CHAPTER- 14

STIFFNESS MATRIX METHOD

Italy
 Stiffness Matrix Method

468
Chapter 14. Stiffness Matrix Method

Introduction
The stiffness of a structure is defined as the force developed due to a unit
displacement. The stiffness matrix [k] relates the displacement matrix [d] to the
external load matrix [D] as shown below (see Fig. 13-1).
D1  k 11d 1  k 12d 1    k 1N d N
D 2  k 21d 1  k 22d 1    k 2N d N

D N  k N 1d 1  k N 2d 1    k NN d N

Where di = displacement of the ith point , kij = force at point i due to a displacement at
a point j, and Di = external load at the ith point

These expressions can be written in matrix form as follows.

D   K d  [14-1]

 D1   k 11 k 12 k 1N   d 1 
D  k k 22 k 2N   d 2 
 2   21  
    [14-2]
    
    
 D N   k N 1 kN 2 k NN  d N 

Where [d] = displacement matrix, [K] = stiffness matrix, and [D] = external load
matrix

The force response of a structure is represented by the stiffness matrix  K  . For a

beam element subjected to clockwise moments at both ends as shown in Fig. 14-1, the
stiffness coefficients are determined using slope deflection method and are equal to:

4EI 2EI 2EI 4EI [14-3]

k 11  , k 12  , k 21  , k 22 
L L L L

Equation [14-1] becomes

 4EI 2EI 
 1  L
D L  d 1 
 D    2EI   [14-4]
 2  4EI  d 2 
 L L 

The matrix displacement matrix [d] can be computed using the following equation:
d    K   D
1
[14-5]

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 Stiffness Matrix Method

For a structure of two members or more as shown in Fig. 14-2, the stiffness matrix of
the structure is obtained by combining the stiffness matrices of the individual
members. The stiffness matrices for each member of the structure are as follows.

 4EI 2EI   4EI 2EI 

   L L2 
 k
member 1
   L1 L1
 ,  k  2
member 2

   2EI 4EI     2EI 4EI  [14-6]
 L L1   L L 2 
 1  2

Combining the individual member matrices yields the following structure stiffness
matrix :

 4EI 2EI 
 L 0 0 
L1
 1 
 2EI 4EI 
 L 0 0 
L1
k    1  [14-7]
 4EI 2EI 
 0 0
L2 L2 
 
 2EI 4EI 
 0 0
L 2 
 L2

If the axial effects are to be included, the structure stiffness matrix [k] becomes

 4 EI 2 EI 
 L 0 0 0 0 
L1
 1 
 2 EI 4 EI 
 L 0 0 0 0 
L1
 1 
 EA1 
 0 0
L1
0 0 0 
 k    0

[14-8]
4 EI 2 EI
 0 0 0 0 
 L2 L2 
 2 EI 4 EI 
 0 0 0 0 
 L2 L2 
 EA2 
 0 0 0 0 0 
 L2 

The member internal force matrix Q  is related to the structure external

displacement matrix  d  by the displacement transformation matrix  a  . The
elements of the matrix  a  are generated by: 1) setting each nodal displacement
equals to 1 unit and 2) determining the related member deformation for the applied

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Chapter 14. Stiffness Matrix Method

force of unit load as shown in Fig. 14-2. Thus, the member internal force matrix [Q]is
obtained using the following equation:

Q k a d

4EI 2EI
0 0 1
L1 L1 0 0
L1
Q1 2EI 4EI 1
0 0 1 0 d1
Q2 L1 L1 L1 [14-10]
d2
Q3 4EI 2EI 1
0 0 1 0 d3
Q4 L2 L2 L2
2EI 4EI 1
0 0 0 1
L2 L2 L2

The structure stiffness matrix K  that relates nodal forces to the nodal
displacements can be constructed directly using the following equation:

 K   aT  k a  [14-11]

The structure stiffness matrix [K] for the structure shown in Fig. 14-3 is as follows.

 4  L2  L1  2
6
2

L2  L1 
2
 


 L1 L2  L2 L1 L2 
2 2
  
 2 4 6 
 K   EI  2  [14-12]
 L2 L2 L2 
 3 
 L2  L1
2 2
6 
L2  L1 
3

 6 12
 L
1
2
L2
2
 L2
2 3 3
L1 L2  
 
Once the structure stiffness matrix is determined, the displacements are computed
using Equation [14-5].

Stiffness method analysis of indeterminate structures

The analysis procedure of indeterminate structures using the stiffness method is

essentially a matrix formulation of the slope deflection, which is presented in Chapter
10. The steps of the solution are as follows.
1. Define the external load matrix D  and the displacement matrix  d  .
2. Define the internal member force matrix Q  .
3. Build the displacement transformation matrix  a  .
4. Build the element stiffness matrix  k  .

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 Stiffness Matrix Method

5. Build the structure stiffness matrix  K  using Equation [14-11]

6. Obtain the displacement matrix [d] using Equation [14-5]
7. Obtain the member force matrix Q  using Equation [14-10]

The following illustrative examples will employ this procedure of analysis.

