Lehigh University

Lehigh Preserve
Fritz Laboratory Reports Civil and Environmental Engineering

1971

Tangent stiffness method for biaxial bending, 1971

(72-1)
Sakda Santathadaporn

W. F. Chen

Follow this and additional works at: http://preserve.lehigh.edu/engr-civil-environmental-fritz-lab-

reports

Recommended Citation
Santathadaporn, Sakda and Chen, W. F., "Tangent stiffness method for biaxial bending, 1971 (72-1)" (1971). Fritz Laboratory Reports.
Paper 283.
http://preserve.lehigh.edu/engr-civil-environmental-fritz-lab-reports/283

This Technical Report is brought to you for free and open access by the Civil and Environmental Engineering at Lehigh Preserve. It has been accepted
for inclusion in Fritz Laboratory Reports by an authorized administrator of Lehigh Preserve. For more information, please contact
preserve@lehigh.edu.
LEHIGH I ER IT

Space Frames with Biaxial Loading in Columns

TANGENT STIFFNESS :METHOD

FOR BIAXIAL BENDING

by
Sakda Santathadaporn
Wai-Fah Chen

NAVISHIPS NO. 0911-000-9010

Fritz Engineering Laboratory Report No. 331.16
 TANGENT STIFFNESS METHOD FOR BIAXIAL BENDTI1G

by
Sakda Santathadaporn
and
Wai-Fah Chen

, \

KEYWORDS: Biaxial Bending; Columns; Metals; Curvature; Structural

Engineering; Tangent Stiffness; Computers

ABSTRACT

A method for computing generalized stress-strain relation-

ships (mament-thrust-curvature relationships) for metal column sec-

tions in biaxial bending is described. The analytical formulation

of the force-deformation equations in terms of the rate of change

leads to a linear relationship between these quantities. Solutions.

are obtained by the tangent stiffness method and a,digital computer.

The method is found to be extremely powerful and efficient for com-,

puter solution.

, .~
 TANGENT STIFFNESS METHOD FOR B!AXIAL BENDING

by
Sakda Santathadaporn1 , A.M. ASeE
and
Wai-Fah Chen2 , A.M. ASCE

INTRODUCTION

Generalized stress-strain relationships are of prime impor-

tance in any analysis of structural behavior. For a baxially loaded

column, the appropriate set of generalized stresses are bending

moments M and M and axial force P. The corresponding set of

x y
generalized strains are bending curvatures ~ and ~ and axial strain
x y
e. The generalized stresses and generalized strains are shown in
o
Fig. 1 in positive direction. For convenience in further discussion,

the following vectors of force and deformation are defined:

{f} = (1)

{x} = (2)

1Structura1 Engineer, Gannett, Fleming, Corddry, and Carpenter, Inc.,

Harrisburg, Penna., formerly, Research Assistant, Fritz Engineering
Laboratory, Lehigh University, -Bethlehem, Penna.
a '.
Associate Professor of Civil Engineering, Fritz Engineering Lab-
oratory, Lehigh University, Bethlehem, Penna.

-1-
 Herein, a study is made of the relationship of generalized

stresses (f} and generalized strains (x} for a metal compression member

in biaxial bending. A somewhat similar solution, for a reinforced con-

crete member has recently been reported by Warner [5J.

Since plastic behavior is load path ,dependent and usually

requires step-by-step calculations that follow the history of loading,

it is only possible to establish the relationship between the gen-

eralized stress increments [i} and the generalized strain increments

[X}, provided that the existing state of stress and strain is known.

This relationship is introduced into the tangent stiffness matrix

which will be derived herein. Once the relationship is established,

it is easy to find the path of generalized strains (X} for a given

path of generalized stresses (f}.

In the present work, the elastic unloading of yielded fibers

will be ignored. The error from this assumption can be minimized if

the load is monotonically increased. The discussion will be limited

to wide~flange sections. Although the material is assumed to be

elastic-perfectly plastic, as shown in Fig. 2, the method developed

can be applied to include strain-hardening with only slight modifi-

cations~

MATHEMATICAL FORMULATION

Consider the partially yielded cross-section of Fig. 3.

