CE-4706 STRUCTURAL ENGINEERING

Lecture # 1

Basic Concepts of Structural Engineering

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OUTLINE
1) Introduction
2) Classical versus Matrix Methods
3) Matrix versus Finite Element Methods
4) Types of Framed Structures
5) Deformations in Framed Structures
6) Fundamental relations for structural analysis
7) Static Indeterminacy
8) Kinematic Indeterminacy (Degree of Freedom)
9) Flexibility and stiffness Matrices
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Introduction
• It is the process of predicting the performance of a given structure under
a prescribed loading conditions (Actions).
• The performance characteristics usually of interest in structural design
are:
(a) Stresses or stress resultants (Axial forces, shears and bending moments)
(b) Displacements
(c) Support reactions
• In most design offices the analysis of framed structures is routinely
performed on computers, using software based on Finite Element
Method.
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Classical versus Matrix Methods

• The Classical methods were developed to analyze particular type of
structures e.g. Moment Distribution Method.
• In the pre-computer era, the main disadvantage of these methods was that
they require direct solution through simultaneous algebraic equations.
• After the invention of Computers, Analysis methods yielding solutions in
terms of algebraic equations were no longer at a disadvantage, but in fact
were preferred.
• Matrix and Classical methods are based on the same fundamental
principles but now fundamental relationships of equilibrium,
compatibility, and member stiffness are now expressed in the form of
Matrix Equation.
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Classical versus Matrix Methods

• Classical methods are generally not considered suitable for computer

programming. Matrix methods were specifically developed for computer
implementation as Matrix methods are systematic and general.
• The analysis of large and highly redundant structures by classical
methods can be quite time consuming, matrix methods are commonly
used.
• Classical methods are still preferred by many engineers for analyzing
smaller structures, because they provide a better insight into the behavior
of structures.
• These classical methods are considered to be the precursors of the Matrix
Flexibility and Stiffness Methods.
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Matrix versus Finite Element Methods

• Matrix methods can be used to analyze Framed Structures only.
• Finite-element analysis, which originated as an extension of matrix
analysis to surface structures (plates and shells), has now developed to
the extent that it can be applied to structures and solids of any shape.
• From a theoretical viewpoint, the basic difference between the two is that,
in matrix methods, the member force-displacement relationships are
based on exact solutions of differential equations.
• However, for finite element method, such relations are generally
developed by work-energy principles from assumed displacements.
• Because of approximate nature, finite element analysis generally yields
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Flexibility and Stiffness Methods

• Two different methods are used for Matrix Analysis of structures:
(a) The flexibility method
(b) The stiffness method
• Flexibility Method:
➢It is also referred to as the force or compatibility method, is essentially a
generalization in matrix form of the classical method of consistent
deformation.
➢In this approach, the primary unknowns are redundant forces, which are
calculated first by solving the structure’s compatibility equations.
➢Once the redundant forces are know, the displacements can be evaluated
by applying equations of equilibrium and appropriate f-d relations 7
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Flexibility and Stiffness Methods

• Stiffness Method:
➢The stiffness method, which originated from slope-deflection method, is
also called the displacement or equilibrium method.
➢In this approach, primary unknowns are the joint displacements, which
are determined first by solving the structure’s equation of equilibrium.
➢With the joint displacement knowns, the unknown forces are obtained
through compatibility considerations and the member force-displacement
relations.

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Flexibility and Stiffness Methods

• The stiffness method is more systematic and can be implemented more
easily on computers.
• It is preferred for the analysis of large and highly redundant structures.
• The flexibility method is generally convenient for analyzing small
structures with a few redundants.
• Most of the commercially available software for structural analysis is
based on the stiffness method.

