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Lecture notes, lectures 6-10
Advanced Structural Analysis (University of Sheffield)
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Structural Analysis II
Analysis of Statically Indeterminate Structures
by the Force Method
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Outline
1 Statically Indeterminate Structures
2 General Procedure of Force Method
3 Effect of Support Settlements
4 Beam on Elastic Supports
5 Frames and Trusses
6 Composite Structures
7 Several Degrees of Indeterminacy
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Statically Indeterminate Structures
A statically indeterminate structure is a structure of which the number of
unknown reactions or internal forces exceeds the number of equilibrium
equations.
The indeterminacy may arise as a result of added supports or members, or by
the general form of the structure.
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Statically Indeterminate Structures (cont’d)
Most of the structures designed today are statically indeterminate. The benefits
of statically indeterminate structures include:
1. For a given loading, the maximum stress and deflection of an indeterminate
structure are generally smaller than those of its statically determinate
counterpart.
M max c
max
I
Disadvantage: Fixed support is more expensive to construct that pin or roller.
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Statically Indeterminate Structures (cont’d)
2. Statically indeterminate structure redistributes its load to its redundant
supports or members in case of overloading (due to earthquake or wind). The
structure maintains its stability and collapse is prevented.
Plastic hinge Plastic hinge
Stable after forming plastic hinge Unstable after forming plastic hinge
Disadvantage: In a statically indeterminate structure, differential
displacement of the supports, changes in member lengths caused by
temperature or fabrication errors will introduce stresses in the structure.
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Method of Analysis
When analyzing an indeterminate structure, it is necessary to satisfy:
Equilibrium
Compatibility
There are two methods to analyze a statically indeterminate structure:
1. Force Method (also called: Flexibility Method, Compatibility Method,
Method of Consistent Displacements. The unknowns are forces.)
This method is is discussed in this topic.
2. Displacement Method (also called Stiffness Method. The unknowns are
displacements. )
The two topics (Slope-Deflection Equations and Moment Distribution)
are discussed in Part II.
Further discussions are covered in Structural Analysis III.
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General Procedure of Force Method
A statically indeterminate structure can be equivalent to a statically determinate
structure subjected to certain conditions.
P P
By Q
The two structures are equivalent if Q=By or the displacement at B in the
determinate structure δB=0. The latter is called compatibility equation.
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General Procedure of Force Method
Consider the beam shown, which is
indeterminate to the first degree. One
(a) additional equation is necessary.
Choose one of the support reactions as
=
redundant ( in this case By ) and temporarily
remove it.
(b)
The compatibility equation for displacement
at B:
+
(c)
fBB = deflection at B ( the first subscript)
(d)
caused by a unit load at B ( the second
subscript) [unit: m/N, mm/kN, etc.]. It is
called flexibility coefficient. 8
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General Procedure of Force Method (cont’d)
Once By is obtained, the three reactions
at A can be calculated using the
P equations of equilibrium.
MA
The shear force and bending moment
diagram of the actual beam can be
Ay
By obtained using the equations of
equilibrium.
SFD Since the force method depends on
superposition of displacements, it is
necessary that the material remain linear-
elastic when loaded.
BMD
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General Procedure of Force Method (cont’d)
The choice of the redundant is arbitrary.
(a)
(b) (c)
+
(d)
The compatibility equation:
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Example 1
Determine the reactions and draw the
bending moment diagram. EI is constant.
(a)
Solution:
Take By as the redundant. Assume that By acts upward.
The compatibility equation:
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Example 1 (cont’d)
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Example 1 (cont’d)
112.8 kN.m
V(kN)
Bending moment at C can be
93.6 computed using equilibrium equation.
-112.8
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Example 2
Determine the reactions and draw the
shear and moment diagram. E is
constant.
Solution:
=
The structure is indeterminate to the
first degree. Select Cy as the
redundant.
The compatibility equation for
displacement at C:
+
Computing ∆C and fCC using the
method of virtual work.
Cy
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Example 2 (cont’d)
Take x1 from B to the left, x2 from B to
the right, x3 from D to the left, and x4
from the 18 kN point to the left.
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Example 2 (cont’d)
Compatibility equation
V (kN)
16.93 12.54
-7.07 -5.46
M (kN.m) 16.48
6.23
-21.21
-29.58
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Effect of Support Settlements
The effects of support settlements can easily be included in the force method
by modifying certain terms of the compatibility equations.
Assume that RB is upward.
If support B does not settle when the beam is loaded, the compatibility
equation can be written as:
If support B settles 1cm when the beam is loaded, the compatibility equation
can be written as:
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Example 3
Draw the shear and bending moment
diagrams of the beam. The support B
settles 40mm. E = 200 GPa, I = 500
× 106 mm4.
Solution:
Take the center support B as the redundant, so that the roller at B is removed.