Equilibrium is satisfied when the external forces are equal to the

internal forces. This results in the following relationship between

the generalized stress and the ~tress a:

-2-
 - Mx =- Sa yciA (3a)

M
y
= - Sa x dA (3b)

- p = Sa ciA .. (3c)

The sign for stress cr is positive when it is tensile.

The stress-strain relationship for an elastic-perfectly

plastic material is

Es

C1 = (4)

ay * sign of E:

where e is the yield strain. The expression does not take into con-
y
sideration the irreversible nature of plastic strain.

It is assumed that plane section remains plane. after de-

fonmation. Thus, the strain e at a point in the cross-section can

be expressed in a-linear form as

E: = - y ~
x - x ~+
y e0 + e: r (5)

Here, the tensile strain is assumed to be positive and the residual

strain e is superimposed in the eq~ation. The negative signs in

r
the first -two terms ,of" the r'ight-hand side of the equation indicate

that the positive curvatures

b~nding ~
x and cP
y
produce compressive

strains in the first quadrant of the x-y coordinate system.

-3-
 The rate equations of equilibrium are:

.
- Mx = - J ~y dA (6a)

M
. -, -J~x dA (6b)
y

- p = J; dA (6c)

The rate of change of stress is given by

<I e I < E: )
Y
.=
C1 (7 )

The strain rate equation is

e =- y
.
~
.
- x ~. y + e 0 + e r (8)
y

The residual strain e is independent of time; therefore

r

I:!t
~r
= 0 (9)

Equation (8) reduces to

S =- !
.
~x - x ~y + So
. . (10)

-4-
 A combination of Eqs. (6), (7), and (10) gives a set of

simultaneous linear equations which can be written in matrix form as

~
~l ~a ~3 X
. ~
M
y = ~1 Q
22
Q
23 Y (11)

QS1 Q QS3 -
e
0
32

where Q.. is defined as

~J

~l = J E" dA (12a)

Q = J E~ dA (12b)
aa

Q
33
= JEdA (12c)

~2 = Q
a1
= JE x y dA (12d)

~3 = Q
3l
= - J EydA (12e)

= Q = - JE xdA
~3 S2 (12)

Equation (11) can be rewritten as

.
[Q] {xl (13)

This linear force-deformation relationship can also be dervied by apply-

ing Taylor's theorem as given in Appendix I'.

The matrix [Q], whose elements are given by Eqs. (12), is

defined as the tangent stiffnes's matrix since it represents the

-5-
tangent of the force-deformation curve as well as the stiffness of the

cross-section.

If the section is elastic and x and yare the principal axes,

the following equations are obtained:

Q,.l = EI (14a)
x

~2 = EI
y
(14b)

Q = EA (14c)
S3

Q
ij
= 0 (i :f j) (14d)

Since the quantities Q.. are constants throughout the elastic range,
1J
the dots can be deleted from Eq. (11).

For the partially yielded section (Fig. 3), Eq. (14d) no

longer holds. None of the elements of the tangent stiffness matrix

will be zero, except when the section is completely yielded. Unlike

in the elastic problems, the matrix [Q] of the yielded section is a

function of, the current state of stress and strain as well as the prop-

erties of the material and the cross-section. For an elastic-perfectly

plastic material, the value of E is zero in the yielded zone. Therefore,

only the area of the elastic core will contribute to the integration in

Eqs. (12). This implies that further increment of external forces is

resisted by the remaining elastic area of the section only.

If the material is of strain-hardening type, the value of E

in Eqs. (12) must be replaced by, the tangent modulus E in the regions
t

of strain-hardening.

-6-
 CONVERGENCE OF THE METHOD

The convergence of the method is illustrated graphically

in Fig. 4. The curve OABC in the figure is the true force-deformation

curve. Let [fA} and (XA} be the vectors in state "A" which satisfy

equilibrium. It is now required to compute the deformation in stage

"B" when the prescribed force is (f }. The increment of force from

B
"A" to "B" is

,.t

(fA} = [fB} - [fA} (15)

The matrix [QA J which is equivalent to the slope at point

. "Att on the curve is detennined from Eq. (12). With the increment

of external force (fA}' the increment of deformations is obtained

from

(16)

where [QA J-1 is the inverse of the matrix [

QA J

The above equation is merely an approximate solution, because

[QA J is calculated before the increment occurs. The tangent stiffness

.matrix alters slightly as the elastic-plastic boundary moves during the

increment of deformation. Nevertheless, the equation gives a good pre-

diction of the increment of deformation, provided that the increment

of external -force 'is small . The first estimated deformation is given

by the sum of (X } and the incrcemental defonnation predicted by Eq. (16)

A

-7-
 (17)

The deformation gives rise to internal force (1) which is not in.

equilibrium with the external force [f ). The first unbalanced

B
force {l} is computed from

(18)

The next step is to find a correction vector [~) which

will be added to [IS.} in order to eliminate the unbalanced force.

