Tutorial Week 9 (6 May 2024)

Method of Matrix for Truss

• By Dr. Shiwei_Zhou
Email: [email protected]
Course structure Structural determinacy (Week 1) Structure in
Video Project
Determinant structure Indeterminate structure

Reactions, SFD, BMD: Slope (Week 2) Deflection for truss

(Week 1) 1. Moment area method Slope & deflection for
1. Three Equilibrium Eqs. Deflection (Week 2) beam/frame (Week 3)
2. Method of joint, 2. Double integration method 1. Method of Virtual Work
3. Method of Section Slope & deflection (Week 2)
3. Conjugate beam method
1. Force method (Week 4&5)
2. Slope deflection method (Week 6)
3. Moment distribution method (Week 8)
4. Stiffness method (Week 9)
5. Approximation method (Week 10)
 Problem 1
Determine the stiffness matrix K for the assembly. Take
A=300 mm2 and E=200 GPa for each member

For each member, the arrow begins from the near end to
the far end

8
7

2
2
4
4
3

1 2 3
6

20 KN
1 5
 ( x2 − x1 ) + ( y2 − y1 )
2 2
Node x y L=
1 -1.2 -0.9
x2 − x1
2 -1.2 0.9 =λx cos
= (θ )
3 0 0 L
4 1.8 0 y2 − y1
=λ y sin
= (θ )
8
L
7
2
2 Near end (x1, y1)
4
3 4 Far end (x2,y2)
6
1 2 3

20 KN
1 5

Element Near end Far end Freedom x2 − x1 y2 − y1

λx = λy =
Near end Far end L L

1 1 3 5 6 1 2 0.8 0.6
2 3 4 1 2 3 4 1 0
3 2 3 7 8 1 2 0.8 -0.6
 8
2
7
2 4
3 3 4
1 3
6
1 2
5 20 KN
Node j 1

Node i
Element Freedom
 λx λx λx λ y −λx λx −λx λ y 
 −λ y λ y 
AE  λx λ y λy λy − λx λ y
k=
Near end Far end L  − λx λx −λx λ y λx λx λx λ y 
 
 −λx λ y −λ y λ y λx λ y λ y λ y 

 0.64 0.48 −0.64 −0.48

1 5 6 1 2 EA 
 0.48 0.36 −0.48 −0.36 

1.5  −0.64 −0.48 0.64 0.48 
 
 −0.48 −0.36 0.48 0.36 
2 1 2 3 4  1.00 0 −1.00 0 
 0 
EA  0 0 0
1.8  −1.00 0 1.00 0 
 
 0 0 0 0

3 7 8 1 2  0.64 −0.48 −0.64 0.48 

 −0.48 0.36 0.48 −0.36 
EA  
1.5  −0.64 0.48 0.64 −0.48
 
 0.48 −0.36 −0.48 0.36 
Element Matrix
 Global Stiffness Matrix
K = K1 + K 2 + K 3
1 2 3 4 5 6 7 8
 84.53 0 −33.33 0 −25.6 −19.2 −25.6 19.2  1
 0
 28.8 0 0 −0.48 −0.36 19.2 −14.4  2
 −33.33 0 33.33 0 0 0 0 0  3
 
0 0 0 0 0 0 0 0  4
= (103 )  kN m
 −25.6 −19.2 0 0 25.6 19.2 0 0  5
 
 −19.2 −14.4 0 0 19.2 14.4 0 0  6
 −25.6 19.2 0 0 0 0 25.6 −19.2  7
 
 19.2 −14.4 0 0 0 0 −19.2 14.4  8
1 2 3 4 5 6 7 8
 Problem 2
• Determine the horizontal and vertical
displacements at joint 3 of the assembly in
Example 1 Question 4
8

2 The truss structure is shown below given the

structure stiffness matrix K. The horizontal
7
2 4 concentrated load acting on node 2, Qx, is
3 8.7kN and the vertical concentrated load
3 4
acting on node 2, Qy, is 6.5kN. AE is constant
1 3
for all members.
6
1 2
Please use the matrix method to determine
5 20 KN
the displacements at nodes 2 and 3 and the
1
internal force in Member 1.

