Prof.

Connor Section 3: Analysis of Cable Supported Structures Many high performance structures include cables and cable systems. Analysis and design of cable systems is a complex topic. Individual cables have a non-linear equivalent stiffness. In addition, the interaction between multiple cables must be considered. In order to be able to analyze and design cable supported structures, a number of different topics must be covered. The topics to be covered are: 3.1 - Cable equations 3.2 - Modeling of beam with single cable using an equivalent spring 3.3 - Modeling of beam with multiple cable using a beam on equivalent elastic foundation 3.4 - Design procedures for cable/beam system

1.571 Structural Analysis and Control

1.571 Structural Analysis and Control Prof Connor

Section 3 Page 1 of 28

3.1 Equations of a single cable 3.1.1 Equilibrium Equations

Y w T -x T + ----x -x + ----x

bx

v ( x) X

F F

x
x

= T cos + T cos + ( T cos ) x + b x x = 0 x

( T cos ) b + x = 0 x
y

= T sin + T sin + ( T sin ) x w x = 0 x

( T sin ) w = 0 x

When b = 0 ; For self-weight

( T cos ) = 0 T cos = H = constant x = weight of cable / unit length w x = s wdx = ds dx ds = ----------cos dx 1 - = ----------w = ----------------dx cos cos

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 ( T sin ) ----------- = 0 cos x HT sin = ----------sin = h tan cos dv tan = ----dx

So
H dv ----- ----------= 0 x dx cos

Knowing
1 1 cos = --- = -------------------------- 2 dv - 1 + ---- dx

we get
2 d v dv ------- = ------- 1 + 2 dx H dx 2

3.1.2 Example
Y

v(x) X

Boundary Conditions
dv ----dx = 0
0 2

v(0 ) = b

Solution Let so
v dv ----- = p, d ------- = dp ----- , and = --2 dx dx H dx dp ----- = 1 + p2 dx dp ------------------ = dx 2 1+p

Integration by parts leads to

ln ( p + 1 + p ) = x + C 1
1.571 Structural Analysis and Control Prof Connor Section 3 Page 3 of 28

p+ 1+p = e

x + C1

= e 1e

for
dv ----- = p = 0 at x = 0 dx C2 = 1 p+ p +1 = e p +1 = e p +1 = e
2 2x 2 x 2x 2 x

= C2 e

Then

p
x

2 pe

+p

e 1 - = e x e x 2 p = -----------------x e

dv - = 1 -- ( e x e x ) p = ----dx 2

Integrating
1- x x v = ----( e + e ) + C3 2

for y = b at x = 0
1 - = bH --C 3 = b - H - (for convenience) Setting b = --

Finally

C3 = 0
x H H Hx ----+e v = e 2 -- ---

at any point along the cable Then

H - cosh --v = --x = caternary (chain) H

HT = ----------cos
2 dv - H 1 + ---- dx

T =

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For w = constant and b = 0

HT cos = H T = ----------cos ( T sin ) w = 0 x ( H tan ) w = 0 x H v w = 0 x x v - = w H ------2 x
2

then

1 - wx 2 Hv = C 1 + C 2 x + -2 x = x1 v = v1 v = v2

Boundary Conditions
x = x2

3.1.3 More Examples Example #1

T

w T v x H

h L2 v = 0 at x = L 2 v , x = 0 at x = 0
2 1 - wx Hv = C 1 + C 2 x + -2 Hv , x = C 2 + wx

L2

then

C2 = 0 1 L 2 - -- w C 1 = -2 2 1 - 2 L 2 v ( x ) = -----w x - 2 2H wL - = h v ( 0 ) = v max = --------8H

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2

Example #2

Y, v

chord

vL

1
L

Point 1 at x = 0 v1 = 0 Point 2 at x = L at v 2 = v L
C1 = 0 1 - Hv L 1 -- wL2 C 2 = - L 2

and
wL x 2 -x x - v L + --------- -- - v ( x ) = -L L 2 H L
2

deflection from chord

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3.1.4 Geometric Relations - Arc Length

Y

v(x ) X ds = dx + ( v , x ) dx ds = dx ( 1 + ( v , x ) ) s 12 =
2 2 2 2

2 12 2 12

s2

ds =
s1

x2 x1

( 1 + ( v,x ) )

dx

Simplification for shallow curve So

( v , x ) small wrt 1 sin tan = v , x cos 1 T cos T T H = constant if there is only loading in the y-direction T h x
2 2

