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Amit H. Varma
Assistant Professor
School of Civil Engineering
Purdue University
Ph. No. (765) 496 3419
Email: ahvarma@purdue.edu
Office hours: M-T-Th 10:30-11:30 a.m.
Chapter 1. Introduction to Structural Stability
OUTLINE
Definition of stability
Types of instability
Methods of stability analyses
Bifurcation analysis examples small deflection analyses
Energy method
Examples small deflection analyses
Examples large deflection analyses
Examples imperfect systems
Design of steel structures
ENERGY METHOD
L
Rotationally restrained at end
L P
L cos
L (1-cos)
ENERGY METHOD SMALL DEFLECTIONS
L P
k L sin
L cos
L (1-cos)
Write the equation representing the total potential energy of system
U We
1
U k2
2
We P L (1 cos )
1
k 2 P L (1 cos )
2
d
k P L sin
d
d
For equilibrium; 0
d
Therefore, k P L sin 0
For small deflections; k P L 0
k
Therefore, Pcr
L
ENERGY METHOD SMALL DEFLECTIONS
The energy method predicts that buckling will occur at the same load
Pcr as the bifurcation analysis method.
At Pcr, the system will be in equilibrium in the deformed.
Examine the stability by considering further derivatives of the total
potential energy
This is a small deflection analysis. Hence will be zero.
In this type of analysis, the further derivatives of examine the stability of
the initial state-1 (when =0)
1
k 2 P L (1 cos ) d2
2 When P Pcr 0 Stable equilibrium
d d 2
k P L sin k P L d2
d When P Pcr 0 Unstable equilibrium
d2 d 2
k PL d2
d 2
When P Pcr 0 Not sure
d 2
ENERGY METHOD SMALL DEFLECTIONS
Stable
ENERGY METHOD LARGE DEFLECTIONS
Example 1 Large deflection analysis (rigid bar with rotational spring)
U We
1
U k2 L P
2
We P L (1 cos ) k
L sin
1
k 2 P L (1 cos )
2 L cos
d L (1-cos)
k P L sin
d
d
For equilibrium; 0
d
Therefore, k P L sin 0
k
Therefore, P for equilibrium
L sin
The post buckling P relationship is given above
ENERGY METHOD LARGE DEFLECTIONS
Large deflection analysis
See the post-buckling load-displacement path shown below
The load carrying capacity increases after buckling at Pcr
Pcr is where 0
Rigid bar with rotational spring
1.2
1 k
P for equilibrium
L sin
0.8 P
Pcr sin
Load P/Pcr
0.6
0.4
0.2
0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation
ENERGY METHOD LARGE DEFLECTIONS
Large deflection analysis Examine the stability of equilibrium using
higher order derivatives of
1
k 2 P L (1 cos )
2
d
k P L sin
d
d2
k P L cos
d 2
k
But , P
L sin
d2 k
k L cos
d 2 L sin
d2
k (1 )
d 2 tan
d2
0 Always (i.e., all values of )
d 2
Always STABLE
d2
But , 0 for 0
d 2
ENERGY METHOD LARGE DEFLECTIONS
At =0, the second derivative of =0. Therefore, inconclusive.
Consider the Taylor series expansion of at =0
d 1 d2 1 d3 1 d4 1 dn
0
2
3
.....
4
n
d 0 2! d 0
2
3! d 0
3
4! d 0
4
n! d 0
n
Since the first non-zero term is > 0, the state is stable at P=Pcr and =0
ENERGY METHOD LARGE DEFLECTIONS
1
STABLE
STABLE
0.8
Load P/Pcr
0.6
STABLE
0.4
0.2
0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation
ENERGY METHOD IMPERFECT SYSTEMS
k 0 L P
L cos(0)
k( L sin
L cos
L (cos0-cos)
ENERGY METHOD IMPERFECT SYSTEMS
L P
k( L sin
0
U We
1 L cos
U k ( 0 ) 2 L (cos0-cos)
2
We P L (cos 0 cos )
1
k ( 0 ) 2 P L (cos 0 cos )
2
d
k ( 0 ) P L sin
d
d
For equilibrium; 0
d
Therefore, k ( 0 ) P L sin 0
k ( 0 )
Therefore, P for equilibrium
L sin
The equilibrium P relationship is given above
ENERGY METHOD IMPERFECT SYSTEMS
k ( 0 ) P 0
P
L sin Pcr sin
P relationsh
g p gof 0 shown below :
ips for different values
1.2
0.8
Load P/Pcr
0.6
0.4
0.2
0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation
ENERGY METHODS IMPERFECT SYSTEMS
2
d
k ( 0 ) P L sin
d
d2
k P L cos
d 2
Equilibrium path will be stable
d2
if 0
d 2
i.e., if k P L cos 0
k
i.e., if P
L cos
k ( 0 ) k
i.e., if
L sin L cos
i.e., 0 tan
Which is always true, hence always in STABLE EQUILIBRIUM
ENERGY METHOD SMALL DEFLECTIONS
k
L
L cos
L (1-cos)
ENERGY METHOD SMALL DEFLECTIONS
U We P
L
1 1
U k ( L sin ) 2 k L2 2 L sin
2 2
O
We P L (1 cos ) k L sin
1
k L2 2 P L (1 cos )
2 L cos
d
k L2 P L sin
d L (1-cos)
d
For equilibrium; 0
d
Therefore, k L2 P L sin 0
For small deflections; k L2 P L 0
Therefore, Pcr k L
ENERGY METHOD SMALL DEFLECTIONS
The energy method predicts that buckling will occur at the same
load Pcr as the bifurcation analysis method.
