ANALYSIS

OF C A B L E

STRUCTURES

by
NEWTON'S METHOD

by
RONALD

I A N SPENCER MILLER

B.A. (1965)
B.A.Sc.
The

THESIS
THE

University

SUBMITTED

of British

IN PARTIAL

REQUIREMENTS
MASTER

(1967)

F U L F I L M E N T OF

FOR T H E D E G R E E

OF A P P L I E D

In

Columbia

OF

SCIENCE

t h e Department
of

CIVIL

We

accept
to

The

this

ENGINEERING

thesis

the required

University

as conforming
standard

of British

April

1971

Columbia

In

presenting

requirements
Columbia,
for

granted
It

that

copying

of this

degree

thesis

n o t be

of

CIVIL

ENGINEERING

8,

Canada.

agree

make

f o r scholarly

allowed

or by h i s

Columbia,

without

o f the
of

i t freely

that

or p u b l i c a t i o n

shall

of British

shall

Department

copying

fulfilment

a t the University

I further

gain

University

Vancouver

o f my

that

i n partial

the Library

and s t u d y .

i s understood

Department
The

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financial

thesis

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purposes

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my

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thesis for

written

permission.

Abstract

The

analysis

is

made

difficult

of

the cables.

possible
ant

of structures which contain

by

the non-linear

For a l l but

to linearize

these

catenary

force-deformation

the smallest

cables

relationships

d e f l e c t i o n s i t i s not

r e l a t i o n s h i p s without

causing

signific-

inaccuracies.
Newton's

succession
solution
analyze

Method

solves

of linearized

stiffness

computer

to

cable

solve

problem.

structures

analysis problems.

analysis

The

programs

o f Newton's

body

are

t h e p r o v i s i o n o f methods

matrix

i n an

of a cable,

end

forces

The
problems,
Finally,

be

The

Newton's

two

basic

the t h e o r e t i c a l

the value

solving a

o f t h e method

so used

succession

conventional
without

to
of

linear

stiffness

great

cable

difficulty

structures

innovations

the end-forces

Also

are the

discussed

the cable

of

which
a

stiffness

stiffness

co-ordinate
matrix

and

System.

a r e d e m o n s t r a t e d i n two
f o r Newton's

presented

forms

necessary,

the

Co-ordinate

basis

to the

for evaluating

to describe

i n a Global

Method

i n a

for calculating

v i r t u e s o f t h e method
and

by

Method.

to solve

are presented.

necessary

results

modified

a r b i t a r y p o s i t i o n , and

transformations
cable

thesis.

Newton's

a result,

Method

the

cable

of this

As

may

s t r u c t u r e s by

use

equations

problems, the'answer converging

of the non-linear
cable-containing

non-linear

Method

is briefly

example
i s examined.

discussed.

TABLE OF CONTENTS

Abstract
List

of

Figures

Acknowledgements
Page
1.

The P r o b l e m

2.

The M e t h o d

3.

C a b l e End F o r c e s

4.

The C a b l e S t i f f n e s s

5.

The C a b l e C o - o r d i n a t e S y s t e m

6.

Advanced
1.

7.

8.

12
Matrix

21
26

Topics

Non-linear Behaviour

of Non-Cable

Structural

Components

31

2.

S p e c i f i e d Cable Tensions

33

3.

Miscellaneous

3^

4.

C a b l e Loads

Problems

3^

Examples
Example 1

36

Example

38

Discussion

44

Bibliography

46

Appendix 1
Appendix

vii

Appendix 3

LIST OF FIGURES.

Page

Fig.

2.1

Example Problem

Fig.

2.2

Path o f S o l u t i o n to Example

10

Fig.

3.1a

The Cable Co-ordinate System

12

Fig.

3.1b

Forces i n the Cable Plane

13

Fig.

3lc

Dimensions i n the Cable Plane

13

Fig.

3.2

Element o f a Catenary Cable

14

Fig.

4.1

Degrees o f Freedom i n the Cable Plane

22

Fig.

4.2

Degrees o f Freedom f o r a General Cable

Fig.

5*1

Cable and G l o b a l Co-ordinate Systems

30

Fig.

7.1

Guyed Tower

39

Fig.

7.2

A x i a l Force a t 750'

L e v e l Versus

Initial

Cable S t r e s s
Fig.

7.3

Bending Moment a t 750'

40
Level

Versus

I n i t i a l Cable S t r e s s
Fig.

7.4

40

L a t e r a l D e f l e c t i o n a t 1,000* L e v e l Versus
I n i t i a l Cable S t r e s s

Fig.

7.5

25

L a t e r a l D e f l e c t i o n a t 750'

41
L e v e l Versus

I n i t i a l Cable S t r e s s

41

Fig.

