodal Coordinates
Member 3,
x 0.8, y 0.6
Nodal Coordinates
Assembling these matrices to determine the structure stiffness matrix, we

have:
Nodal Coordinates
Carrying out the matrix multiplication of the upper partitioned matrices, the
three unknown disp D are determined from solving the resulting simultaneous
eqn.
352.5 157.5 127.3
D1 , D2 , D3
AE AE AE
The unknown reactions Q are obtained from the multiplication of the lower
partitioned matrices.
Q4 31.8kN , Q5 7.5kN , Q6 22.5kN
14.8
TRUSSES HAVING THERMAL CHANGES AND FABRICATON
ERRORS
14.8
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
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
disp 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
This procedure is only necessary if the truss is statically indeterminate
Errors
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
members length of L = q0L/AE

If we equate these 2 disp q0 = AET
This force will hold the nodes of the member fixed as shown in the figure
(q N ) 0 AET
(q F ) 0 AET
Errors
If a temperature decrease occurs then T becomes negative & these forces

reverse direction to hold the member in eqm
Errors
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
= AEL /L
AEL
(q N ) 0
L
AEL
(q F ) 0
L
Errors
Fabrication Errors
- If the member is originally too short, then L becomes negative & these
forces will reverse
- In global coordinates, these forces are:
Errors
Matrix Analysis
- With the truss subjected to applied forces, temperature changes and
fabrication errors, the initial force-disp relationship for the truss then
becomes:
Q KD Q 0
- Qo is the column matrix for the entire truss of the initial fixed-end forces
caused by temperature changes & fabrication errors
Errors
Matrix Analysis
- Carrying out the multiplication on the RHS, we obtain:
Q k K 11Du K 12 D k (Q k ) 0
Q u K 21Du K 22 D k (Q u ) 0
- According to the superposition procedure described above, the unknown
disp are determined from the first eqn by subtracting K12Dk and (Qk)0 from
both sides & then solving for Du
Errors
Matrix Analysis
- Once these nodal disp are obtained, the member forces are determined by
superposition:
q k ' TD q 0
- If this eqn is expanded to determine the force at the far end of the
member, we obtain:
Errors
Example 14.7
Determine the force in members 1 & 2 of the pin-connected assembly if

member 2 was made 0.01 m too short before it was fitted into place. Take AE
= 8(103) kN.
Errors
Since the member is short, then L = 0.01 m.

For member 2, we have
x 0.8 y 0.6
Errors
Assembling the stiffness matrix, we have
Errors

Partitioning the matrices as shown & carrying out the multiplication to obtain
the eqn for the unknown disp yields,
Solving simultaneous eqn gives:
D1 0.003704 m
D2 0.002084 m
Errors
Member 1
x 0, y 1, L 3 m, AE 8(103 ) kN
q1 5.56 kN
Member 2
x 0.8, y 0.6, L 5 m, AE 8(103 ) kN

q2 9.26 kN
14.9
SPACE-TRUSS ANALYSIS
14.9
Space-Truss Analysis
The analysis of both statically determinate and indeterminate space trusses

can be performed by using the same procedure discussed previously
To account for the 3-D aspects of the problem, additional elements must be
included in the transformation matrix T

Consider the truss member
By inspection the direction cosines bet the global & local coordinates can be
found using
xF x N
x cos x
L
xF x N

( xF x N ) 2 ( y F y N ) 2 ( z F z N ) 2
yF yN
y cos y
L
yF yN

( xF x N ) 2 ( y F y N ) 2 ( z F z N ) 2
zF zN
z cos z
L
zF zN

( xF x N ) 2 ( y F y N ) 2 ( z F z N ) 2
As a result of the third dimension, the transformation matrix becomes:
Substituting into k=TTkT, we have
Carrying out the matrix multiplication yields the symmetric matrix
This eqn rep the member stiffness matrix expressed in global coordinates
Thank
you

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STRUCTURAL ANALYSIS

EIGHTH EDITION IN SI UNITS

14.1 Fundamentals of the Stiffness Method

The stiffness method:

given loading on the structure

end is held pinned

These load-disp eqn may be written in matrix form as:

This matrix, k is called the member stiffness matrix

Since a truss is composed of many members, we will develop a method for

Disp Transformation matrix

Disp Transformation matrix

d F DFx cos x DFy cos y

Disp Transformation matrix

Let x cos x ; y cos y

Force Transformation matrix

QFx q F cos x ; QFy q F cos y

- Using x cos x ; y cos y

Force Transformation matrix

Force Transformation matrix

Performing the matrix operation yields:

Example 14.1 (Solution)

By inspection, member 2 will have 2 unknown disp components whereas joint

Example 14.1 (Solution)

Example 14.1 (Solution)

Example 14.1 (Solution)

With Dk =0, this yields Q u K 21Du

Since qN = qF for equilibrium,

Determine the force in each member of the 2-member truss as shown. AE is

Example 14.3 (Solution)

Example 14.3 (Solution)

We can now identify K11 and thereby determine Du

Example 14.3 (Solution)

By inspection one would expect a rightward and downward disp to occur at

Example 14.3 (Solution)

x 0.6, y 0.8, L 5m q2 2.5 kN

A truss can be supported by a roller placed on an incline

cannot be directly defined using a single horizontal & vertical global

analysis, we will use a set of nodal coordinates x, y located at the inclined

each of the coordinate axes

Consider truss member 1 having a global coordinate system x, y at the near

This disp d in the x direction can be written in matrix form as

Likewise, force q have components

This can be expressed as:

Performing the matrix operation yields:

This stiffness matrix is used for each member that is connected to an

follows the standard procedure

Determine the support reactions for the truss shown.

Example 14.6 (Solution)

Since the roller support at 2 is on an incline, we must use nodal coordinates at

Example 14.6 (Solution)

The stiffness matrices for members 1 and 2 must be developed.

x 1, y 0, x" 0.707, y " 0.707

Example 14.6 (Solution)

x 0, y 1, x" 0.707, y " 0.707

Example 14.6 (Solution)

Example 14.6 (Solution)

Assembling these matrices to determine the structure stiffness matrix, we

Example 14.6 (Solution)

Q4 31.8kN , Q5 7.5kN , Q6 22.5kN

If some of the members of the truss are subjected to an increase or

If a truss member of length L is subjected to a temperature increase T, the

members length of L = q0L/AE

If a temperature decrease occurs then T becomes negative & these forces