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Fjy
j (lx, ly)
Fjx
ly
P (x,y,p)
Fiy
lo, E, Ao, w
Fix
x
i (0,0)
lx
Geometric constraint
dp
w
dy
(2.1)
( sin
, cos
, sin cos )
dx
- 1 -
Equilibrium condition
y
T
P
Fiy
y(s)
w, s
Fix
(2.2a)
(2.2b)
x(s)
Constitutive relation
(2.3)
Boundary conditions
Parametric solution
Solution for
(2.4)
Solution for
and
- 2 -
Integrating Eq.(2.5)
ln
Therefore, yields
(2.6)
Solution for
and
Integrating Eq.(2.7)
Therefore, yields
- 3 -
(2.8)
(2.9)
(2.10)
Using equilibrium equations and Eq.(2.4), above two equations can be expressed as
simplified forms :
Where,
(2.11)
(2.12)
(2.13)
(2.14)
- 4 -
From Eq(2.3),
(2.15)
Integrating Eq.(2.15)
Therefore, yields
The strained
equation.
le ngth of cable
ln
Where,
(2.16)
into above
(2.17)
- 5 -
(2.18)
tan (radians)
tan
(radians)
- 6 -
(2.19a)
(2.19b)
Example 2-1
When the material and geometrical conditions for cable are given as follows ;
Fjy
j (lx, ly)
Fjx
ly
P (x,y,p)
Fiy
lo, E, Ao, w
Fix
x
i (0,0)
lx
- Material conditions : , , ,
- Geometrical conditions : ,
Determine the horizontal and vertical forces at -node induced by self-weight of cable.
Sol)
- Newton-Raphson formula -
where,
(Jacobian matrix)
,
,
- 7 -
Iteration (kN)
0
-10.00 (I.G.)
1
-12.09
2
-23.85
3
-46.65
4
-89.88
5
-169.18
6
-307.74
7
-534.65
8
-878.86
9
-1363.01
10
-2005.39
11
-2828.89
12
-3863.48
13
-5130.88
14
-6603.62
15
-8131.41
16
-9378.18
17
-9992.34
18
-10102.08
19
-10104.97
20
-10104.97
* I.G. : Initial guess
By iterative process,
(kN)
-1.00 (I.G.)
3682.68
1664.26
1664.13
1663.78
1662.55
1658.49
1646.47
1615.34
1546.69
1418.08
1208.72
902.81
493.04
-7.75
-541.83
-984.19
-1203.80
-1243.20
-1244.24
-1244.24
and
The strained cable profile can be obtained from Eq.(2.6) and Eq(2.8). Also, the cable tension
forces along the strained cable profile can be obtained from Eq.(2.4).
- 8 -
Example 2-2
When the material and geometrical conditions for cable are given as follows ;
Fjy
j (lx, ly)
Fjx
ly
P (x,y,p)
Fiy
lo, E, Ao, w
Fix
x
i (0,0)
lx
- Material conditions : , , ,
- Geometrical conditions : ,
Determine the horizontal and vertical forces at -node induced by self-weight of cable.
Sol)
- 9 -
By iterative process,
and
The strained cable profile can be obtained from Eq.(2.6) and Eq(2.8). Also, the cable tension
forces along the strained cable profile can be obtained from Eq.(2.4).
- 10 -
<CASE 1>
Givens : , , , , and
Unknowns : ,
Newton-Raphson formula
where,
(Jacobian matrix)
,
: iteration order
- 11 -
<CASE 2>
Givens : , , , , and
Unknowns : ,
Newton-Raphson formula
where,
: iteration order
- 12 -
<CASE 3>
Givens : , , , , and
Unknowns : ,
Newton-Raphson formula
where,
: iteration order
- 13 -
Fiy
j (lx, ly, lz)
Fix
ly
P (x,y,z,p)
Fiy
Fiz
Fix
Fiz
x
lo, E, Ao, w
i (0,0,0)
lz
lx
Geometric constraint
(2.15)
- 14 -
Equilibrium condition
P (x,y,z,p)
T
y(s)
Fiy
w, s
Fix
i (0,0,0)
Fiz
z(s)
x(s)
(2.16a)
(2.16b)
(2.16c)
Constitutive relation
(2.17)
Boundary conditions
Parametric solution
Solution for
- 15 -
(2.18)
Solution for
and
Integrating Eq.(2.19)
ln
Therefore, yields
(2.20)
Solution for
and
Integrating Eq.(2.21)
(2.21)
- 16 -
Therefore, yields
(2.22)
Solution for
and
Integrating Eq.(2.23)
ln
Therefore, yields
- 17 -
(2.24)
Substituting
yield
and
(2.25)
(2.26)
(2.27)
Using equilibrium equations and Eq.(2.18), above three equations can be expressed as
simplified forms :
(2.28)
(2.29)
(2.30)
Where,
(2.31)
- 18 -
(2.32)
To employ a standard finite element procedure, the nodal forces have to be expressed
with respect to the nodal coordinates of a cable element.