Assume that By acts downwards.
The compatibility equation:
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Example 3 (cont’d)
300
200
M
4
m 2
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Example 3 (cont’d)
Find other reactions using the equations of equilibrium:
Draw the shear and bending moment diagrams:
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Example 4
Determine the reactions induced in the
18mm 12mm
continuous beam if support B settles 18mm
and support C settles 12mm. E = 200 GPa,
I = 120 × 106 mm4.
5m 5m
Solution:
6mm
12mm
fBB
0.5 1 0.5
6.9 kN
6.9 kN
13.8 kN 21
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Example 5
Determine the reaction and all bar
forces if support A settles vertically
20mm. E = 200 GPa, A = 1000mm2
for all bars.
Solution:
The structure is indeterminate to the first degree . Take the reaction at A as the
redundant. Define RA positive downward.
The compatibility equation:
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Example 5 (cont’d)
m/kN
The compatibility equation: Member forces:
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Beam on Elastic Supports
RB If beam CD behaves elastically,
the support B of beam AB can
be idealized as a spring.
The spring constant K indicates
the force required at B (of beam
CBD) for point B to displace one
RB unit displacement (kN/m)
Q When analyze beam AB, the
A B compatibility equation at support
B should consider ∆.
Considering point A is fixed, the
compatibility equation is
-|∆ B|+fBBRB= -RB/K
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Example 6
w
Determine the deflection at point B. K = 1750 kN/m,
w = 30 kN/m, I = 120 × 106 mm4 and E = 200 GPa.
K=1750kN/m
5.5m
Solution:
∆B
∆B0
fBB
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Example 7 (Frame)
Determinate the support reactions on the
frame. EI is constant.
Solution:
Choose the horizontal reaction at B, Bx, as
the redundant. The pin at B is replaced by a
roller.
Compatibility Equations: Δ B Bx f BB 0
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Example 7 (cont’d)
Use the virtual work method to find ∆B and fBB.
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Example 7 (cont’d)
Compatibility Equation:
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Example 8 (Frame)
Determinate the support reactions on the frame.
Point A is fixed and point B is supported by a
roller. EI is constant.
Solution:
Choose the end moment at A as the redundant.
Compatibility Equations:
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Example 8 (cont’d)
Use the virtual work method to find θA and αAA.
L Mm
A dx
0 EI
1 2.4
A [ (0.13x1 )(1 0.278 x1 )dx1
EI 0
1.5
(1.34 x2 0.75 x22 )(0.222 x2 )dx2 ]
0
1 0.333
A (0.209 0.124)
EI EI
L m m
AA dx
0 EI
1 2.4 1.5
AA [ (1 0.278 x1 ) 2 dx1 (0.222 x2 ) 2 dx2 ]
EI 0 0
1 1.210
AA (1.155 0.555)
EI EI
1
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Example 8 (cont’d)
The compatibility equation:
.m
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Degree of Indeterminacy of Trusses
The unknowns:
The number of member forces (m)
The number of support reactions (r)
Two equations can be written for each joint. The number of joint is j. Thus
the number of available equilibrium equations is 2j.
Indeterminate truss: m + r > 2j
Depending on m and r, a truss can be statically indeterminate internally or
statically indeterminate externally or both. The redundant should be chosen
correspondingly.
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Degree of Indeterminacy of Trusses
m = 5, r = 4, j = 4
The truss is statically Choose one reaction
indeterminate externally as redundant.
to the first degree.
m = 6, r = 3, j = 4
The truss is statically Choose one member
indeterminate internally force as redundant.
to the first degree.
m = 6, r = 4, j = 4
The truss is statically
Choose one reaction
indeterminate internally to
and one member
the first degree and
force as redundant.
externally to the first degree. 33
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Example 9
Determinate the member force of the truss. The
axial rigidity of AE is the same for all the
members.
Solution:
The truss is indeterminate internally to the first
degree. Choose member AC as the redundant.
The Compatibility Equations:
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Example 9 (cont’d)
Use the virtual work method to calculate the relative displacement ∆AC and fAC, AC.
1 1
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Example 9 (cont’d)
The compatibility equation:
The other member forces can be obtained by equilibrium at each joint:
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Composite Structures
Composite structures are composed of some members
subjected only to axial force while other members are
subjected to bending.
If the structure is statically indeterminate, the force method
can conveniently be used for its analysis.
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Example 10
60 kN/m
Determine the horizontal and vertical
reactions at A and the forces in member
3m BC and BD. Take E = 200 GPa, I = 300 ×
1.8m
106 mm4 for the beam and A = 1800 mm2
C for each bar
Solution:
The structure is indeterminate to the first degree. The force in member BD is
chosen as the redundant. This member is cut to eliminate its capacity to
sustain a force.