D1 D2
θB
θA


4EI  A 2EI  A
L L
θA

Rotational θA impressed at A

2EI  B  4EI  B
L L
θB

Rotational θB impressed at B

Fig. 14-1

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Chapter 14. Stiffness Matrix Method

L1 L2

Single-Span Beam Structure

d1 d2

d3

+ +

Degrees of Freedom

Q1 Q2 Q3 Q4

Member Internal Forces

Fig. 14-2

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 Stiffness Matrix Method

Example: 14-1

Determine the bar forces for the truss shown in Fig 14-3a. [E = 200.106 kN/m2]

B 80 kN

AAB = 500 mm2

ABD = 600 mm2
6.0m 3.0 m
ABC = 424 mm2

A C
D

4.0 m 3.0 m

Fig. 14-4a

SOLUTION

The truss reactions, the external load matrix [D], the displacement matrix [d] and the
internal force matrix [Q] are shown in Figs. 14-3b,14-3c, and 14-3d, respectively.

d2, D2
80 kN d1, D1

Ax Cx

Ay Dx Cy

Dy

Fig. 14-3b. Structure Free Body Diagram Fig. 14-3c. Degrees of Freedom

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 Chapter 14. Stiffness Matrix Method

QAB QCB
QDC

Fig. 14-3d. Internal Member Forces

The displacement transformation matrix [a] is built as shown in Figs. 14-3e, 14-3f, and
14-3g.

d2 d1 d2

0.707
0.8 d1 d1 d1

SAB 0.6 1 0.707 SCB

SDB

Fig. 14-3e Fig. 14-3f Fig. 14-3g

The relationship between the member total deformation matrix [S] (one unit deformation)
and the structural displacement matrix [d] is given by the following equation:

[S ]  [a ][d ]
d1 d2 [14-13]
S A B   0.8 0.6 
d 1 
[S ]  S DB    0 1  d 
     2
S CB   0.707 0.707 

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 Stiffness Matrix Method

The element stiffness matrix [k], which is built using Equation [14-8], is equal to:

 EA A B 
 L 0 0 
 AB 
 EA DB 
k    0 0 
 L DB 
 EACB 
 0 0
LCB 


where AAB = 500.10-6 m2 , ADB = 600.10-6 m2 , ACB = 424.10-6 m2 , LAB = 5.0 m,

LDB = 6.0 m, LCB = 4.24 m

 2  104 0 0 
 k    0 2  104 0 

 0 0 2  104 


The structure stiffness matrix [K], which is built using Equation [14-11], is equal to:

 2.28 104 396.98 

[K] = [aT] [k] [a] =  
 396.98 3.72 104 

The displacement matrix [d], which is determined using Equation [14-5], is equal to:

-1
3.5  103  3.5 10 3 m  
[d] = [K] [D] =  5 
=  5 
3.746  10  3.746 10 m  

80
where [ D ]   
0 

Notes:
 The 80-kN load has a positive sign because it has the same direction as the
displacement d1.
 There is no load in the direction of the displacement d2.

The element (bar) force matrix [Q], which is determined using Equation [14-10], is
equal to:

56.608 56.608kN Tension 

[Q ]  0.749   0.749 kN Tension 

 49.1   49.1 kN Compression 

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Chapter 14. Stiffness Matrix Method

The reactions are easily be computed using principles of equilibrium once the bar
forces are determined as shown in Fig. 14-4h.

80 kN

56.608 kN 49.1 kN
0.749 kN

45.3 kN 34.7 kN

34.749 kN
34 kN
0.749 kN

Fig. 14-3h. Final Free Body Diagram

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 Stiffness Matrix Method

Example: 14-2

Draw the shear and moment diagrams for the continuous beam shown in Fig 14-4a.
[E= 200.106 kN/m2 , I = 400.106 mm4 ]

12 kN/m 24 kN
100 kN.m

A I B I C

10.0 m 5.0 m 5.0 m 5.0 m

Fig. 14-4a
SOLUTION
The beam reactions, the external load matrix [D], the displacement matrix [d],
and the internal force matrix [Q] are shown in Figs. 14-4b, 14-4c, 14-4d, and 14-4e,
respectively. The fixed end moments are summarized in Table 10-1.

MA 12 kN/m 24 kN
100 kN.m

Ax
Ay By Cy

Fig. 14-4b. Structural Model

d1, D1 d2, D2

Fig. 14-4c. Degrees of Freedom

100 kN.m 100 kN.m 30 kN.m 30 kN.m 100 kN.m

Fig. 14-4d. Fixed End Moments

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Chapter 14. Stiffness Matrix Method

Q1 Q3

Q2 Q4

Fig. 14-4e. Internal Member Forces

The displacement transformation matrix [a] is equal to

d1 d2
0 0
1 0 d 1 
S    
d 
1 0  2
 
0 1

The element stiffness matrix [k], which is built using Equation [14-3], is equal to

3.2 104 1.6 104 0 0 

 
 1.6 104 3.2 104 0 0 
k   
0 0 3.2 104 1.6 104 
 
 0 0 1.6 104 3.2 104 

The structure stiffness matrix [K], which is built using Equation [14-11], is equal to
6.4  104 1.6  104 
[K] = [aT] [k] [a] =  4
1.6  10 3.2  10 
4

The displacement matrix [d], which is determined using Equation [14-5], is equal to

 1.875 103 rad 

[d] = [K]-1 [D] =  3 
3.125 10 rad 

  100  30   70
where [D] =  
   30  100   70 

Note
Clock wise moment is positive but the negative sign in front is for equal and
opposite moment, to balance the moments at the joint.