7.6

S t r e s s i n Higher Windward Cable

42

Fig.

7.7

S t r e s s i n Lower Windward Cable

42

AC KNOWLEDGEMENTS

I should
and

help

writing

l i k e t o e x p r e s s my a p p r e c i a t i o n f o r t h e g u i d a n c e

given

b y my s u p e r v i s o r ,

of this

thesis.

Research Council
University
their

D r . R.F. H o o l e y t h r o u g h o u t t h e

I should

also

o f Canada f o r t h e i r

l i k e t o thank t h e N a t i o n a l

financial

support,

and t h e

o f B r i t i s h Columbia Computing Centre f o r t h e use o f

facilities.
Finally,

painstaking

I should

efforts

l i k e t o thank Miss Sarah Fenning f o r her

i n typing this

A p r i l , 1971
Vancouver, B r i t i s h Columbia.

thesis.

Chapter

1.

The

There
bridges,

Problem.

a r e many

guyed

towers,

cable-supported
problems
for

they

others,

membranes.
wherein

There

length

that

they

which

deformation

all

remain,
may

that

however,

cables

i t becomes
Moreover,

the stiffness

configuration,

that

number

stiffer,
this

matrix

that

bars:

a s beams:

for

be t r e a t e d

as

of

structures

the assumptions

of

to a loading per

i n bending.
to solve,

f o r unlike

i n structural analysis,

many o f

their

non-linear.

load-

As a

and as i t i s r e l a x e d

non-linearity

The f r i e n d l y

cannot

would

be made,

change

t h e answer

we

cable

i t becomes

i s significant for
assumptions r e -

f o r even

i f we

i n its

initial

f o r the structure

stiffness

increased

may

as

i n i n t e n s i t y and d i r e c t i o n , and

flexible

analysis

o f these

be t r e a t e d

they

a large

deflections.

for stiffness

may

suspension

tramways,

be t r e a t e d

under

F o r some

are subjected

are d i f f i c u l t

but the smallest

deformations

must

r e l a t i o n s h i p s are markedly

flexible.

ermined

they

cables

aerial

others.

be a n a l y z e d

encountered

stretched,

quired

lines,

that

they

i s constant

problems

problems

involve

a r e so c l o s e l y spaced

are completely

These

more

and numerous

a r e so taut

behaviour:

unit

is

they

which

transmission

a r e so t h i c k

the cables

catenary

the

roofs

the cables

others

s t i l l

structures

so markedly
found

would

det-

as the
be

quite

unreliable.
We
matrix

may

be a b l e

by making

to simplify

further

the formation

assumptions:

o f the

f o r instance,

stiffness
we

may

assume
are

that

reasonably

parabolas,
the

catenary
by

parabolic

problems
loading
linear

where

structure

may

length,

The method

were

are

non-linear.

may

be

simplified

presented,

i t solves

be

treated

subjected

as

flexible

behaviour
those
to

constant

i n bending,

components

and

o f the

small strain-small

analysis.

of this

investigated.

first

method

series

of pin-ended

at

joints,

deflection
factory,
little

homely

thesis,

described

The

three

three

methods f o r

i n the previous

methods

are

para-

discussed

below.

The

the

they

Nevertheless,

As

conventional

stiffness

follow

of inextensible

Non-cable

by

or that

f o r the a n a l y s i s of s t r u c t u r e s

completely

axially.

the development

briefly

the

a method

a n a l y s i s of the problems

graph

the cables

- the cables

the assumption

are analyzed
theory

case

remain

cables.

cables

- elastic

In

will

cables.

per unit

rotation

( i n which

of esoteric catenaries).

problem

restricted)

and/or

are inextensible a x i a l l y ,

thesis presents

containing
(and

taut

instead

central
This

the

the cables

2 -

and

theory

b u t two

was

bars.

Live

to treat
and dead

t h e s t r u c t u r e was
f o r the bars.

disadvantages

sag the s t i f f n e s s

amount

simply

matrix

of computation

was

involved

loads

analyzed

Results
were

each

were

apparent:
poorly

cable
were

as

applied

using

large

often

satis-

f o r cables

conditioneds

i n t h e method

was

with

and

quite

high.
The
and

second

to apply

stiffness

as

method

the load
linear

was

to treat

i n increments,

f o r each

each

cable

treating

increment.

This

as
the

one

member

cable

method

was

also

often

s a t i s f a c t o r y , b u t i t , t o o , had a drawback:

accuracy
ment

o f the s o l u t i o n depended

chosen.

perform
until
the

The o n l y

analyses

with

the solutions

accuracy

was

almost

whereas

f o rhighly

built

up

third

only

non-linear

small

drawbacks

of the f i r s t

required

was

In
acting

relatively

simply

the external

ing

them).

