Displacement Method

Canonical equations of the displacement method for structure

with n unknowns
Zj ; .j D 1; 2; :::; n/ are

r11Z1 C r12Z2 CC r1nZn D 0;

r21Z1 C r22Z2 C · · · C r2nZn (13.11)
D 0;
· · · · · · · · · ·
rn1Z1 C rn2Z2 C · · · C rnnZn
Features of D 0:
(13.11):
1. Since the forces Pi are applied only at the joints, then the
canonical equations are homogeneous ones.
2. Bending moment diagram caused by unit displacements of
introduced constrains within the compressed members are
curvilinear. Reactions of constraints depend on axial forces
in the members of the frame, i.e., contain parameter v of
D
critical load. If a frame is subjected to different forces Pi ,
then critical parameters should
be formulated for each compressed
vi P and after that all
member il of
2
2
.E
I/i
these parameters should be expressed in terms of parameter
v for specified basic
member. Thus, the unit reactions are functions of parameter,
i.e., rik.v/.
The trivial solution .Zi D 0/ of (13.11) corresponds to the
initial nondeformable design diagram. Nontrivial solution .Zi
¤ 0/ corresponds to the new form of
474 13 Stability of Elastic
Systems

equilibrium. This occurs if the determinant, which is consisting

of coefficients of unknowns, equals zero, i.e.,
2 3
r11 .v/ r12 .v/ · · · r1n .v/
r21 .v/ r22 .v/ · · · r2n .v/ 7
det 6 D0 (13.12)
4 ··· ··· ··· ··· 5
rn1 .v/ rn2 .v/ ··· rnn .v/

Condition (13.12) is called the stability equation of a structure

in the form of displacement method. For practical engineering, it
is necessary to calculate the min- imum root of the above
equation. This root defines the smallest parameter v of critical
force or smallest critical force.
It is obvious that condition (13.12) leads to transcendental
equation with respect to parameter v. Since the functions '.v/
and щ.v/ are tabulated (Tables A.24 and A.25), then a solution
of stability equation may be obtained by graphical method.
Since the determinant is very sensitive with respect to
parameter v, it is recom- mended to solve the equation (13.12)
using a graphing calculator or computer.
The displacement method is effective for stability analysis of
stepped continuous beams on rigid supports with several axial
compressed forces along the beam and for frames
with/without sidesway.
Let us derive the stability equation and determine the critical
load for frame shown in Fig. 13.13a. This frame has one
unknown of the displacement method. The primary unknown is
the angle of rotation of rigid joint. Figure 13.13b shows the
primary system, elastic curve, and bending moment diagram
caused by unit rotation of introduced constrain. The bending
moments diagram for compressed vertical member of the
frame is curvilinear. The ordinate for this member is taken
from Table A.22, row 1.

a b P
 r11

Z=1
E
I2 l
4i1j2u1
EI1 Elastic curve
4i2
1

l2

Fig. 13.13 (a) Design diagram; (b) Primary system of the

displacement method and unit bending moment diagram

The bending moment diagram yields

D r11 C 4i1 '2 .v1 /
4i2, where parameter of
critical load 1 1
E 1
I
s
P
v Dl :
13.4 Stability of Continuous Beams and Frames 475

Note that subscript 2 at function ' is related to the

clamped–clamped member subjected to angular
displacement of the one support (Table A.22), while the sub-
script 1 at the parameter v is related to the compressed-bent
member 1. Canonical
equation of the displacement method is r11.v1/Z D 0.
Nontrivial solution of this equation leads to equation of
stability r11 D 0 or in expanded form

Special
cases: r11 4E '2 .v1 / 4E D 0:
I1 C I2
D
l1 l2

1. Assume 4EI2 ! 1, rigid

that l2 ! 0. In this case, the second joint
term
l
2
is transformed to clamped support and the initial frame in
whole is transformed
into the vertical clamped–clamped column. Stability equation
becomes '2 .v1 / D
—1. Root of this equation (Table A.25) is v1 D 2ˇ and critical
force becomes