Internal Force in Member 1 (input the numb

without sign and units in the box below):
 Force vector and displacement vector
 q3 x  1  q1   0   u3 x  1  u1   u1  8
q  q   −20  u  u    2
 3y  2  2    3y  2  2  u2  7
2 4
 q4 x  3  q3   q3   u4 x  3  u3   0  3 3 4
           
 q4 y  4 u4 y 
3
= q4  q
 4  4 u4 0 1
= =  2
6
Q D =  1
 q1x= 5  q5   q5  u1x 5 u5   0 
            5 20 KN
 q1 y  6  q6  q
 6  u1 y  6  u6   0  1
q  7 q  q  u  7 u   0 
 2x   7  7   2x   7  
 q2 y  8  q8   q8  u2 y  8 u8   0 

 84.53 0 −33.33 0 −25.6 −19.2 −25.6 19.2   u1   0 

 0  
 28.8 0 0 −0.48 −0.36 19.2 −14.4  u2   −20 
 −33.33 0 33.33 0 0 0 0 0   0   q3 
    
0 0 0 0 0 0 0 0   0   q4 
KD = Q ⇒ (10 )
3 
=
 −25.6 −19.2 0 0 25.6 19.2 0 0   0   q5 
    
 −19.2 −14.4 0 0 19.2 14.4 0 0   0   q6 
 −25.6 19.2 0 0 0 0 25.6 −19.2   0   q7 
    
 19.2 −14.4 0 0 0 0 −19.2 14.4   0   q8 
 Force vector and displacement vector
 84.53 0 −33.33 0 −25.6 −19.2 −25.6 19.2   u1   0 
 0  
 28.8 0 0 −0.48 −0.36 19.2 −14.4  u2   −20 
 −33.33 0 33.33 0 0 0 0 0   0   q3 
    
0 0 0 0 0 0 0 0   0   q4 
KD = Q ⇒ (103 )  =
 −25.6 −19.2 0 0 25.6 19.2 0 0   0   q5 
    
 −19.2 −14.4 0 0 19.2 14.4 0 0   0   q6 
 −25.6 19.2 0 0 0 0 25.6 −19.2   0   q7 
    
 19.2 −14.4 0 0 0 0 −19.2 14.4   0   q8 
8

84.53 0   u1   0  2

(10 )  0 28.8 u  = −20

3 7
3
2 4

  2   3
1
4
3
6
1 2

(103 ) ( 84.53 ( u1 ) + 0 ( u2 ) ) =0 ⇒ u1 =0 (10−3 ) m 5 20 KN

 1
 3
(10 ) ( 0 ( u1 ) + 28.8 ( u2 ) ) =−20 ⇒ u2 = −0.694 (10−3 ) m
 Summary
General Procedure for Analysis using the Stiffness Method:

1. Specify the external force and displacement vectors, Q and D (with knowns
and unknowns);
2. Calculate the stiffness matrix for each member, ki;
3. Assemble the elemental (member) stiffness matrix into the global stiffness
matrix K, and establish the force-displacement relationship Q=KD;
4. Eliminating the lines and rows which are correspond to zero displacement;
5. Calculate the other unknown displacements;
6. Calculate the reaction forces using Q=KD.
 Introduction of the stiffness method
The stiffness method:
1)The method requires subdividing the whole structure into a series of
discrete finite elements and identifying their end points as nodes.
4
32
far end Node 1 2 3
3
Freedom 1,2 3,4 5,6

2 Element 1 1 (near) 2 (far)

Element 2 1 (near) 3(far)

2 6
2 2 Tips: The freedoms of Node n are 2n-1 and 2n
1
1 1 5
1 3
near end
far end
 Introduction of the stiffness method
2) The force-displacement properties (elemental stiffness matrix) of each
element are determined and then related to one another using the force
equilibrium equations written at nodes.