At Pcr, the system will be in equilibrium in the deformed.
Examine the stability by considering further derivatives of the
total potential energy
This is a small deflection analysis. Hence will be zero.
In this type of analysis, the further derivatives of examine the
stability of the initial state-1 (when =0)
1
k L2 2 P L (1 cos )
2
d2
d When, P k L 0 STABLE
k L2 P L sin d 2
d
d2 d2
k L2 P L cos When, P k L 0 UNSTABLE
d 2 d 2
For small deflection s and 0 d2
When P kL 0 INDETERMINATE
d
2 d 2
k L2
P L
d 2
ENERGY METHOD LARGE DEFLECTIONS
L sin
1
U k ( L sin ) 2 O
2
We P L (1 cos )
1
k L2 sin 2 P L (1 cos ) L cos
2
d L (1-cos)
k L2 sin cos P L sin
d
d
For equilibrium; 0
d
Therefore, k L2 sin cos P L sin 0
Therefore, P k L cos for equilibrium
The post buckling P relationship is given above
ENERGY METHOD LARGE DEFLECTIONS
Large deflection analysis
See the post-buckling load-displacement path shown below
The load carrying capacity decreases after buckling at Pcr
Pcr is where 0
Rigid bar with translational spring
1.2
P k L cos for equilibrium
P
cos
1 Pcr
0.8
Load P/Pcr
0.6
0.4
0.2
0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation
ENERGY METHOD LARGE DEFLECTIONS
Large deflection analysis Examine the stability of equilibrium using
higher order derivatives of
1
k L2 sin 2 P L (1 cos )
2
d
k L2 sin cos P L sin
d
d2
k L2 cos 2 P L cos
d 2
d 1 d2 1 d3 1 d4 1 dn
0
2
3
.....
4
n
d 0 2! d 0
2
3! d 0
3
4! d 0
4
n! d 0
n
1
k L2 sin 2 P L (1 cos ) 0 d4
2 4 k L 2
cos 2 P L cos
d 4
d 1
k L2 sin 2 P L sin 0 d4
d 2 4 k L2
k L2
3 k L2
d 4
d2
k L2
cos 2 P L cos 0 d4
d 2
0
d 4
d3
2k L2 sin 2 P L sin 0 UNSTABLE at 0 when buckling occurs
d 3
Since the first non-zero term is < 0, the state is unstable at P=Pcr and =
ENERGY METHOD LARGE DEFLECTIONS
1 UNSTABLE
UNSTABLE
0.8
Load P/Pcr
0.6
UNSTABLE
0.4
0.2
0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation
ENERGY METHOD - IMPERFECTIONS
0 P
L
k
L cos(0)
P
L
L sin
L sin
O
0
L cos
L (cos0-cos)
ENERGY METHOD - IMPERFECTIONS
P
L
L sin
L sin
O
0
U We
1
U k L2 (sin sin 0 ) 2
2 L cos
1
k L2 (sin sin 0 ) 2 P L (cos 0 cos )
2
d
k L2 (sin sin 0 ) cos P L sin
d
d
For equilibrium; 0
d
Therefore, k L2 (sin sin 0 ) cos P L sin 0
sin 0
Therefore, P k L cos (1 ) for equilibrium
sin
The equilibrium P relationship is given above
ENERGY METHOD - IMPERFECTIONS
sin 0 P sin 0
P k L cos (1 ) cos (1 )
sin Pcr sin
dP sin 0
Pmax 0 k L( sin ) 0 sin sin 3
1.2
d sin
2
0.8
Load P/Pcr
0.6
0.4
0.2
0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation
ENERGY METHOD - IMPERFECTIONS
As shown in the figure, deflection starts as soon as loads are
applied. There is no bifurcation of load-deformation path for
imperfect systems. The load-deformation path remains in the
same state through-out.
The smaller the imperfection magnitude, the close the load-
deformation paths to the perfect system load deformation path.
The magnitude of load, is influenced significantly by the
imperfection magnitude.
All real systems have imperfections. They may be very small but
will be there
The magnitude of imperfection is not easy to know or guess.
Hence if a perfect system analysis is done, the results will be
close for an imperfect system with small imperfections.
However, for an unstable system the effects of imperfections
may be too large.