60 kN/m
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Example 10 (cont’d)
1.12
1
1
No need to 1
calculate M. Why? 1.12
Consider only the bending strain energy in the beam and the axial strain
energy in the bars.
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Example 10 (cont’d)
The compatibility equation:
Apply equilibrium equations to the structure:
The same results can be obtained by taking the horizontal reaction at A as
the redundant.
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Example 10 (cont’d)
60 kN/m
Ax Alternate solution
3m
1.8m
The horizontal reaction Ax is chosen
as the redundant.
A, x f AA Ax 0
=
1 m0
30 kN
+
43.92 kN 31.06 kN 0.897
0.732
nNL (43.92)(0.732)(1.8 / sin 600 ) (31.06)(0.897)(1.8 / sin 450 )
A, x
AE AE AE
Ax
n L (0.732) (1.8 / sin 60 ) (0.897) (1.8 / sin 45 )
2 2 0 2 0
f AA
AE AE AE
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Example 11
200 kN Determine the force in each of the three
struts and the maximum moment in the
beam. Each of the struts has a cross-
sectional area of 1250 mm2 . Neglect the
1.5m depth of the beam and the effect of axial
compression in the beam. E = 200 GPa, I
3.6m 3.6m for the beam is 150 × 106 mm4 .
200 kN Solution:
The structure is indeterminate to the
FCD first degree. Take force in member
FCD
CD as the redundant.
The compatibility equation for
member CD:
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Example 11 (cont’d)
200 kN
Use the virtual work method:
1.5m
3.6m 3.6m
=
200 kN
N=0 α N=0
cosα=5/13
+
1
1 α
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Example 11 (cont’d)
200 kN
1.5m
3.6m 3.6m
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Several Degrees of Indeterminacy
Procedures for indeterminate structure to the second degree.
+ +
The compatibility equations:
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Several Degrees of Indeterminacy (cont’d)
fBB = the deflection at B caused by a unit
load at B
fCB = the deflection at C caused by a
unit load at B
fBC = the deflection at B caused by a
unit load at C
fCC = the deflection at C caused by a
unit load at C
The compatibility equations:
By and Cy can be obtained. The reactions at A and D can be computed
using the equations of equilibrium.
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Several Degrees of Indeterminacy (cont’d)
For a structure having n redundant reaction, n compatibility equations can
be written.
Δ1 f11R1 f12 R2 ... f1n Rn 0
Δ f R f R ... f R 0
2 21 1 22 2 2n n
Δ n f n1 R1 f n 2 R2 ... f nn Rn 0
f11 f12 ... f1n R1 Δ1
f f 22 ... f 2 n R2 Δ
21 2
f is symmetric
f n1 f n 2 ... f nn Rn Δ n
fR -Δ
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Theorem of Reciprocal Displacements
Principle of virtual work:
mA
mB
fBA= fAB
The displacement of point B on a structure due to a unit load acting at
point A is equal to the displacement of point A due to a unit load acting
at point B.
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Theorem of Reciprocal Displacements
The rotation at point B on a structure due to a unit couple moment acting
at point A is equal to the rotation at point A when the unit couple moment
is acting at point B.
The rotation at point B on a structure due to a unit load acting at point A is
equal to the displacement at point A when a unit couple moment is acting
at point B.
This theorem of reciprocal displacement is valid for any elastic structure –
be it a truss, a beam or a frame.
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General Procedure of Force Method
1. Determinate the number of degrees n to which the structure is
indeterminate.
2. Remove n redundant forces or moments. Define the positive directions
of the redundants.
3. Write a compatibility equation for the displacement or rotation at each
joint where there is redundant.
4. Solve for unknown redundants.
5. Solve for the remaining unknown reactions using the equations of
equilibrium.
6. Draw the shear and bending moment diagrams.
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Example 12
Draw the shear and bending moment
diagrams for the beam. EI is constant.
= Neglect the effects of axial force
Solution:
Consider the two end moments at A
and B as the redundants.
+ The compatibility equation:
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Example 12 (cont’d)
Use the virtual work method to find the angle of rotations and the angular
flexibility coefficients.
The compatibility equation:
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Example 12 (cont’d)
Find other reactions using the equations of equilibrium.
Draw the shear and bending moment diagrams:
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Table I: Deflections and Slopes of Cantilever Beams
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Table II: Deflections and Slopes of Simple Beams
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Table II: Deflections and Slopes of Simple Beams (2)
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Reference/Further Reading
Hibbeler, R. C. “Structural Analysis,” 7th Edition, Pearson Prentice Hall,
2009, Chapter 6. (OR 8th Ed. 2012)
Leet, K. M., Uang, C. M., Gilbert, A. M. “Fundamentals of Structural
Analysis,” 3rd Edition, McGraw-Hill, 2008, Chapter 8. (OR 4th Ed. 2011)
Software for Structural Analysis
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