 The stiffness matrix for a general element

6 far end
Qi = k i Di 5 Element Near node Far node
(Freedom) (Freedom)
2 1 1 (1,2) 2 (5,6)
1
near end

( x2 − x1 ) + ( y2 − y1 )
2 2
L=
 λx λx λx λ y −λx λx −λx λ y 
x2 − x1  −λ y λ y 
=λx cos
= (θ ) AE  λx λ y λy λy − λx λ y
L k=
L  − λx λx −λx λ y λx λx λx λ y 
y −y  
=λ y sin
= (θ ) 2 1  −λx λ y −λ y λ y λx λ y λ y λ y 
L
 (0,4)
4
( x2 − x1 ) + ( y2 − y1 )= ( 0 − (−3) ) + ( 0 − 0 )= 3
2 2 2 2
L
= 32
far end
x2 − x1 0 − (−3) 3
λx cos
= ( ) = = 1
θ
L 3
2
y2 − y1 0 − 0
λy sin=(θ ) = = 0
L 3

2 6 (0,0)
2 2
1
(-3,0) 1 1 1 3 5
near end
far end

1 0 −1 0  0.333 0 − 0.333 0 1 
 0  0 0
 2
AE  0 0 0 0 0  
k1 = = AE 
3 − 1 0 1 0 − 0.333 0 0.333 0  3
     
0 0 0 0  0 0 0 0  4

[1 2 3 4]
 4
( x2 − x1 ) + ( y2 − y1 )= ( 0 − (−3) ) + ( 4 − 0 )= 5
2 2 2 2
L
= 32
far end
x2 − x1 0 − (−3) 3
λx cos
= ( ) = = 0.6
θ
L 5
2
y2 − y1 4 − 0
λy sin=(θ ) = = 0.8
L 5

 λx λx λx λ y −λx λx −λx λ y 
 −λ y λ y  2 6
AE  λx λ y λy λy −λx λ y
2 2
k=
L  −λx λx −λx λ y λx λx λx λ y  1
 
 −λx λ y −λ y λ y λx λ y λ y λ y  1 1 1 3 5
near end
far end
 9 12 9 12 
 25 − − 
25 25 25 1 
 12 16 12 16   0.072 0.096 − 0.072 − 0.096
 − −   0.096 0 .128 − 0 . 096 − 0 . 128   2
AE  25 25 25 25  = AE    
k2 =
5 − 9 − 12 9 12  − 0.072 − 0.096 0.072 0.096  5 
 25 25 25 25     
 12 16 12 16  − 0.096 − 0.128 0.096 0.128  6 
−
 25
−
25 25 25


1 2 5 6 [ ]
3) These relationships for the entire structure, are then
grouped together into what is called the global stiffness 4
matrix K. 32
far end
Then elemental matrices are combined to form the beam 3
stiffness matrix (global), K, and establish the force-
displacement relationship Q = KD 2

 0.333 0 − 0.333 0
 0 0 0 0 2 6
k1 = AE  1
2 2
− 0.333 0 0.333 0 5
1 1
  1 3
 0 0 0 0 near end
far end

[ 1 2 3 4 5 6 ]

 0.333 0 − 0.333 0 0
0 1 
 0 0 0 0 0
0 2
   The rest part
− 0.333 0 0.333 0 0
0 3  is filled by zeros
K1 = AE    
 0 0 0 0 0
0
4
 0 0 0 0 0
0 5 
   
 0 0 0 0 0 0
6 
3) These relationships for the entire structure, are then
grouped together into what is called the global stiffness 4
matrix K. 32
far end
Then elemental matrices are combined to form the beam 3
stiffness matrix (global), K, and establish the force-
displacement relationship Q = KD 2

