You are on page 1of 30

CE 579: STRUCTRAL STABILITY AND DESIGN

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

We will currently look at the use of the energy method for an


elastic system subjected to conservative forces.
Total potential energy of the system depends on the work
done by the external forces (We) and the strain energy stored in
the system (U).
= U - We.
For the system to be in equilibrium, its total potential energy
must be stationary. That is, the first derivative of must be
equal to zero.
Investigate higher order derivatives of the total potential energy
to examine the stability of the equilibrium state, i.e., whether the
equilibrium is stable or unstable
ENERGY METHD
The energy method is the best for establishing the equilibrium
equation and examining its stability
The deformations can be small or large.
The system can have imperfections.
It provides information regarding the post-buckling path if large
deformations are assumed
The major limitation is that it requires the assumption of the
deformation state, and it should include all possible degrees of
freedom.
ENERGY METHOD
Example 1 Rigid bar supported by rotational spring
Assume small deflection theory
k P Rigid bar subjected to axial force P

L
Rotationally restrained at end

Step 1 - Assume a deformed shape that activates all possible d.o.f.

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

In state-1, stable when P<Pcr, unstable when P>Pcr


No idea about state during buckling.
No idea about post-buckling equilibrium path or its stability.
P
Unstable
Indeterminate
Pcr

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

Determine the first non-zero term of ,


1 0 0 1 d4 1
k 2 P L (1 cos ) 4 k4 0
2 d 4! d 0
4
24
d 0
k P L sin d 0
d d2
d2 0
k P L cos d 2 0
d 2
d3 d3
P L sin P L sin 0
d 3 d 3 0
d4 d4
P L cos P L cos PL k
d 4 d 4 0

Since the first non-zero term is > 0, the state is stable at P=Pcr and =0
ENERGY METHOD LARGE DEFLECTIONS

Rigid bar with rotational spring


1.2

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

Consider example 1 but as a system with imperfections


The initial imperfection given by the angle 0 as shown below

k 0 L P

L cos(0)

The free body diagram of the deformed system is shown below


L P

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

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
ENERGY METHODS IMPERFECT SYSTEMS

Examine the stability of the imperfect system using higher order


derivatives of 1
k ( 0 ) P L (cos 0 cos )
2

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

Example 2 - Rigid bar supported by translational spring at end


P

k
L

Assume deformed state that activates all possible d.o.f.


Draw FBD in the deformed state
P
L
L sin

O
k L sin

L cos

L (1-cos)
ENERGY METHOD SMALL DEFLECTIONS

Write the equation representing the total potential energy of system

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

Write the equation representing the total potential energy of system


P
U We L

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

For equilibrium P k L cos


d2
k L2 cos 2 k L2 cos 2
d 2
d2
k L2 (cos 2 sin 2 ) k L2 cos 2
d 2
d2
k L2 sin 2
d 2
d2
0 ALWAYS. HENCE UNSTABLE
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

Determine the first non-zero term of ,

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

Rigid bar with translational spring


1.2

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

Consider example 2 but as a system with imperfections


The initial imperfection given by the angle 0 as shown below

0 P
L

k
L cos(0)

The free body diagram of the deformed system is shown below

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

We P L (cos 0 cos ) L (cos0-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

Pmax k L cos 3 Envelope of peak


1 loads Pmax

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.

You might also like