The l i n e a r

this

new

stiffness
position
due

out

a s i t was

which

made,

which

required,
had t o be

i s t h e method

thesis,

had none

Any d e s i r e d

of the

degree o f

of computation

the 'unbalanced

evaluated
minus

behaviour
matrix

stiffness

cable,

matrix)

forces

were

was

like

matrix

resist-

then

each

beam,

and t h e l i n e a r
calculated.

s e t o f unbalanced
was f o u n d

forces

In
was

(since the

w a s n o t t h e same i n t h e d e f o r m e d

i n the i n i t i a l

s e t o f unbalanced

position).
forces

deflections.

the unbalanced

forces

the i n t e r n a l forces

(each

member

forces'

(the unbalanced

of the structure

p o s i t i o n a new

to the previous

until

loads

of the structure

t o t h e new

added

were

by a s i n g l e

a n d a new

the load

a n d t h e amount

due t o t h e u n b a l a n c e d

deformed

determined,

structures

were

sizes,

modest.

by a s t i f f n e s s

deflections

increment

one s o l u t i o n was

a few i n c r e m e n t s

configuration,

are

represented

load

incre-

a n s w e r was t o

F o r some s t r u c t u r e s ,

two m e t h o d s .

on the s t r u c t u r e

represented

I f only

of this

be o b t a i n e d ,

the i n i t i a l

of the load

an accurate

smaller

investigated,

i n the remainder

could

the

increments.

described

accuracy

t o ensure

converged.

method

on t h e s i z e

successively

linearly,

i n many

The

way

indeterminate.

behaved

being

3 -

forces

were

This

were

The d e f l e c t i o n s
c a l c u l a t e d and

procedure

effectively

was
zero.

carried

_ 4 _

Mathematically,
tion

may

procedure
and

be f o u n d
will

i s Newton's method.

i n Livesley

( C h . 10.3.

i n Appendix

implications

A good

descrip-

p . 241) ( 1 ) . The

be d i s c u s s e d i n more d e t a i l

the mathematical

viewed

this

i n the next

chapter,

o f Newton's method a r e r e -

- 5 -

Chapter

2.
The

analysis
ations
the

being

structure
degree

load
or

method

proposed

as i t c o n s i s t s

As

ation

Method.

to the solution,

next

one

The

found

i s usual

i n common w i t h

of a series
t h e change

by s o l v i n g

o f ever
from

finer

a linear

being

d i r e c t i o n o f each

assigned

joint.

o r wherever

the p o s i t i o n

i n t e n s i t y of the uniform

t o each

Wherever

there
load

approxim-

s t i f f n e s s problem.

by a s e t o f generalized

o f freedom

stiffness

one a p p r o x i m a t i o n t o

i n stiffness analysis,

i s defined

on a cable,

h a s much

co-ordinates,
possible

there

i s a

i s a change

on a cable,

of the

deform-

point

i n the d i r e c t i o n

joint

must

be

defined.
As
iterative

(0)

described

i n Chapter

1, t h e m e t h o d

procedure

consisting

of the following

basic

steps:

shape

serve

as the

Choose

a deflected

starting
venient

(1)

point

which

will

o f the i t e r a t i o n .

initial

position will

proposed

The most

be t h a t

non-cable

components

of the structure

when

a position

exists.

such

In the deflected
loads
(a)

(UBL),

the cable

developed
effects
the
ed

shape,

which

calculate

are just

end f o r c e s ,

by t h e non-cable

o f member

loading

s t i f f n e s s matrix
position.

i s an

con-

a t which
are

a l l the

unstressed,

the unbalanced

the external

loads

and (b) t h e end

members,

minus

forces

including the

i fpresent.

f o r the structure

Also

calculate

i n this

deform-

- 6 -

(2)

Solve

f o rthe incremental

unbalanced
found.

The

the stiffness

incremental

Repeat

steps

(1)

a n d (2)

shape,

until

the unbalanced

loads

represent

i s out o f equilibrium.

solution

o f the s t r u c t u r e , b u t under

the

i n step

we

balanced

loads.

structure,
deflections
smaller,

whose

ings

loads

effects

cause,

apply

any*

We

a different
have

zero,

i s an exact

coincidence.

arbitrary

by

our computational

This

i s perhaps

deflections

small

exact
from

solution f o r

minus

loads

the un-

to the

the incremental

loads

a r e much

i n the solution.

solution

approaches

Furthermore,

t h e more
We

loading

an exact
loads

an

As t h e

the l o a d i n g f o rwhich our

to study.

are t o zero

the un-

performed

the unbalanced

the error

by which the

evaluate

i n fact

t h e new u n b a l a n c e d

approach

we w i s h

loads

approach

within

When we

position

unbalanced

have

and add t o t h e p r e s e n t
they

to the

are negligible.

t h e amount

consists of the applied

representing only

unbalanced
deformed

( 1 ) , we

are interested.

l o a d i n g which

just

t h e new d e f l e c t e d

loads

When we

loads

i n which

matrix

deflections

using

balanced

that

due t o t h e

deflections.

unbalanced

structure

using

Add these

previous
(3)

loads,

deflections

rapidly

can thus

tolerance

find

the loading

the closer the

do t h e two

load-

a solution to

f o rerror,

limited

only

discreet.