 0.072 0.096 − 0.072 − 0.096

 0.096 0. 128 − 0 .096 − 0 . 128  6
2
k 2 = AE   2 2
− 0.072 − 0.096 0.072 0.096  1
  1 1 1 3 5
 − 0. 096 − 0 . 128 0. 096 0 . 128  near end
far end
[ 1 2 3 4 5 6 ]
The rest part
 0.072 0.096 0 0 − 0.072 − 0.096 1  is filled by zeros
 0.096
 0.128 0 0 − 0.096 − 0.128 2
 
 0 0 0 0 0 0  3 
K 2 = AE    
 0 0 0 0 0 0  4
− 0.072 − 0.096 0 0 0.072 0.096  5 
   
− 0.096 − 0.128 0 0 0.096 0.128  6 
  0.333 0 − 0.333 0 0 0  0.072 0.096 0 0 − 0.072 − 0.096
   0 − 0.096 − 0.128
 0 0 0 0 0 0  0.096 0.128 0
− 0.333 0 0.333 0 0 0  0 0 0 0 0 0 
K = K1 + K 2 = AE   + AE  
 0 0 0 0 0 0  0 0 0 0 0 0 
 0 0 0 0 0 0 − 0.072 − 0.096 0 0 0.072 0.096 
   
 0 0 0 0 0 0 2 − 0.096 − 0.128 0 0 0.096 0.128 
 0.405 0.096 − 0.333 0 − 0.072 − 0.096
 0.096 0.128 0 0 − 0.096 − 0.128

 − 0.333 0 0.333 0 0 0 
= AE  
 0 0 0 0 0 0 
− 0.072 − 0.096 0 0 0.072 0.096 
 
− 0.096 − 0.128 0 0 0.096 0.128 

[ 1 2 3 4 5 6 ]

 0.405 0.096 − 0.333 0 − 0.072 − 0.096 1 

2
 0.096
 0.128 0 0 − 0.096 − 0.128  
 − 0.333 0 0.333 0 0 0  3 
K = AE    
 0 0 0 0 0 0  4
5 
− 0.072 − 0.096 0 0 0.072 0.096   
  6 
− 0.096 − 0.128 0 0 0.096 0.128 
 4) Once it established, the unknown displacements of nodes can then be
determined for any given loading on the structure.

 0.405 0.096 −0.333 0 −0.072 −0.096   D1   0 

 0.096 0.128 0 0 −0.096 −0.128   D 2   −2 
    
 −0.333 0 0.333 0 0 0   0   Q3 
Q=
KD ⇒ AE    =  
 0 0 0 0 0 0    Q 4 
0
 −0.072 −0.096 0 0 0.072 0.096   0   Q5 
    
 −0.096 −0.128 0 0 0.096 0.128   0  Q 6 
4
23
far end
The force vector of the Consider the vertical 3
beam is defined as displacement and
2
rotation v1x, v1y,……
0   D1 
 Q1x  -2   v1x   
Q    v  D2  2 6
 1 y   Q3   1 y  0  2 2
Q 1
=Q2 x    =D = v2 x    1 5
Q  Q 4  v  0 
1
near end
1 3
 2y  Q   2y  0  far end
    5     
Q6  0 
 4) Once it established, the unknown displacements of nodes can then be
determined for any given loading on the structure.

 0.405 0.096 −0.333 0 −0.072 −0.096   D1   0 

 0.096 0.128 0 0 −0.096 −0.128   D 2   −2 
    
 −0.333 0 0.333 0 0 0   0   Q3 
Q=
KD ⇒ AE    =  
 0 0 0 0 0 0    Q 4 
0
 −0.072 −0.096 0 0 0.072 0.096   0   Q5 
    
 −0.096 −0.128 0 0 0.096 0.128   0  Q 6 
Unknow
freedom

 0.405 0.096 −0.333 0 −0.072 −0.096   D1   0  External

force
 0.096 0.128 0     
0 −0.096 −0.128  D 2   −2 

 −0.333 0 0.333 0 0 0   0   Q3 
Q=
KD ⇒ AE    =  
 0 0 0 0 0 0    Q 4 
0
 −0.072 −0.096 0 0 0.072 0.096   0   Q5 
    
 −0.096 −0.128 0 0 0.096 0.128   0  Q6 

Pin boundaries Unknown

reaction
 4) Once it established, the unknown displacements of nodes can then be
determined for any given loading on the structure.