4ˇ2 ˇ2EI
v2 1
P D EI D ;
l
EI
Dcr .0:5l1/2
2
1
2
l
1

where ˛ 0:5 is effective-length factor for clamped–clamped

D
column.
2. Assume EI!2 0. In this case, the rigid joint is transformed to
hinge and the initial frame is transformed into the vertical
 clamped-pinned column. Stability equation becomes '2 .v1 /
D 0. Root of this equation is v1 D 4:488 (Table A.25)
2
and critical force P D 1v 4:4882 ˇ2EI ; ˛ D 0:7
Dcr EI EI D
.0:7l1
l2
1 /2
2
l
1
3. If l1 D l2 ; EI 1 D EI2 , then stability equation becomes '2 .v1 /
C 1 D 0.
The root of this equation is v1 D 5:3269 and critical load equals

28:397EI
1v
P D
2lEI l2 :
Dcr
1
2
1
Now let us consider a nonuniform two-span continuous beam
shown in Fig. 13.14a. We need to derive a stability equation
and determine the critical load.

a b r11
3EI1 j1u1
l1 Z=1Elastic curve
EI1 EI2 P

l1 l2
3EI2 j u 
1 2

l2

Fig. 13.14 Continuous compressed beam: (a) Design

diagram; (b) Primary system and unit bending moment
diagram
476 13 Stability of Elastic
Systems

The axial compressed forces in both spans are equal, so the

dimensionless pa- rameters v1 and v2 for both spans are
s s
P P
v D 1l 1 EI1 2v D2 l
E2 :
I I

Let the left span is considered as the basic member,

D so v1
v. In this
case, the parameter v2 can be presented in term of the basic
parameter v as follows
s s
v 2D v 1 l2 EI1 l2 EI1
l 1 D v˛; ˛ D :
E 2 l1 E 2
I I
The primary unknown of the displacement method is the angle
of rotation at the intermediate support. The primary system
and bending moment diagram due to unit rotation of the
introduced constrain are presented in Fig. 13.14b. Since both
spans are compressed, then the bending moment diagrams
are curvilinear. According to Table A.22, the moment for
clamped-pinned beam in case of angular displacement has
the multiple '1 .v/. Unit reaction, which arises in introduced
constraint, is

r11 .v/
3E ' .v / 3E ' .v / 3E ' .v/ 3E
D 1 1 1 2 1 '1 .˛v/ :
I1 C I2 D I1 C I2

l1 l2 l1 l2

As before, the subscript 1 at the function '1 .v/ reflects the

type of the beam and type of displacement (Table A.22), while
subscripts 1 and 2 at the parameter v denote the number of
the span.
Canonical equation of the displacement method D is r11.v/Z
0. Nontrivial so- lution of this equation leads to equation of
a critical force

r11 .v/ 3E '1 .v/ 3E '1 .˛v/ D 0:

D I1 C I2
Special
cases: l1 l2
1. Assume l! 2 0. In this case, intermediate pinned support
is transformed into clamped support and initial beam
becomes one-span pinned-clamped beam length l1 .
Stability equation becomes '1 .v1 / D —1. Root of this
equation is
v1 D 4:488 and critical force

4:4882 ˇ2EI ; ˛ D 0:7

v1
P D EI D
Dcr
2lEI .0:7l1
2 /2

1 2
l
1

2. Assume l1 l2 l and EI1 EI2 EI.

D D D D D
In this case, parameter ˛1, D the stability equation becomes
D
'1 .v/ 0, and parameter of critical load v
ˇ.
ˇ2EI
So the critical load . This critical load corresponds to
Pcr D column with
pinned-rolled l2
supports.
13.4 Stability of Continuous Beams and Frames 477
3. Assume l D 2l and EI D EI D EI. In this case parameter
r
˛D D
l2 EI1
l E
2 1 1 2
I
1 2
2 and critical load equation becomes '1.v/ C 0:5'1 .2v/ D
0; parameter of critical load v D 1:967. So2 the critical load
l1
3:869EI
Pcr D . It can be seen that
increasing of the one span by two times has profound effect
on the critical load (coefficient 3.869 instead of ˇ2 for two-
span beam with equal spans).
Let us illustrate the displacement method in canonical form for
stability analysis of the multistory frame.
Example 13.4. The two-story frame in Fig. 13.15a is
D
subjected to compressed axial forces P and ˛P . Geometrical
parameters of the frame are h and l ˇh, the bending stiffness
of the members are EI for members of the second level and kEI
for column of the first level. Derive the stability equation in
terms of arbitrary positive numbers ˛; ˇ, and k.