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Flexibility and Stiffness Methods

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Classification of Framed Structures

• Plane truss
• Space Truss
• Beam
• Plane frame
• Grid
• Space frame

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Plane Truss
• A system of members lying in a plane and interconnected at hinged joint.
• All applied forces act in a plane of the structure and external couples have
their moment vectors normal to the plane.
• Loads may consist of concentrated forces applied at joints or loads act on
members themselves.
• Analysis of the truss will result in the axial forces and stresses in
members.
Unknown actions per member = 1
Equilibrium equations per joint = 2
Displacement per joint = 2
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Beam
• A beam consists of a straight member having one or more points of support.
• Forces act in a plane.
• All external couples acting on the beam having their moment vectors normal to this
plane.
• Beams deflect in the plane of loading without twist.
• Analysis of the beam may result in internal stresses at any cross-section of beam and
in general case may include a shearing force and bending moment.
Unknown actions per member = 2
Equilibrium equations per joint = 2
Displacement per joint = 2

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Plane Frame
• A frame consists of members lying in a single plane having axis of symmetry in that
plane.
• The joints between members are rigid connections.
• Forces act on a frame and translations of frame are in the plane of the structure
• All external couples acting on the frame having their moment vectors normal to this
plane.
• Analysis of the frame may result in internal stresses at any cross-section of plane
frame and in general case may include a shearing force, a bending moment and an
axial force.
Unknown actions per member = 3
Equilibrium equations per joint = 3
Displacement per joint = 3 14
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Grids

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Space Frame

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Global and Local Coordinate Systems

In the matrix stiffness method, two types of coordinate systems are employed to specify
the structural and loading data. These are referred to as :

(a) The global (or structural) coordinate systems:

The overall geometry and the load-deformation relationship for an Entire Structure
with reference to a Cartesian or Rectangular global co-ordinate system.

(b) The local (or member) coordinate system:

A local coordinate is defined for each member of the Structure.

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Fundamental Relationships for Structural Analysis

Structural analysis involves the use of three types of relationships:

(a) Equilibrium equations

(a) Compatibility conditions:

Compatibility must be satisfied at all points of supports. (The displacement of the
structure be consistent with the support condition, e.g. Fixed support)
(b) Constitutive relations:
Also referred to as the Stress-Strain Relations of the Structure in accordance with
the Stress-Strain properties of the structural material.
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Static Degree of indeterminacy

• Static indeterminacy refers to an excess of unknown actions (internal actions and
external support reactions) as compared to no. of equations of static equilibrium at
available at joints.
• Static redundants : The unknown actions in excess of those that can be found by static
equilibrium.
• Static degree of indeterminacy (DOI) is the number of redundant forces that we have
in the structures ( Support reactions or member forces).

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Static Degree of indeterminacy

• Static DOI of planar structure:
m = no.’s of members
r = no.’s of support reactions
j = no.’s of joints
1. Overall Static DOI of planar truss: 3. Overall Static DOI of plane frame:
Overall DOI = (m+r) – 2j Overall DOI = (3m+r) – 3j
If DOI = 0 Structure is statically determinate
If DOI < 0 Structure is unstable
DOI > 0 Structure is statically indeterminate

2.Overall Static DOI of Beam:

Overall DOI = (2m+r) – 2j
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Kinematic indeterminacy (Degree of Freedom)

• Minimum number of displacement quantities require to know before you define the
displaced geometry of structures
K.I = Unrestraint – Restraint
Where;
Unrestraint = Degree of freedom per joint x No. of joints
Restraint = No. of support reactions

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Flexibility and Stiffness Matrices

Action and Displacement Equations:
• The relationship between action (A) and displacement (D) can be expressed by a
displacement equation, as follows:

S = Stiffness of spring which is defined as the action required to produce a unit

displacement.
F = Flexibility of spring defined as displacement produced by a unit value of the action.

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Flexibility and stiffness Matrices

Displacement Equations:

Other displacement equations?

Where;
D11 = Displacement corresponds to A1 and
caused by A1
D12 = Displacement corresponds to A1 and
caused byA2
D13 = Displacement corresponds to A1 and
caused by A3

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Flexibility and Stiffness Matrices

Action and Displacement Equations:

Express the displacement in terms of action

Where;
F11 (flexibility coefficient)= Displacement corresponds
to A1 and caused by unit value ofA1
F12 = Displacement corresponds to A1 and
caused by a unit valueA2
and so forth.
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Flexibility and Stiffness Matrices

Action and Displacement Equations:

Now express the actions in terms of displacement.

Where;
•S11 (Stiffness coefficient)= Action corresponds to A1 and
caused by unit displacement corresponding to A1, while the
displacement corresponds to A1 , A2 are retained at zero.
•The retaining actions developed by these artificial
supports are the stiffness coefficients.
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Flexibility and stiffness Matrices

Action and Displacement Equations:

Example :

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