Then

Consider cable in Example #1

T v H

L2 x 2 wL - 1 --------v ( x ) = -------- L 2 2H wL Hh = --------8

2

L2

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Section 3 Page 7 of 28

Differentiate
wL x 1 - 2 --------- --------v , x = --------8 H L 2 L 2 wx - = w ---x v , x = -----H T
2

Approximate s (for shallow curve)

s 12 s -- 2

x2 x1

( 1 + ( v ,x ) )
1

2 12

dx

x2

1 x1

1 - ( v , 2 ) dx + -2 x

L2

2 1 - wx ------ dx + -2 H L2 0 3

2 s w -- x + 1 -- --- x 3 2 6 H

2 3 2 L w s w -+1 -- --- L --L --+1 -- --- L -- = -----2 6 H 8 2 2 6 H 2 2 1- --w - L 3 s L + ----24 H

wL H = --------8h
2 2 h 1- 8 hw h --------- L 3 L + 8 -- ---- L1 + 8 -- -- s L + ----3L 24 wL 2 3 L 2

Note:

s = deformed length s o = initial length T = -----AE Ts s = s o = -----AE o T - H- s o 1 + -----s s o + s = s o 1 + ----- AE AE

2 H- 1- --w - L2 s o 1 + -----= L 1 + ---- AE 24 H 2 1- --w - L 2 + ---- so 24 H --- = --------------------------------------L H 1 + ------ AE

The shallow assumption implies T H = constant

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3.1.5 Equivalent Tangent Stiffness A Lo

A
u1 w T v x TL u 1 = -----AE o 1 u 2 = -2 u2

T = H

- Consider Cable AB with initial length Lo - Apply tension T, which results in u1 - Apply transverse loading, w, which results in a negative end movement u 2 . u 2 is a function of T. - The net movement is u 1 u 2 = u B . Chord Shortening
x x = x x cos = x ( 1 cos )

Lo 0

v , x dx

for small and

2 x - - ( v,x ) x --- ---- 2 2 2 1 - v ,x dx u 2 = -2 w -x v , x = --T 2

Then

cos 1 ---2 v ,x

u2 =

1 2 -2

L2 0

w --- x T

dx

w --- T

2L

----24

3 o

T 1 wLo 2 - ----- --------u B = u 1 u 2 = L o -----AE 24 T

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Perturbation - Increment T by an amount T - Get corresponding change in u B

uB + uB =
T + T Lo ---------------AE

1- wL o 2 ------------------- 24 T + T

For small T wrt T

uB du B u B T T u B dT T

u B wLo ) 2 1 1- ( ---------------- - + ----= Lo -----3 T AE 24 T wL o )2 1 1- ( ---------------- dT - + ----du B = L o -----3 AE 24 T du B f B = tangent flexibility = -------dT 1du = k B du B dT = --fB B k B = tangent stiffness AE Lo k B = ----------------------------------------------2 wL 1 AE o - ------ --------1 + ----12 T T ------ as T increases Note: k B approaches AE Lo

Write

A k B = ----- Eeff Lo E E eff = effective modulus = ----------------------------------------------wLo 2 1 AE --------- -----1 + ----12 T T

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Alternate forms (shallow cable)

wL o wL 2 h - --------- = 8 ---Hh Th = --------8 T Lo

where So

T = A* * = intial cable stress

E E - = -----------------------------------E eff = ------------------------------------2 2 16 E h 1 E 8 h - ------ ----- ------ ----1 + ----1 + ----3 * Lo 12 * Lo

and
wL o - = A* T = -------------------8 ( h Lo ) wL o A cable = --------------------------8 * ( h Lo )

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Section 3 Page 11 of 28

3.1.6 Inclined Shallow Cable B

T, u

L wn hm

A
Lh = L cos A -E k = -L eff E E eff = ----------------------------------------------2 L w 1 AE n - - ------ --------1 + ----12 T T hm wn L --------- = 8 ----T L

Evaluation of w n for self-weight

w a ds ds

w a = unit weight per unit length of center line w a ds cos w a ds w n = w a cos

Then

w n L = ( w a cos ) L = w a ( cos L ) = w a L h E E eff = ------------------------------------------------w a L h 2 1 AE ----------- -----1 + ----12 T T