Eq,(2.25) ~ Eq.(2.27) are function having three unknowns( , and ) so that these
equations can be expressed as following form ;
(3.1a)
(3.1b)
(3.1c)
and
leads to the
(3.2a)
(3.2b)
(3.2b)
where,
(3.3)
- 19 -
and
(3.4a)
and
Fjy+ Fjy
Fjx+ Fjx
y
Fiy+ Fiy
From
( )
w, lo
Fix + Fix
(3.4b)
Since the variations of , and are the difference of and -nodal coordinates, the
following equations can be obtained ;
- 20 -
(3.5)
Substituting Eq.(3.5) into Eq.(3.4), we obtain the stiffness matrix of a cable element.
where,
(3.6)
- 21 -
TCUD analysis for finding the initial shape of suspension bridge is presented in this section.
In Example 2-1 and Example 2-2, the horizontal and vertical forces( and ) only were
unknown variables. However, unstrained length of cable( ) as well as and is
unknown variables in the practical initial shape analysis of suspension bridge. In TCUD
analysis, these three variables are considered as unknowns so that the solutions for these
variables are obtained, simultaneously.
To employ a standard finite element procedure, the nodal forces have to be expressed
with respect to the nodal coordinates of a cable element.
Eq,(2.11) and Eq.(2.12) are function having three unknowns( , and ) so that
these equations can be expressed as following form ;
(4.1a)
(4.1b)
The Taylor expansion of above equations with respect to , and leads to the
following expression ;
(4.2a)
(4.2b)
(4.3)
where,
- 22 -
,
,
(4.4a)
(refer to
(4.4b)
Since the variations of and are the difference of and -nodal coordinates, the
following equations can be obtained ;
, ,
(4.5)
Substituting Eq.(4.5) into Eq.(4.4), we obtain the equilibrium matrix of a cable
element .
where,
(4.6)
where,
(4.7)
: th element
: increment of structural resistance forces
: stiffness matrix associated with
: matrix associated with
: increment of nodal coordinates
: increment of unstrained length
Since the element equilibrium matrix given in Eq. (4.7) is based on the analytical
solution of an elastic catenary cable, one cable element between two adjacent
concentrated loads is sufficient for converging to the exact solution of the given cable.
The global equilibrium equation of cable structure is obtained by using a standard
assembling procedure of the finite element method(FEM) with the element equilibrium
equation of Eq. (4.7).
(4.8)
where, : the number of elements
: assembly operator
Since the initial shape analysis is a nonlinear problem, an iterative process is required
to obtain unknowns. For iterative process, the global equilibrium equation of Eq.(4.8) can
be expressed as the following form :
(4.9)
where, : unbalanced forces at each nodal coordinate
: applied nodal force
: structural resistance forces obtained from the previous iteration
superscript : the number of iterations for finding equilibrium state
(k-iteration)
- 24 -
The incremental equilibrium equation given in Eq.(4.9) cannot be directly solved since
the number of equation is smaller than that of the unknowns(increments of nodal
coordinates and unstrained lengths). Therefore, the additional conditions of which the
number is equal to that of cable elements in a FE model should be provided to solve
Eq.(4.9). These conditions can be obtained from the geometrical conditions of suspension
bridge, such as the positions of hanger in the -axis(horizontal) direction and cable sag.
Since the x-direction position of hanger( , where ) and cable sag at main
span( ) are predetermined in the bridge planning phase, the specified components of
in Eq.(4.9) corresponding to and should be zero, provided that the nodal
coordinates for and are exactly provided in FE model.
xi
- 25 -
(4.11)
where,
: logical matrix
(4.12a)
(4.12b)
The nodal forces(structural resistance forces) of each cable element can be obtained by
solving Eq.(2.11)~Eq.(2.14) with the updated nodal coordinates and the unstrained
element length.
(4.13a)
(4.13b)
(4.14)
where, subscript : the number of iterations for finding nodal forces
Substituting the converged solutions of Eq.(4.14) into Eq.(2.13), the nodal force vector at
-node of element can be obtained. Therefore, all structural resistance forces are
obtained by assembling the converged element nodal force vectors.
The initial values of the nodal coordinates and the unstrained element lengths for the
equilibrium iteration( -iteration) may be computed by assuming reasonable cable shape.
The horizontal forces of cable elements can also be determined from the parabolic
assumption on the shape of cable elements. The initial values of the vertical nodal
- 26 -
forces and the unstrained length of each element are computed by solving Eq.(2.11) and
Eq.(2.12) iteratively with the aforementioned nodal coordinates and the horizontal nodal
forces.
Assuming that the main cable is fixed at the tower saddle, the main span and side
spans can be analyzed separately. Since the tension force of the main cable at the
saddles are obtained by TCUD analysis(initial shape analysis), the horizontal component
of the cable tension force of side spans at the saddles are calculated in advance. For
the side spans, therefore, the horizontal force at the saddle can be included in Eq.(4.11).
- 27 -