 0.405 0.096 −0.333 0 −0.072 −0.096   D1   0 

 0.096 0.128 0 0 −0.096 −0.128   D 2   −2 
    
 −0.333 0 0.333 0 0 0   0   Q3 
Q=
KD ⇒ AE    =  
 0 0 0 0 0 0    Q 4 
0
 −0.072 −0.096 0 0 0.072 0.096   0   Q5 
    
 −0.096 −0.128 0 0 0.096 0.128   0  Q 6 
4
23
 0.4053 0.0960   D1  0  far end 3
AE  =
 0.0960 0.1280   D 2  -2  2
 0.4053D1 + 0.0960D 2 = 0
⇒
0.096D1 + 0.128D 2 = −2 / ( AE ) 2 6
1 2 2
4.5 19
⇒ D1 = ; D 2 = − 1 1 3 5
AE AE near end 1
far end
 4) Once it established, the unknown displacements of nodes can then be
determined for any given loading on the structure.
 4.5 
 0.405 0.096 −0.333 0 −0.072 −0.096   AE   0 
 0.096 0.128 0 0 −0.096 − 0.128   19   −2 
  −   
 −0.333 0 0.333 0 0 0   AE   Q3 
Q= KD ⇒ AE   0  =  
 0 0 0 0 0 0   Q 4 
 −0.072 −0.096 0 0 0.072 0.096   0   Q5 
  0   
 −0.096 −0.128 0 0 0.096 0.128    Q 6 
 0 
 0.405 ( 4.5 ) + 0.096 ( −19 ) = 0

 0.096 ( 4.5 ) + 0.128 ( −19 ) = −2
 −0.333 ( 4.5 ) + 0 ( −19 ) = Q3
⇒
 0 ( 4.5 ) + 0 ( −19 ) =Q4
 −0.072 ( 4.5 ) − 0.096 ( −19 ) =Q5

−0.096 ( 4.5 ) − 0.128 ( −19 ) =Q6

Q3 =
−1.5kN ;Q 4 =
0kN ;Q5 =
1.5kN ;Q6 =
2kN
 4
23
far end
3
•The force in each member can be found.
•Using the following formula 2

2 6
2 2
1
1 1
near end
1 3 5
far end

For member 1: λx = 1 λ y = 0 L = 3m
 4.5 
 D1   AE 
D   19.0 
AE AE
qF = [− 1 0 1 0]  = [− 1 0 1 0]− AE  = −1.5kN
2

3  D3  3  
 
D  0 
 4  0 
 
 4
23
far end 3
2

3 4 2 2
6
2
For member 2: λx = λy = L = 5m 1
5 5 1 1
near end 1 3 5
far end

 4.5 
 D1   AE 
 
AE  3 4 3 4   D2  AE  3 4 3 4   19.0 
qF = = − − − 
5 − 5 −
5 5 5   D5  5  5 5 5 
5   AE 
   0 
 D6   0 
 
1
= (− 4.5 × 3 + 19 × 4) = 2.5kN
25
 Summary
General Procedure for Analysis using the Stiffness Method:

1. Specify the external force and displacement vectors, Q and D (with knowns
and unknowns);
2. Calculate the stiffness matrix for each member, ki;
3. Assemble the elemental (member) stiffness matrix into the global stiffness
matrix K, and establish the force-displacement relationship Q=KD;
4. Eliminating the lines and rows which correspond to zero displacement;
5. Calculate the other unknown displacements;
6. Calculate the reaction forces using Q=KD.