a b c d
r11
P Z1=1
2ij3u
EI i/b r
4i
1
aP EI i
4ij2u b Z2
i/b 2
EI =1
1 r21 2ij3u
4ij2
kEI h ki
M1 u
l=bh r
h
2
2
2
4i
4kij2u2 b
 M2

Fig. 13.15 Two-story frame

Solution. The primary system is presented in Fig. 13.15b. Let

us assign member 1–2 as basic one; its flexural Dstiffness per unit
length equals i EI= h. The flexural stiffness per unit length for
each member are shown in Fig. 13.15b. Parameters of critical
force for member 1–2 and 2-Arare determined as follows:

v h D r
rP D v; PC 1C˛
h Dv :
1 D ˛P
v2
kEI
EI
k
Bending moment diagrams caused by Z1 1 and Z2 1 are shown
D D
in Fig. 13.15c, d, respectively.
Unit reactions are

4i
r11 D 4i'2 .v/ C I r12 D r21 D 2i'3 .v/ I
ˇ
4i
r22 D 4i'2 .v/ C 4ki'2
.v2 / C :
ˇ
478 13 Stability of Elastic
Systems

Stability equation in general and expanded forms are

rˇ11 r12ˇ 0
ˇ D

ˇ
r21
4' 1 r22 1 — ' 2 .v/ D 0:
2 .v/ C .v2 / Cˇ
ˇ · '
2 .v/ C 2

k'
3

Let ˛ D 3; ˇ D 1; k D 4. In this case, v2 D v and stability

equation becomes
4 Œ'2 .v/ C 1˝ · Œ5'2 .v/ C3 1˝ — ' 2 .v/ D 0:
The root of this equation is v D 4:5307. The critical load is

Pcr D
v2EI 4:53072EI
:
h2 h2
D

Example 13.5. The frame in Fig. 13.16a is loaded by two

forces at the joints. De- rive the stability equation and find the
critical load P .

a b
P 1.4P
Primary system
2EI 1 2
i=0.4EI
EI EI
h=10m

i=0.1EI
l=5m

3
4
 c d
Z2=1
r11 Z1=1 r12 Z2=1
r2 r22
R R
1 M13 R2
R
M 13 3i=1. R1
M 2EI M2
13

M31 M1
R M M42
M31 31

M  4ij u  4EIj u M13  6ij4u 

6EIj4u
13 2 12i
2
R  6ij4u  R1  2 h2u 
l
6EIj4u
12EIh2u
R2  3i h11.1832u 
003EIh11.1832u
l2

Fig. 13.16 (a, b) Design diagram of the frame and primary

system. (c, d) Unit bending moment diagrams
13.4 Stability of Continuous Beams and Frames 479

Solution. The frame has two unknowns of the displacement

method. They are the angle of rotation Z1 of rigid joint and
horizontal displacement Z2 of the cross bar. The primary
system is presented in Fig. 13.16b.

Bending moment diagrams caused by unit displacement of

the introduced con- straints are presented in Fig. 13.16c, d;
elastic curves are shown by dotted line. The diagrams within
members 1–3 and 2–4 are curvilinear. Direction of R for M 1
di- agram is explained for the left column (Fig.r 13.16c).
Similarly may be explained D

directions for R1 and R2.M 2 diagram).

r
P2
Parameters of a critical D v D hE I
4
load are v13 1:1832v. v I 1:4P
h D
EI
Canonical equations and unit
reactions are
(a)
r11Z1 C r12Z2
D 0; r21Z1 C
r22Z2 D 0;

wher
e r11 D Œ0:4'2 .v/ C 1:2˝EII r21 D r12 D —
0:6EI'4 .v/I r22 D Œ0:012щ2 .v/ C
0:003щ1 .1:1832v/˝EI

Stability equation becomes:

0:4'2 .v/ C 1:2 —0:6'4 .v/ ˇD0

ˇ —0:6'4 .v/ 0:012щ2 .v/ C 0:003щ1
.1:1832v/
Solution of this equation leads to parameter of critical load v
D
2:12. The
critical load is Pcr D v2EI 4:49EI
:
h2 h2
D
Thus the frame becomes unstable if it will be loaded by two
forces P and 1.4P simultaneously.