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 Stiffness Matrix Method

The structure force matrix [Q], which is obtained using Equation [14-10], is equal to

 30 
 60 
[Q] =  
 10 
 
 70 

The final member force matrix Q  due to span loading is computed using the
following equation:

Q    Q   Q0  [14-13]
 

where [Q0] = fixed end moment matrix (Fig. 14-4d).

The final member force matrix Q  is equal to

 30   100   130 

 60   100   40 
Q        
   10  +  30  =  40 
     
 70   30   100 

The beam free body diagram, shear and moment diagrams are shown in Fig. 14-4f,
14-4g, and 14-4h, respectively.

12 kN/m 40 kN.m 24 kN 100 kN.m 100 kN.m

130 kN.m

69 kN 51 kN 6 kN 18 kN

Fig. 14-4f. Beam Free Body Diagram

69
6
+
198.375 30
V0
-
108.375 90
18
51

Fig. 14-4g. Shear Diagram (kN)

480
Chapter 14. Stiffness Matrix Method

68.375

10

40
130 100

Fig. 14-4h. Moment Diagram (kN.m)

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 Stiffness Matrix Method

Example: 14-3

Determine the reactions for the structure shown in Fig 14-5a.

[E= 200.106 kN/m2 , I = 100.106 mm4, KSp = 200 kN/m ]

12 kN/m
20 kN
12 kN/m
240 kN.m

A B C

7.0 m 2.0 m 2.0 m 5.0 m 3.0 m

Fig. 14-5a

SOLUTION
The structure reactions, the external load matrix [D], the displacement matrix
[d], the fixed-end forces, and the internal force matrix [Q] are shown in Figs. 14-5b,
14-5c, 14-5d, and 14-5e, respectively.
12 kN/m
12 kN/m 20 kN
MA 240 kN.m
Ax

Ay By Cy

Fig. 14-5b. Structural Model

d1, D1 d2, D2

d3, D3

Fig. 14-5c. Degrees of Freedom

Q1 Q3

Q2 Q4
Q5
Fig. 14-5d. Internal Member Force Matrix

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 Chapter 14. Stiffness Matrix Method

54+17.476-41.983

81+6.91 81+24.198 24.5 78.367 36

Fig. 14-5e. Fixed End Forces

29.493 kN

87.91 105.198 24.5 78.367 36 kN.m

Fig. 14-5f. Total Fixed End Forces

The displacement transformation matrix [a] is equal to

d1 d2 d3
 1
0 0  
9
 
1 0 1

 9 d 1 
d 
  1 0
S  1 
  2
 7  d 3 
 1 
0 1 
 7 
 0 0 1 

The element stiffness matrix [k], which is obtained using Equation [14-8], is as shown
below.

8.889 103 4.444 103 0 0 0 

 
 4.444 10 8.889 103
3
0 0 0 
k    0 0 1.143 104 5.714 103 0 
 
 0 0 5.714 103 1.143 104 0 
 200 
 0 0 0 0

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 Stiffness Matrix Method

The structure stiffness matrix [K], which is built using Equation [14-11], is equal to

 2.032  104 5.714  103 967.498 

 
[K] = [aT] [k] [a] =  5.714  103 1.143  104 2.449  103 
 967.498 2.449  103 1.229  103 


The displacement matrix [d], which is determined using Equation [14-5], is equal to

 2.616  10 3 rad 
 
[d] = [K]-1 [D] =  0.014 rad 
 0.054 m 


  105.198  24.5   80.698

 
where [ D ]     78.367  36    42.367 
 29.493 
 

The member force matrix [Q], which is determined using Equation [14-10]

 91.366 
 102.994 
 
[Q] =  22.296 
 
 42.367 
 10.765 

Spring Force

The final member force matrix Q  due to span loading is computed using Equation
[14-13] as follows.

Q    Q   Q0  [14-13]
 

Thus Q  is equal to

 91.366   87.91 
 102.994  105.198   179.276 
     2.204 
Q    22.296  +  24.5  =  
        2.204 
 42.367   78.367   
     36 

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 Chapter 14. Stiffness Matrix Method

The beam reactions, which are easily determined after the computation of the final
member forces, are shown in Fig. 14-5g.

20 kN 12 kN/m

179.276 12 kN/m 240 kN.m

78.12 kN 10.765 kN 57.115 kN

Fig. 14-5g. Applied Loads and Reactions

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 Stiffness Matrix Method

Example: 14-4

Determine the reactions of the structure shown in Fig. 14-6a if the supports at A and B
settle by 40 mm.
IBeam = 800 .106 mm4 Acable = 800 mm2 EBeam =Ecable = 200 .106 kN/m2

Cable 10.0 m
20 kN 60 kN

B
EI C 2EI
A
5.0 m 5.0 m 8.0 m 8.0 m

Fig. 14-6a

SOLUTION
The structure reactions, external loads, displacements, internal forces, fixed
end forces due to loadings, fixed end forces due to support settlements at A, fixed end
forces due to support settlement at B, and total fixed end forces are summarized in
Figs. 14-6b, 14-6c, 14-6d, 14-6e, 14-6f, 14-6g, and 14-6h, respectively.