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Section 3 Page 12 of 28

3.2 Modeling of beam with single cable using an equivalent spring Example #1: Cantilever beam with single cable
wd

Reaction at A due to wd
wdL2 M A = -----------2

A
T

Deflection at B due to wd
v wdL 4 v B = -----------8 EI

Reaction at A due to T B Deflection at B due to T

T sin L 3 v B = -------------------3 EI M A = T sin L

Beam and Spring Model

kc

vB

ec

For small v B
e c = spring extension e c = v B sin F c = incremental force in cable F c = k c e c = k c sin v B

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Section 3 Page 13 of 28

Fc

F c sin = k c sin v B

F c cos = k c sin cos v B

for pretensioned cable

Ac k c = ----- Eeff Lc E E eff = ----------------------------------------2 L w 1 AE n - - ------ --------1 + ----12 T T

Non-Linear Spring Model

k c, eq k c, eq = k c sin 2 = k *

This model is used to determine the incremental forces due to line loading. Illustration
P

MA

A
L

k*

Deflection at B
3 PL 3 Fs L v B = v Bp + v Bs = --------- ----------3 EI 3 EI

( P k * vB ) L3 ( P F ) L3 ----------------------- = v B = -------------------------------3 EI 3 EI 3 EI -------- + k * = P vB L3

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Section 3 Page 14 of 28

Moment Reaction at A
k * v B M A = ( PL k * v B L ) = PL 1 ---------- P k * - M A = PL 1 -------------------- 3 EI -------- + k * 3 L MA =
PL 1

1 - ----------------------- 1 3 EI - ----- 1 + -------L3 k*

Note: Inclusion of cable reduces the negative moment at the support and also the deflection at the end point. This effect depends on the relative stiffness of the beam vs the cable.
M A = PL ( 1 ) 1 = -----------------------1 3 EI - ----1 + -------L3 k*

So, for

k* 0 k*

= 0 and MA = PL = 1 and MA = 0

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Section 3 Page 15 of 28

Example #2 Case a
w

L wL -----2 V

Shear
wL -----2 wL 2 8

+
V

Positive Shear

Moment Case b
F

Positive Moment

L2 F -2

L2

+ -

Shear
F -2

FL -----4

Moment

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Section 3 Page 16 of 28

Case c
w

wL ------F -2 2

wL ------F -2 2

wL F wx 2 - -- x -------M = ----- 2 2 2 F - wL ------ + wx V = -2 2

Let Then

F = ( wL )
2 wL - ( 1 ) x wx -------M = -----2 2 wL - ( 1 ) + wx V = -----2

M max occurs at x such that V ( x * ) = 0 L -(1 ) x * = -2 wL 2 - ( 1 )2 M max = M * = --------8 L M min occurs at x = -2 wL 2 FL wL2 - = --------- ( 2 1 ) - --------M min = -----8 8 4

Optimum Case

M * = M( L 2 ) (1 )2 = 2 1 = 2 2

For < 1 ( x * must be positive)

= 2 2 = 0.586 wL2 - ( 0.172 ) M peak = --------8 L x * = 0.414 -2
1.571 Structural Analysis and Control Prof Connor Section 3 Page 17 of 28

Case c (moment balanced)

M* x* M*

Suppose F is a spring resultant

w

L2

L2

= deflection at x = L 2 ( +ve) = w + s 5 wL 4 w = -------------384 EI FsL 3 k L3 - = ---------- s = ----------48 EI 48 EI kL 3 5 wL 4- ---------- = -------------384 EI 48 EI 5 wL 1 - - ------------------- = --------- 8 ----------48 EI - + k L3

Then
5 1 - - -------------------= wL F = k = wL - 8 48 EI ----------+ k L3 Express k in terms of 1 - 48 EI - --------------k = ----------3 5 L - 1 -----8 5 - k = Rigid Support = -8 = 0 k = 0 No Support For optimal design = 0.586 1 EI 48 EI - --------------------= 716 ----k opt = ----------3 L3 L 1.067 1
1.571 Structural Analysis and Control Prof Connor Section 3 Page 18 of 28

3.3 Modeling of beam with multiple cables using a beam on elastic foundation model A beam on many springs can be modelled as a beam on an elastic foundation. A simple analytic solution exists for constant foundation stiffness. This solution is useful for preliminary design. 3.3.1 Governing equations
bx V + V M + M Y, v b

X, u

For small rotations

= V + V + V + bx = 0

V ------+b = 0 x dV ------+b = 0 dx
o

(i)

and

= V x + M + M M = 0

M --------+V = 0 x dM -------+V = 0 dx

(ii)