Example 13.6. Design diagram of the multispan frame is

presented in Fig. 13.17a. Derive the stability equation and
calculate the critical force.

Solution. The primary system is shown in Fig. 13.17b. The

introduced constraint 1 prevents linear D displacement.
D
Canonical equation is r11Z1 0, so stability equation is r11 0.
Bending moment diagram caused by unit displacement of the
introduced support is presented in Fig. 13.17b. Within the
second and third columns, the bend- ing moment diagrams
are curvilinear.

Free body diagram of a cross-bar is shown in Fig.

13.17c. Shear forces for compressed-bent members are
r
presented in Table A.22. Parameter of critical load
D
P
v h . Unit reaction equals
EI
480 13 Stability of Elastic
Systems

a b
Z1=1
P P r 11

EI

3i 3i j 3i j u 3i 3i
3i u h
1
h h
Q1  h h
1
;
Q4  c
h r11
Q5  2
Q  Q  3i h u
2 3 h2
Q1 Q2 Q3 Q4 Q5
1

d e
P P P P
P P P P P

P
1 1

h EI 2 EI=•
h
2

EI

l l

Fig. 13.17 (a–c) Multispan frame. Design diagram, primary

system and free-body diagram. (d, e) Multispan regular frames;
a number of columns is k

3i 3i
r11 D 3 · 2 C 2 · 2 щ1 .v/ : (a)
h h

The stability equation becomes 3 C 2щ1.v/ D 0. The minimum

positive root of this equation, i.e., the parameter of lowest
critical load is v D 2:4521. Critical load

Pcr D
v2EI 6:0128EI
:
h2 h2
D

Discussion. Analysis of this frame allows easy considering of

two important typ- ical cases. Both cases are related to the
regular multispan frame with k columns loaded by equal
forces P at the each joint. Figure 13.17d presents regular
frame with hinged joints, while the Fig. 13.17e shows the
frame with absolutely rigid cross-bar and fixed joints. In both
cases, the frame has one unknown of the displace- ment
method. Introduced constraint prevents linear displacement;
this constraint is not shown.
For both cases, the loss of stability is possible according two
different forms. The first form occurs with horizontal
displacement of the cross bar (dotted line 1) and the second
form without of such displacement (dotted line 2). For both
cases, the lowest critical load corresponds to the first form.
For case of hinged joints (Fig. 13.17d), the horizontal
reaction of introduced constraint is
3i
r11 D k · 2 щ1 .v/ :
h
13.4 Stability of Continuous Beams and Frames 481

Stability equation becomesD щ1.v/ D 0 and

the lowest root is v ˇ=2. The critical load is equal
to
Pcr D ˇ2EI
I
4h2
This case corresponds to single fixed-free column. For
second form
D of buckling we get Pcr ˇ 2 EI=.0:7h/2 as for
simple fixed-pinned column.
For case of absolutely rigid cross bar, the lowest critical load
also corresponds to the first form. This form is characterized
D
by horizontal displacement of cross bar, while the fixed 1 joint
have not angular displacements because for cross-bar EI .
In this case the unit horizontal reaction equals

r11 D k ·
12i
щ2 .v/ :
h2

Stability equation becomes щ2.v/ 0 and the

D D
lowest root is v ˇ. The critical load is equal to
Pcr D ˇ2EI
I
h2
This case corresponds to single column with fixed ends while the one fixed sup- port
permit the horizontal displacement. For second form of buckling, we get Pcr 4ˇ2EI=
D2
h as for fixed-fixed column.
We can see that for these regular frames, a critical load P does not depend of the
number of columns k and length l of each span.