MA
20 kN Tc 60kN

Ax Bx

Ay By

Fig. 14-6b. Structural Model

d1,D1 d2,D2

d3,D3

Fig. 14-6c. Degrees of Freedom

486
Chapter 14. Stiffness Matrix Method

Q1 Q3

Q2 Q4
Q5

Fig. 14-6d. Member Internal Forces

10+30 = 40 kN

25 kN.m 25 kN.m 120 kN.m 120 kN.m

Fig. 14-6e. Fixed End Forces due to Applied Loads

76.8 kN
384 kN.m

384 kN.m = (6)(200.106)(800.10-6)(0.04)/(102)

Fig. 14-6f. Fixed End Forces due to Support Settlement at A

37.5 kN

300 kN.m

6  200 106 800 106   2 

300 kN.m =
16
2

Fig. 14-6g. Fixed End Forces due to Support Settlement at B

154 kN
359 kN.m 180 kN.m

409 kN.m 420 kN.m

Fig. 14-6h. Total Fixed End Forces

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 Stiffness Matrix Method

The displacement transformation matrix [a] is equal to

d1 d2 d3
 1
0 0  
10
 S1   1

S   1 0 
 2  10   d1  [a]
[S] = S3    1  d 2 
  1 0  
16   d 3 
S 4  
S5   0 1 
 1 
 16 
 0 0 1 

The element stiffness matrix [k], which is computed using Equation [14-8], is equal to

 4EI 2EI 
L 0 0 0 
L AB
 AB 
 2EI 4EI 
L 0 0 0  6.4 104 3.2 104 0 0 0 
 3.2 104 
L AB
 AB 6.4 104 0 0 0 
 8EI 4EI  
k    0 0 0  0 0 8 104 4 104 0 
 L BC L BC   0 4 104 8 10 4 
 
0 0 
 4EI 8EI
 0 0 0   0 0 0 0 1.6 104 
 L BC L BC 
 AE 
 0 0 0 0 
 LCable 

The structure stiffness matrix [K], which is built using Equation [14-11], is equal to

1.44 105 4 104 2.1 103 

 K    4 104 8 104 7.5  103 

 2.1 103 7.5  103 1.886  104 


The structure displacement matrix [d] is determined using Equation [14-5]

 2.843 10 4 rad 

 
[d] = [K-1] [D] =  1.691103 rad 
 7.478 103 m 
 

 D1   (409  420)  11 kN.m @ d1 

Where [ D]   D2    (180) = 180 kN.m @ d 2 
   
 D3   154 kN @ d3 

488
 Chapter 14. Stiffness Matrix Method

The structure internal force matrix [Q], which is built using Equation [14-10], is equal to

 80.888 kN.m 
 89.986 kN.m 
 
[Q] = 100.986 kN.m 
 
180 kN.m 
119.651 kN 
Cable Tension Tc

The final internal force matrix  Q  due to external loadings and settlements is equal

 278.112 
 319.014 
Q  = Q  Q0  =  
   319.014 
 
 0 

 359 
 409 
where [Q0] =   (see Fig. 14-6h)
 420 
 
 180 

The reactions are easily computed once the final structure forces are determined as shown in
Fig. 14-6k.

278.112 kN.m
20 kN 60 kN

49.713 kN 119.561 kN 10.062 kN

Fig. 14-6k. Applied Loads and Reactions

489
 Stiffness Matrix Method

Example: 14-5

Determine the reactions for the structure shown in Fig 14-7a. [EI = Constant]

15 kN/m

2 kN/m

A 2EI Hinge EI B

20 m 5.0 m

Fig. 14-7a

SOLUTION

The structure reactions, the external loads, the displacements, the fixed end moments,
and the internal forces are shown in, Fig. 14-7b, 14-7c, 14-7d, 14-7e, respectively.

15 kN/m
MA 2 kN/m MB

Ax Bx
Ay By

Fig. 14-7b. Structural Model

d1, D1 d2, D2

d3, D3
Fig. 14-7c. Degrees of Freedom

Q1 Q3

Q2 Q4

Fig. 14-7d. Internal Member Forces

490
Chapter 14. Stiffness Matrix Method

66.667 66.667 18.75

12.5
20+26.25=46.25

Fig. 14-7e. Fixed End Forces

The displacement transformation matrix [a] is equal to

d1 d2 d3
 1
0 0 
20 
 
1 1 d 1 
0 
 20  d 
S   
1   2
0 1  d 3 
 5 
 1 
0 0 
 2 

The element stiffness matrix [k], which is computed using Equation [14-7], is equal to

0.4 0.2 0 0 
0.2 0.4 0 0 
 
k  EI  
 0 0 0.8 0.4 
 
 0 0 0.4 0.8

The structure stiffness matrix [K], which is computed using Equation [14-11] is equal
to

 0.4 0 0.03
T
[K] = [a ] [k] [a] = EI  0 0.8 0.24 
 
 0.03 0.24 0.099 

The displacement matrix [d], which is built using Equation [14-5], is equal to

 58.713 rad 
1 1  
[d ]  [ K ] [ D ]   408.38 rad 
EI 
1.439 103 m 

491
 Stiffness Matrix Method

 66.67 kN.m @ d 1 
 
where [ D ]  18.75 kN.m @d2

46.25 kN @d3 

The internal member force matrix [Q], which is built using Equation [14-10], is equal
to

 54.924 
 66.667 
[Q] =  
 18.75 
 
 182.102 

The final member force matrix Q  due to external loading, which is computed using
Equation [14-13], is equal to

 54.924   66.667   121.591

 66.667     
Q     +  66.667  =  0 
   18.75   18.75   0 
     
182.102   12.5   194.602 

It is worth noting that the moment at the hinge is equal to zero.