From beam theory

V = v ,x = -----DT M ,x = -----DB

Neglecting transverse shear deformation (ie = 0) and

v,x = , x = v , xx

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Section 3 Page 19 of 28

Then
M v , xx = -----DB

From (ii)

M = D B v ,xx dM - = M ,x V = ------dx d M V , x = ---------= M ,xx 2 dx

2

replacing into (i)

d M ---------+b = 0 2 dx d ------( DB v , xx ) + b = 0 2 dx
2 2

Boundary conditions and

v or V prescribed at each end or M prescribed at each end

3.3.2 Winkler Formulation Model Winklers hypothesis assumes the restraining force b at point x is in part a function of the displacement at x .
v(x )

b1 ( x ) = ks v ( x ) dx

This relation is the limiting form when there are many closely-spaced uncoupled springs supporting the beam
k* s

For k * and s constant

k* k s = ----s
1.571 Structural Analysis and Control Prof Connor Section 3 Page 20 of 28

Then
b = ks v + b

where b = some prescribed loading In this case the governing equation takes the form
d------( D B v ,xx ) + k s v = b 2 dx
2

Note: Boundary conditions have the same form and do not depend on the nature of the restraining foundation stiffness. 3.3.3 Solution with D B and foundation stiffness constant D B = constant k s = constant
4 d v ks b------- + ------ v = -----4 D D B B dx

Define
ks 4 4 = -----DB

Solution has the form

v = v part + e
x

( C 1 sin x + C 2 cos x ) + e ( C 3 sin x + C 4 cos x )

where C1, C 2, C 3, and C4 are integration constants. Particular solution

b = constant b v part = --ks

Characteristic length
e
x

decays with increasing x for x 3 e x 0

e e
3 4

For example

= 0.0495 = 0.0183

Define L b as the characteristic length

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 4 DB 3 3 - = ------------------------ = 3 --------L b = -1 4 k s ks --------4DB

14

Then, for x > Lb , the e x terms can be ignored. Also, if x > Lb Define
v = v part ( x ) + e ( C 3 sin x + C 4 cos x ) sin x = 1 cos x = 2 cos x + sin x = 3 cos x sin x = 4
x

Then

v ( x ) v part ( x ) 1 C 3 + 2 C 4 = ---------------------------------x e C 3 and C 4 are evaluated using the B.C.s at x = L v ( L ) v part ( L ) 1 C 3 + 2 C 4 = -----------------------------------L e

(i)

Also At x = L

v , x = v , x ( part ) + C 3 ( cos x + sin x ) + C 4 ( cos x sin x ) v' ( L ) v part' ( L ) 1 C 3 + 2 C 4 = -------------------------------------L e

(ii)
L

From (i) and (ii) it can be deduced that C3 and C4 have a e C 3 and C 4 terms can be neglected for 0 x L Lb Therefore, the general solution can be approximated as
0 x Lb Lb x L L b L Lb x L v vp + e v vp v v p + e ( C 3 sin x + C 4 cos x )
x x

factor. Therefore, the

( C 1 sin x + C 2 cos x )

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End Zone 1
Lb x

Interior Zone 2

End Zone 3
Lb

The solution then consists of 2 end zone solutions and an interior zone solution when the member length is greater than 2 L b
2 Lb = 3 2 - =
14 4 DB 6 --------k s

3.3.4 Expansion of Solution Near x = 0

v vp + e
x

( C 1 sin x + C 2 cos x )
x

v , x = = vp ,x + C1 { e

( cos x sin x ) } + C 2 { e
x

( cos x sin x ) } ( 2 sin x ) }

v , xx = , x = v p ,xx + C 1 { 2 e M = D B v ,xx v , xxx = v p ,xxx + C 1 { 2 3 e

x

( 2 cos x ) } + C 2 { 2 e

( cos x + sin x ) } + C 2 { 2 3 e

( cos x sin x ) }

Set

V = D B v ,xxx 1 = e 2 = e 3 = e
x x x x

( cos x + sin x ) sin x ( cos x sin x ) cos x

Then

4 = e

v = vp + C12 + C24 = v p ,x + C 1 3 C 2 1 v , xx = v p , xx + C 1 { 2 4 } + C 2 { 2 2 } v , xxx = v p , xxx + C 1 { 2 1 } + C 2 { 2 3 }