[>s,) is obtained from:

(19)

-1 .
where [QiJ is the inverse of the new tangent stiffness matrix [~J

corresponding to the state [f1 ) a~d [Xl}.

The process is repeated until the unbalanced force becomes

zero or is within a prescribed tolerant limit.

If the increment of force is small, the first estimate of

the increment of deformation fram Eq. (16) is quite accurate and the

subsequent correction will not be necessary. Eyen with a large in-

cremental force, the solution will generally converge within just a

few cycles of iteration. The unbalanced force resulting from each

iterative cycle is always smaller than the "previous one and diminishes

rapidly.

-8-
 RES rnUAL S TRAmS

In the previous derviation, the residual strain did not

appear in the rate equations. However, its existence in Eq. (5)

has an important influence on the tangent stiffness matrix.

When the section is free of external forces, the resultant

forces due to the sum of residual stresses over the whole cross-section

must be zero. For a hot-rolled wide-flange section, the residual stress

pattern can be. closely idealized as shown in Fig. 5. With the sym-

metrical distribution of residual stresses, the equilibrium conditions

for bending moments are automatically satisfied. The equilibrium of

axial force requires that

art = [ bt
bt
+ (d - 2t) w
J (20)

The residual. stress at a point in the flanges and the web

can be expressed as:

2
Flanges: crr = crr t - (crr t + crrc ) b Ixl (21a) .

Web: (21b)

The residual strain is obtained by dividing the residual

stress by Young's _modu~u~ E.

-9-
 NUMERICAL STUDIES

Based upon the equations formulated, a computer program was

developed to provide numerical results. The elements of the tangent

stiffness matrix were evaluated numerically by dividing the cross-

section into finite elements as shown in Fig. 6. The strain and

stress in each element were computed as the average values at its

centroid. The details can be found in Ref. 3.

The solutions shown in Figs. 7 and 8 were plotted by the

computer. The curves are not smooth, but have a slight jagged

appearance because the moving of the plotter is in succession of

horizontal and vertical steps of 0.01 inches. All the values are

non-dimensionalized with respect to quantities at initial yield

and the section used in the study is W8 x 31.

Figure 7 shows the moment-curvature relationships for weak

axis bending (m vs. ~ ) for various values of m. The axial force,

y y x
P, was maintained constant at 0.3 P
Y

The influence of residual stress is shown in Fig. 8. As

can be seen, the presence of the residual stress has a significant

effect on the elastic-plastic ,behavior of the curve. The plastic

limit moment is, of course, not affected by the residual stress.

The l~it moments were compared with those obtained previously by

the limit analysis method [4] and an excellent agreement was found

in all cases [3].

-10-
 CONCLUSION

The formulation of the force-deformation equations from

the viewpoint of the rate of change leads to a linear relationship

between these quantities. The tangent stiffness matrix has been

used to predict the incremental deformations and to estimate the

correction vector for the unbalanced forces. The process is 'Shown

to be convergent. The method is extremely powerful and efficient

for computer solution.

ACKNOWLEDGEMENTS

This study was part of the general investigation on "Space

Frames with Biaxial Loading in Columns" being carried out at Fritz

Engineering Laboratory of Lehigh University. The work was sponsored

jointly by the Welding Research Council and the Department of the

Navy, with funds furnished by the American Iron and Steel Institute,

Naval Ships System Command, and Naval Facilities Engineering Co~nd.

The authors wish to thank Dr. Le-Wu Lu who served as the

director of the project.