The reactions, which are computed using the final member forces, are shown in
Fig. 14-7f.

15.0 kN/m

121.59 kN.m 2.0 kN/m 194.60 kN.m

26.08 kN 51.42 kN

Fig. 14-7f. Applied Loads and Reactions

492
 Chapter 14. Stiffness Matrix Method

Example: 14-6

Determine the reactions for the structure shown in Fig 14-8a.

[E=200.106 kN/m2, I=100.106 mm4, α = 0.000012 / 0C]

60 0C

180 mm
10 0C

A
B
C

2.0 m 3.0 m

Fig. 14-8a

SOLUTION

The structure reactions, the external loads, the displacements, the internal forces, the
fixed end forces due to external loadings, and the fixed end forces due to temperature
change are shown in Fig. 14-8b,14-8c, and 14-8d, respectively.
MC

Ax
Ay By Cy

Fig. 14-8b. Structural Model

d1, D1 d2, D2

Fig. 14-8c. Degrees of Freedom

Q1 Q3

Q2 Q4

Fig. 14-8d. Member Internal Forces

493
 Stiffness Matrix Method

ΔT = Tbottom – TTop = 10 – 60 = -500C

EI  T 200 100  0.000012  50 

FEMAB =  = = 66.7 kN.m
h  0.18

EI  T 200 100  0.000012  50 

FEMBA = = = -66.7 kN.m
h  0.18
FEMBC = FEMAB = -66.7 kN.m

FEMCB = FEMBA = 66.7 kN.m

66.7 66.7 66.7 66.7

Fig. 14-8e. Fixed End Forces due to Temperature Change

The displacement transformation matrix [a] is equal to

d1 d2
 S1  1 0
S  0 1  d
[S] =    
2
 1
S3  0 1  d 2 
   
S4  0 0

The element stiffness matrix [k], which is computed using Equation [14-7], is equal to

2 1 0 0 
1 2 0 0 
 k   EI 
0 0 1.333 0.667 
 
0 0 0.667 1.333 

The structure stiffness matrix [K], which is determined using Equation [14-11], is equal to

2 1 
K   EI  
1 3.333

The structure displacement matrix [d], which is determined using Equation [14-5], is equal to

494
 Chapter 14. Stiffness Matrix Method

-1
 1.96  103 rad 
[d] = [K ] [D] =  4 
5.885  10 rad 

 D1   66.7 kN.m @ d1 
where [ D ]     
 D2  0 kN.m @ d 2 

Compute the structure internal forces [Q], Equation [14-5]

 66.7 
 15.694 
[Q] =  
 15.694 
 
 7.847 

The final internal force matrix  Q  due to span loading and temperature change, which is
determined using Equation [14-13], is equal to

 0 
 82.4 
 Q  = Q  Q0  =  
   82.4 
 
 58.9 

 66.7 
 66.7 
Where [Q0] =   (see Fig. 14-8e)
 66.7 
 
 66.7 

The reactions, which are easily computed once the final structure forces are determined,
Are shown in Fig. 14-8f.

58.9 kN.m

41.2 49.033 7.833

Fig. 14-8f. Applied Loads and Reactions

495
 Stiffness Matrix Method

Example: 14-7

Determine the reactions for the frame shown in Fig 14-9a. [E = 200.106 kN/m2
and I = 400.10-6 m4]

60 kN/m

50 kN

B
2m 3I C
20 kN/m 6.0 m
80kN I
2I
6m

10.0 m 3.0 m

Fig. 14-9a

SOLUTION
The frame reactions, external loads, displacements, internal member forces,
and fixed end forces are shown in Fig. 14-9b,14-9c, 14-9d, and 14-9e, respectively.

60 kN/m

50 kN

20 kN/m
80 kN

Bx
MB
A
Ax By
MA
Ay Fig. 14-9b. Structural Model

496
 Chapter 14. Stiffness Matrix Method

d2, D2 d3,D3 Q3 Q4
d1,D1
Q5

Q2

Q6

Q1

Fig. 14-9c. Degree of Freedom Fig. 14-9d. Internal Member Forces

60 kN/m
50 kN

300 kN.m 200 kN.m 150 kN.m

7 .5 kN

67.5 kN 60 kN

60 kN.m
90 kN.m
80 kN 20 kN/m

60 kN.m

30 kN 60 kN

12.5 kN

Fig. 14-9e. Fixed End Forces

497
 Stiffness Matrix Method

The displacement transformation matrix [a] is equal to

 1 
 8 0 0
 S1   1 
S    1 0
 2  8 
 d1 
 S3   0 1 0  
S       d2
S 4   0 0 1  
S5   1   d 3 
   0 1
S6   6 
 1 
 0 0
 6 