3 3 2 2

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3.3.5 Examples of Loadings and Boundary Conditions Case 1

b

b v p = --ks

Boundary Conditions At x = 0 v = 0
M = 0 v ,xx = 0 bb --- + C 2 = 0 C 2 = --ks ks

Then

2 2 C1 = 0 C1 = 0 b b- ( 1 e x cos x ) = --v = --( 1 4 ) ks ks b2b M------ 2 2 = --( 2 2 e x sin x ) = ----ks ks DB

Maximum value of MB at x 0.8 2

M -----DB

max

0.322

max

0.8 2b 2 - ( 0.322 ) @ x = -----= ---- ks 0.067

Maximum value of v at x 2.4 4

v
max

max

b b- @ x = 2.4 -----= --( 1 + 0.067 ) = 1.067 --ks ks

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Case 2 - Infinitely long beam with concentrated force at center

P C

Use symmetry at C to model as

P2

Boundary Conditions At x = 0 So and The solution is

P - D B v ,xxx = P -V = -2 2 = v ,x = 0 v,x = C 1 C 2 = 0 C1 = C2 P PP = 2 3 ( C 1 + C 2 ) = --------= ------ C 1 = C 2 = ---------------3 2 DB 2 ks 8 DB

v , xxx

P - ( + 4 ) v = ------2ks 2 M 3 P------ = P -------- 3 M = ---- DB ks 4 3

3 3 P 3 - ( 4 4 ) V = D B ( C 1 { 2 1 } + C 2 { 2 3 } ) = D B ------ 2k s

Maximum value of M at x = 0
M
max

PP3 = --------- D B = ----ks 4

Maximum value of V at x = 0
V
max

P = ------2 ks

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3.4 Design procedures for cable/beam systems 3.4.1 Strength-Based Design

T L = cable spacing wd L L T sin = w d L

Set d = allowable stress for dead weight

d = f u f 0.4 to 0.5 wd L 1 - T = ---------------A c = ---- d sin d T

Determine area of cable

Resulting Stiffness Equivalent vertical spring Kv

L k c = stiffness of cable K v = k c sin AE * k c = ---------L

2

where Then

E * = Eeff = E * ( T ) wd L E * AE * - ------ sin - sin 2 = ------------K v = ---------d L L E*wd k v * = ------------- sin d L

Define k v * = Kv L = distributed stiffness

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Harp Cable Arrangement - = constant

H x L x x = L cos L = ----------cos wd L - = constant Ac = --------------- d sin E * wd k v * ( x ) = ------------cos sin d x

Note

- Stiffness decreases rapidly with distance x from the tower - k v * at x = 0 is . Therefore, need to modify arrangement in this region

Fan Cable Arrangement - H = constant

H L = { H2 + x2}1 2 H x sin = --cos = -L L E * wd H E * wd H - = ----------------k v * ( x ) = ------------- --d L L d L2 H tan = --x

E * wd E * wd H 1 -----------------------------------------------------= k v * ( x ) = ------------2 2 d ( H + x ) H d x- 2 --1+ H

w d L - 1 ------------ d
12 2 x --- H

Ac =

Tower Geometry
L max H L max = 2 ---------2 1 -4 x -- H
2

where Then

1 x - x - - --------------------- ------- 4 --------------------- 2 4 ( L max 2 ) ( L max 2 )

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3.4.2 Stiffness-Based Design

L = cable spacing k v * = constant AE - sin 2 K * v = Lk *v = -----Lc ( k * v L ) Lc A c = ------------------------2 E *sin

Check for strength

ec v

Let v = movement due to live load and T c = Increment in cable tension due to live load
Tc = kc ec e c = v sin

k * v L Ac E * c -------------- sin v = --------------v Tc = L sin c T T = total tension in cable = Tc + Tc wd L - ---------T c = ---- sin
L- w d L- + k *v v = ---------T T = ---------{w + w live } ----sin sin dead

Harp Cable Arrangement - = constant

x L c = ----------cos ( k *v L ) x A c = -------------------- -----------------------E * cos sin 2

Fan Cable Arrangement

H = L c sin = constant
3 ( k * v L ) Lc ( k *v L ) ( H2 + x 2 )3 2 -------------------- -----------------------------A c = -------------------- -----= E* H2 E* H2

( k *v L ) x 2 A c = -------------------- H 1 + -- H E*
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32

Section 3 Page 28 of 28