-11-
 APPENDIX I

DERIVATION OF TANGENT STIFFNESS MATRIX

BY USE OF TAYLOR'S THEOREM

The analysis of the problem involving nonlinearity of

material properties is complex even with the simplest form of the

stress-strain relationship, such as the elastic-perfectly plastic

material. The attempt here has been to express the problem as a

set of simultaneous linear equations by considering the rate of

change of material properties. Based upon the same idea, Gurfinkel

obtained a set of equations by applying Taylor's theorem to the non-

linear problem of biaxially loaded footings [lJ. The intent in this

Appendix is to establish the relationship between the elements of

the tangent stiffness matrix [Q] and the coefficients using Taylor's

series.

If the plastic strain is reversible, it is then possible

to express generalized stresses in tenus of generalized strains as

follows:

M =M (CR , <p
y' e 0 )
(22a)
x x x

M =M
y y
(~
x
, ~
y'
e )
0
(22b)

p = p (~
x
, <p
y' e 0 )
(22c)

[These generalized strains differ from those used by Gurfinkel]. At

the existing state, Mx(A)' My(A)' and P(A) are known. The problem

is to find the corresponding quantities for the subsequent state.

-12-
 (23a)

My(B) = My(A) + 5 My (23b)

P(B) = P(A) + 5 P (23c)

Applying Taylor's theorem and neglecting all terms contain-

ing derivatives higher than the first order, the increments may be

expressed as

oMx oMx oMx

8Mx 5<R
o~x o'P y oe o x

oM oM oM
8My = -:L -:L ~ o~
ocp Oy oe o y (24)
x'

8P.
oP oP OP as 0
O<P
x o~
y oe 0
(A)

The partial derivatives are with respect to the state of A. the

coefficients of the stiffness matrix can be numerically evaluated.

For instance, by assuming an increment ~~ (~~ = ~ = 0), the

- x y 0

first column of the tangent stiffness matrix is obtained by dividing

the corresponding increment of forces ~M, llM , and ~p by b.~. The

x y x
ratios will be close to the values of the derivative if ~~ approaches
x
zero, that is

(25a)

-13-
 lim AM oM
::J:.. = -:i.. (25b)
Li~x ... 0 ~g}x OCR x

lim ~ ~
Li~x -. 0 A~x
=
oCR x (25c)

The technique has been utilized in Refs. (1) and (2).

By comparison between Eqs. (24) and (11), it is apparent that

oMx
M = - ~1 = -
J E y2 dA (26a)
x

Q,
22
= J E x3dA (26b)

oP = -
. oeo Q33 =- J E dA (26c)

(26d)

oP _ Q = (26e)
o<-P - - 13
x

oM oP
~ = - o~y = Q23 =- JE x dA (26)

-14-
 APPENDIX II

REFERENCES

1. Gurfinkel, G.
ANALYSIS OF FOOTINGS SUBJECTED TO BIAXIAL BENDING, Journal
of the Structural Division, ASeE, Vol. 96, No. ST6, Prac.
Paper 7329, June 1970, pp. 1049-1059.

2. Harstead, G. A., Birnstiel, C., and Leu, K. C.

INELASTIC BEHAVIOR OF H-COLUMN'S UNDER BIAXIAL BENDTIIG,
Journal of the Structural Division, ASeE, Vol. 94,
No. STlO, Prac. Paper 6173, October 1968, pp. 2371~2398.

3. Santathadaporn, S. and Chen, W. F.

ANALYSES OF BIAXIALLY LOADED COLUMN'S, Fritz Engineering
Laboratory Report No. 331.12, Lehigh University, Bethlehem,
Penna.

4. Santathadaporn, S. and Chen, W. F.

INTERACTION CURVES FOR SECTIONS UNDER COMB lNED BIAX'IAL BEND-
ING AND AXIAL FORCE, Welding Research Council, Bulletin
No. 148, February 1970.

5. Warner, R. F.
BIAXIAL MO:MENT THRUST CURVATURE RELATIONS, Journal of the
Structural Division, ASeE, Vol. 95, No. ST5, Proc. Paper
6564, May 1969, pp. 923-940.