The element stiffness matrix [k], which is computed using Equation [14-7], is equal to

 1 0.5 0 0 0 0 
0.5 1 0 0 0 0 
 
0 0 1.2 0.6 0 0 
[k] = EI  
0 0 0.6 1.2 0 0 
0 0 0 0 0.667 0.333
 
 0 0 0 0 0.333 0.667 

The structure stiffness matrix [K], which is computed using Equation [14-11], is equal
to

 0.102 0.188 0.167 

[K] = EI  0.188 2.2 0.6 
 
 0.167 0.6 1.867 

The structure displacement matrix [d], which is computed using are determined using
Equation [14-5], is equal to

282.279 
-1 1  
[d] = [K] [D] =  121.86 
EI  
 8.609 
 D1   67.5-60 = 7.5 kN @ d1 
  
where [ D ]   D2   (90  300)  210 kN.m @ d 2 
 
 D   -(200-60-150) = 10 kN.m @ d 
 3  3

498
Chapter 14. Stiffness Matrix Method

The structure internal force matrix [Q], which is determined using Equation [14-10],
is equal to
 8.003 
 68.933 
 
141.067 
[Q] =  
 62.786 
 52.786 
 
 49.916 

The final member force matrix  Q  , which is determined using Equation [14-13], is
equal to
 21.997 
 158.933 
 
 158.933
 Q  = [Q] + [Q0] =  
 
 262.786 
112.786
 
 10.084 
 30 
 90 
 
300 
where [Q0] =   (see Fig. 14-9e)
 200 
 60 
 
 60 

The reactions are shown in Fig. 14-9f.

60 kN/m

50 kN

20 kN/m

80 kN

10.084 kN.m 42.885 kN

21.997 kN.m
2.883 kN

160.375 kN
189.625 kN

Fig. 14-9f. Applied Loads and Reactions

499
 Stiffness Matrix Method

Example: 14-8

Determine the reactions of the frame shown in Fig. 14-10a if the supports A and D are
displaced. [E = 200.106 kN/m2 I = 400.10-6 m4]

12 kN/m

B C
I
I 8m
I
12 m

D 0.04 m

0.002 rad
0.05 m

A
10.0 m

Fig. 14-10a
SOLUTION

The frame reactions, the external loads, the displacements, the internal member
forces, the fixed end forces due to a rotational displacement   0.002 rad  at
support A, the fixed end forces due to a horizontal displacement   H  0.04 m  and a
vertical displacement   V  0.05 m  at D, and the total fixed end forces are shown in
Fig. 14-10b, 14-10c, 14-10d, 14-10e, 14-10f, 14-10g, 14-10h, and 14-10i,
respectively.

12 kN/m

Ax Dx
MA MD
Ay Dy

Fig. 14-10b. Structural Model

500
 Chapter 14. Stiffness Matrix Method

d2, D2 d3,D3 Q3 Q4
d1,D1

Q2 Q5

Q1 Q6

Fig. 14-10c. Degrees of Freedom Fig. 14-10d. Internal Member Forces

100 kN.m 100 kN.m

6.667 kN

2EI 
26.67 kN.m =
L

4EI 
53.3 kN.m =
L

Fig. 14-10e. Fixed End Forces Fig. 14-10f. Fixed End Forces due to
Due to External Loadings Rotational displacement at A

240 kN.m

75 kN
6EI 
240 =
6EI  L2
= 300
L2

300 kN.m

Fig. 14-10g. Fixed End Forces due to Fig. 14-10h. Fixed End Forces due to
Horizontal displacement at D) vertical displacement at D

501
 Stiffness Matrix Method

140
81.667 kN

6.667 kN 340 75 kN

26.67 kN.m 300 kN.m

53.3 kN.m 300 kN.m

Fig. 14-10i. Total Fixed End Forces

The displacement transformation matrix [a] is equal to

d1 d2 d3
 1 
  12 0 0
 S1   1 
S    1 0
   12 
d 
2

S3   0 1 0  1 
S       d2
S
 4  0 0 1   
S5   1   d 3 
   0 1
S6   8 
 1 
 0 0
 8 

The element stiffness matrix [k], which is computed using Equation [14-7], is equal to

 0.333 0.167 0 0 0 0 
0.167 0.333 0 0 0 0 

 0 0 0.4 0.2 0 0 
[k] = EI  
 0 0 0.2 0.4 0 0 
 0 0 0 0 0.5 0.25
 
 0 0 0 0 0.25 0.5 

502
Chapter 14. Stiffness Matrix Method

The structure stiffness matrix [K], which is computed using Equation [14-11], is equal
to

 0.03 0.042 0.094 

[K] = EI  0.042 0.733 0.2 
 
 0.094 0.2 0.9 

The frame displacement matrix [d], which is determined using Equation [14-5], is
equal to
3.78 103 
1  
[d] = [K]-1[D] =  620.755 
EI  
 78.007 
 D1   6.667+75 = 81.667 kN @ d1 
  
where [ D ]   D2   (26.67  340)  313.33 kN.m @ d 2 
 
 D   -(-140+300) = -160
 3  @ d 3 


The member internal force matrix [Q], which is computed using Equation [14-10], is
equal to

 54.033 
 49.426 
 
 263.904 
[Q] =  
 155.354 
 315.354 
 
 334.855 

The final frame internal force matrix  Q  , which is computed using Equation [14-13],
is equal to
 0.733 
 76.096 
 
 76.096 
 Q  = [Q] + [Q0] =  
 
 15.354 
 15.354 
 
 34.855 
 53.3 
26.67 
 
 340 
where [Q0] =   (see Fig. 14-10i)
 140 
 300 
 
 300 

503
 Stiffness Matrix Method

The reactions are shown in Fig. 14-10k.

12 kN/m

0.733 kN.m 34.855 kN.m

6.28 kN 6.28 kN

66.074 kN 53.926 kN

Fig. 14-10k. Applied Loads and Reactions

504
 Chapter 14. Stiffness Matrix Method

Example: 14-9

Determine the reactions of the inclined frame shown in Fig 14-11a [EI = Constant].

150 kN.m

100 kN

B C

h1 = 8 m h2= 8 m

A D
6.0 m 3.0 m 4.0 m 6.0 m

L1 L2 L3

Fig. 14-11a

SOLUTION

The structure reactions, external loads, displacements, internal member forces, and
fixed end forces are shown in Fig. 14-11b, 14-11c, 14-11d, and 14-11e, respectively.

150 kN.m
100 kN

MA MD

Ax Dx

Ay Dy

Fig. 14-11b. Structural Model

505
 Stiffness Matrix Method

d2, D2 d3,D3 Q3 Q4
d1,D1

Q2 Q5

Q1 Q6

Fig. 14-11c. Degrees of Freedom Fig. 14-11d. Internal Member Forces

24.489 kN.m 45.918 kN.m

HT

Fig. 14-11e. Fixed End Forces

Notes
 150  4 
FEMBC =  2  3  4    24.489 (-) counter clock wise moment
72
 150 3 2 4  3   45.918
FEMCB =
72    

HT = Total Horizontal Forces

There is a beam effect from the horizontal member BC to the two inclined members
AB and BC, as shown in Figs. 14-11f and 14-11g. The horizontal displacement d1,
which is derived as shown in Fig. 14-11f, yields Equation [14-14]. The horizontal
force that will have the same effect as the total vertical load coming from the beam is
derived as shown in Fig. 14-11g yielding Equation [14-15].

506
Chapter 14. Stiffness Matrix Method

1 1
L2 S3 S4 L2
d1
1
L2
1
d11 d12
L2
h1 h2

A D
L1 L2 L3

Fig. 14-11f

The displacement transformation matrix [a] is equal to

1  L1 
∑MA = 0 +
L2  h1 
d11 =

1  L3 
∑MD = 0+ d12 = h 
L2  2
1  L1 L3 
Therefore, d1 = d11 + d12 =    [14-14]
L2  h1 h 2 

d1 d2 d3
 1 
  0 0
h1
 
 1 
  1 0
 S1   h1

S   1  L L  
 2   1  3  1 0  d1 
S 
S  S3    2  1 2  
L h h d 
  2
 4   1  L1  L3  1  d 3 
S5   L  h h  0

   2 1 2 

 6  
S
1
1
 0
 h2 
 
 
1
0 0
 
 h2 

507
 Stiffness Matrix Method

d1 d2 d3
 S1   0.125 0 0
S   0.125 1 0
 2    d1 
S   0.214 1 0 d 
S   3      2
S4   0.214 0 1
 d 3 
S5   0.125 0 1
   
S6   0.125 0 0

V1 V2

Hv

V2

Hv1 Hv2
V1
h1 h2

L1 L2 L3

Fig. 14-11g
V L
∑MA = 0 + H v1  1 1
h1
V L
∑MD = 0 + H v2   2 3
h2
 V L   -V L 
Therefore, Hv = Hv1 + Hv2 =  1 1    2 3  [14-11]
 h1   h 2 

31.5 kN 31.5 kN
100 kN Hv
150 kN.m

Fig. 14-12h. Structural Loads

508
Chapter 14. Stiffness Matrix Method

The total horizontal force is equal to

 31.5  6      31.5 6  
HT = 100 +    = 147.25 kN
 8   8 

The element stiffness matrix [k], which is built using Equation [14-4], is equal to

0.4 0.2 0 0 0 0 
0.2 0.4 0 0 0 0 

0 0 0.571 0.286 0 0 
[k] = EI  
0 0 0.286 0.571 0 0 
0 0 0 0 0.4 0.2
 
 0 0 0 0 0.2 0.4

The structure stiffness matrix [K], which is determined using Equation [14-11], is
equal to

0.116 0.109 0.109 

[K] = EI 0.109 0.971 0.286
 
0.109 0.286 0.971

The frame displacement matrix [d], which is determined using Equation [14-5], is
equal to

1.449 103 
1  
[d] = [K]-1[D] =  112.859 
EI  
 81.624 
 D1   147.25 kN @ d1 
  
where [ D ]   D2   (0  24.489)  24.489 kN.m @ d 2 
 
 D   -(-45.918+0) = 45.918 kN.m @ d 
 3  3 

The member internal force matrix [Q], which is computed using Equation [14-10], is
equal to

 131.238
 153.81 
 
 178.31 
[Q] =  
 187.234 
141.316
 
 124.991

509
 Stiffness Matrix Method

The final member internal force matrix  Q  , which is computed using Equation [14-
12], is equal to
 131.238 
 153.81 
 
 153.81 
 Q  = [Q] + [Q0] =  
 
 141.316 
 141.316 
 
 124.991
 0 
 0 
 
 24.489 
where [Q0] =   (Fig. 14-11e)
 45.918 
 0 
 
 0 

The reactions are shown in Fig. 14-11i.