-15-
 APPENDIX III

NOTATIONS

The following symbols were used in this paper:

A cross-sectional area

b width of wide-flange section

d depth of wide-flange section

E modulus of elasticity

tangent modulus of elasticity

vector of force defined by Eqs. (1)

I ,I moment of inertia about x and y axes

x Y
M ,M moment about x and y axes
x Y
M fully plastic moment about x axis when no axial
px
force or moment about y axis is acting

M fully plastic moment about y axis when no axial

py
force or moment about x axis is acting

m
x
M
xpx
1M
m
y
M
y
1Mpy
p axial force

p yield load (Py = cry A)

,y
p pIp
y
Q ,[Q] tangent stiffness matrix defined by Eq. (12)
1J
t thickness of flange

w thickness of web

x,y reference coordinate system

strain

eo strain at origin of coordinate system

-16-
e residual strain
r
e 'yield strain
y
a stress

or residual stress

CI residual stress in compression

rc

O'rt residual stress in tension

a yield stress'
y
~ ,~ curvature about x and y axes
x y
cpx'~Y non-dimensional curvature

{xl deformation vector defined in Eq. (2)

-17-
 ~.

z.

. . y
/
, ,"
.;

."

I Unit
..

"' .

. ' .

. ~

(
.~ig 1: Positive Vectors of Forces and Deformations
-18-
 ..
,~

.' .','

II. ~

i> .

. ..~~
'

u
STRESS

. , .

Fig.2: Stress-Strain Relations for Elastic-

Perfectly Plastic Material' .

c
-19- , .
 Yield Zone
~p
ts~~;:,;~~::~{:l Tension
Y.

-------t--t-+---------x
, ..

..

..
Fig. 3: A Partially Yielded Section

-20-
 f

t
r Arst Unbalanced
Force
'Second Unbalanced'
Force

f
-.

..
o
. .

.,
. ~.

..
c Fig. 4: Convergent Scheme for Force-,Defornlation Curve

-21.-
 ..
. CFrt

"rc

y
-
i

. Ur'f
I

...........-------x ~-:-~
' .. I---
-

(-
I' I

-..

c Fig. 5: Residual Stress Distribution

-22-
 , , .
...
-

,f

~1 Jl .
t
_u
_ ~ ~~-"'--~--"""'.---'---"---.I"---'-r-~--a..,--t-r-J---...I-..-.t..--..a.---.Jl.-"""'-....L-""-'--

.'.
, .

c d. ---------x

-----

"

.h-----------i~ b

c: Fig. 6:
~ .
A Wide-Flange Section divided into Finite Elements
-23-
 ... ""!. ~,_ It ",
,~-- (.....-.....\

.'

8
q
. . mx ~O

-l .-

J
'='
a
~ I ./' - 0.4

~g
~ UJ-
s::
f-
-1 . / / 0.6
A
Z
--
lu
~-
~ o
I .t::-
g I'
N
+'
I
V
~ -t . f':

j 1// ...
SW5t
81
..
t'J
II p :: O. 3

'8
D
- ~
! r I I I I -I I I I
0.000 1.000 2.000 S&'1J 4.000 5&000 6.000 7.000 8.000
CURVATURE ~ y
o

MOMENT CURVATURE CURVE

Fig. 7: ~oment Curvature Curves for Biaxial Bending
~ .... # . . . . . . . - ~ ...... , , , . . . . . . . . . . . . ... --- I" ~ ., ... r: ". _. 'Of -'" . . '.:'-.' ' ,.. . .r---'----- - o~ - .----- ,

f . 1
.I
r .'
 ,:t o -
.,~ .....l-t
~
~ - --....-
-

"" ~ \>

~
,.,;1
tE
.....

Residual Stress
g
l~

E
~8
c.r.?
With Residual Stress (O"rc =0.3 0"y)
r-
z "
lLi
;;-
o
. - '='
I -l:- CJ
N "'J-
VI ...
t

8~F31 4':

p=O.3
O'
o mx =0.4 '
C\J

,.

8
o..,
t , -r I .". -----~~---=---I J J J
1.000 2.000 3.000 4.0GJ 5.000 6.000 7.000 8.000
CURVATURE epy
MOMENT CURVATURE CURVE
. Fig. 8: Effect of ReSidual Stress
.... .. . l- ........ L.il-_,.V.~~"' ... - .. ) ~"'.~"'''''''''--'''''''''1''''''':' ~f,.., ~ t ... , . " " , ... ~ ~ 1 1/4. . . . . - ~ .. - . . . .". + ... 4.' .,..~ ~ ~".

t J

---_____________ . =~~,<.,'"'c,'-,,,," ... ",,.... _.. ._, .-. ,'."