100 kN

150 kN.m

124.991 kN.m

51.18 kN 131.238 kN.m

48.82 kN

20.732 kN 20.372 kN

Fig. 14-11i. Applied Loads and Reactions

510
Chapter 14. Stiffness Matrix Method

Summary

 The general stiffness method is the basis of the majority of computer programs
used to analyze all types of determinate and indeterminate structures including
planar structure and three-dimensional trusses, frames, and shells. The
stiffness method eliminates the need to select redundants and a released
structure, as required by the flexibility method.
 In the general stiffness method, joint displacements are the unknown. With all
joints initially artificially restrained, unit displacements are introduced at each
joint and the forces associated with the unit displacements (known as stiffness
coefficients) computed.
 The number of unknown displacements will be equal to the degree of
kinematic indeterminacy.
 For two dimensional structures with rigid joints, joints, three unknown
displacements (two linear and one rotational) are possible at each unrestrained
joint.
 For three-dimensional structures with rigid joints, six unknown displacements
(three linear and three rotational) are possible at each unrestrained joint. For
these situations the torsional stiffness as well as the axial and bending stiffness
of members must be considered when evaluating stiffness coefficients.
 In a typical computer program, a coordinate system must be selected to
establish the location of joints, specify member properties (such as area,
moment of inertia, and modulus of elasticity), and specify the type of loading.

511
 Stiffness Matrix Method

Problems

1- Using the stiffness method determine the reactions. [EI= const.]

(a)

10 kN 3 kN/m 4 kN/m

A B C

2m 4m 6m 3m

(b)

10 kN/m 10 kN

A B D

5.0 m 4.0 m 6.0 m

(c)

Lc = 4m
Ac = 400 mm2
10 kN Cable 6 kN/m

A B

2.0 m 2.0 m 6.0 m

512
Chapter 14. Stiffness Matrix Method

(d)

Lc = 4m
Ac = 400 mm2 10 kN 6 kN/m
Cable

A B

2.0 m 2.0 m 6.0 m

(e)
12 kN/m
100 kN.m

A Ksp = 400 kN/m B

3.0 m 7.0 m 3.0 m

(f) Lc = 4m
20 kN 5kN/m Ac = 400 mm2

A B C

3.0 m 3.0 m 7.0 m

513
 Stiffness Matrix Method

(g)
12 kN/m 10 kN

A Ksp = 400 kN/m

5.0 m 5.0 m 4.0 m

(h)
Ac = 400 mm2,Lc = 4m

10 kN 3 kN/m 4 kN/m

A B C D

2.0 m 4.0 m 6.0 m 3.0 m

(I)

10 kN/m 10 kN

B C D
A
Ksp = 400 kN/m

5.0 m 4.0 m 6.0 m

514
Chapter 14. Stiffness Matrix Method

(J)

36 kN/m

A Hinge B

4.0 m 5.0 m

(k)

12 kN/m

A 1.5I 3I B

4.0 m 5.0 m

(L)

24kN/m

A Hinge Ksp = 400 kN/m B

3.0 m 3.0 m 4.0 m

515
 Stiffness Matrix Method

(m)

B
A
C

EA = const. 6.0 m

4.0 m

D
80 kN

100 kN
4.0 m 2.0 m

(n) 10 K

Hinge C
Ksp = 400 K/in

12/

6/ 6/

100 kN

(o)
B Ksp = 400 kN/m C
6m
D

A
6m
6m 6m

516
Chapter 14. Stiffness Matrix Method

(p)

A D

3.0 m

50 kN

3.0 m
B C

12 kN/m
6m 10 m 8m

(q)
100 kN

3.0 m
6 kN/m

5.0 m

4m 10m 4m

517
 Stiffness Matrix Method

(r)

6m

100 kN

8m

6.0 m 2.0 m 8.0 m

(s)

48 kN/m

C
2m
I I

B D

I I 3m

A E
6m 6m

hint: make use of symmetry.

518
Chapter 14. Stiffness Matrix Method

2- Determine the reactions of the following frames.

[E = 200.106 kN/m2, I = 400.10-6 m4, h = 0.263m, α = 0.000012]

T = 600

B T = 100 C

6.0 m

8.0 m

0.03 m
0.004 rad
0.02 m

A
10.0 m

3- Draw the shear and moment diagrams of the following frame

12 K/ft

B 2I C 6 ft

40 K

24 ft I I

18 ft

A D

18 ft 15 ft

519
 Stiffness Matrix Method

4- Draw the shear and moment diagrams of the following frame

220 K

150 K

2I

20 ft 3I I

15 ft 8 ft 12 ft 15 ft

5- Determine the cable tension. [ E = 200.106 kN/m2, I = 150.10-6 m4, Ac = 50.10-6 m2]

Cable
3m
12 kN/m

3.0 m

4.0 m 10.0 m

520