See C h a p t e r

techniques.

more

valorous

than

8.

- 7 -

Let
problem
In

us

consider

which

long

one

pound

per

foot

and

at

foot
One

1000

i t s right

and

the

foot

end

same

to a

i s unstrained

to

find

inextensible

spring.

height.

The

when t h e

equilibrium

at

The

spring

to the r i g h t

the

degree

of

features

i s shown a t t a c h e d

kip i s applied

desired

single

the major

2.1

at

simple

illustrates

figure

remain

cable
hand

freedom

of the
cable

i t s left
ends
has

span,
end

are
a

method.

which
end

weighs

to a

support

constrained

to

s t i f f n e s s of 1 k i p /
L,

i s 1000

of the

cable,

feet.
and

i t is

position.

IOOO' long inextensible cable

weight* 1 ibyft.

Example

Problem

Fig.

For
is

this

related

simplified

cable,

to the

2.1.

the h o r i z o n t a l

span,

L,

by

equation

(35)i

of tension,
which

may

H,

be

to:

Hsinhy = . 5
Where

component

Q005L
H

2.1
2.2

Differentiating
dH

The
the

balanced
forces

load

due

k,

e q u a l s the

degree

o f the

cable

o f freedom a c t s

cable.

and

the

(0)

s o l u t i o n now

We

cannot

plus

the

as

the

s t r e t c h the
causing

initial

resisting

2.4

The

stiffness,

stiffness:

of

2 , 5

follows:

cable
an

t o the

infinite

-1

position L =

force,
feet,

so we

1000

choose

corresponding

foot.

1.
(1)

At

L =

999

feet

( S - l ' ) . UBL = - 4.4463 kips

k=

(2)

Cycle

un-

(kips)

spring

p o s i t i o n L = 999

to a d e f l e c t i o n

Cycle

the

( k/ft.)

p r o c e e d s as

feet without

on

spring:

s o l v i n g e q u a t i o n 2.1.

stiffness

right

s p a n L,

l o a d minus t h e

k - -^r-*
1
dL
The

to the

T h e n a t any

external

i s f o u n d by
cable

= 1 - [ H + ( 1000- L )]

UBL
Where H

find:

Lcoshy-^inhy

e q u a l s the

t o the

we

HcoshY

generalized

r i g h t hand end

e q u a t i o n 2.1,

dL

The

incremental

The

new

deflection i s :

deflection i s :

"

4.2318 k/ft.

3 = -1.0507'
4.2 318
6

-|.0-1.0507 = - 2.0507'

2.

(1)

A t =-2.0507', UBL*-1.4445 kips .

k = 2.10 21 k/ft.
I 444S

(2)

The

new

deflection i s :

-2.0507- g |Q2|

- 9 -

C y c l e 3.

(1) At =- 2.7378',
(2)

UBL = - . 1489 kips

k= 1. 7151 k/ft.

The new d e f l e c t i o n i s : - 2.73

78-

= -2.8246

Cycle 4.

(1)

At 8 =-2.8246*.

(2)

The new d e f l e c t i o n i s : -

UBL =-.001435 kips

k = 1.6824 k/ft.
2.8246- .001435 = -2.8255
1.6824

Cycle 5.

(1) At =-2.8255',

UBL= .00000013 kips

Which i s s m a l l enough f o r most p r a c t i c a l purposes.

So our s o l u t i o n i s L =

1000'- = 997.1745'

Note that t h i s procedure e x h i b i t s q u a d r a t i c convergence as the d e f l e c t i o n approaches the s o l u t i o n , the incremental

d e f l e c t i o n approaches the true

error i n deflection.

words, over the s m a l l d e f l e c t i o n s

neared, the s t r u c t u r e

calculated

remains almost l i n e a r .

In other

as the s o l u t i o n i s
In the f i r s t

solu-

t i o n , the e r r o r i n the d e f l e c t i o n was c u t by a f a c t o r o f 2.36,

1.8255 f e e t to 0.7748 f e e t .
by
and

a f a c t o r o f 8.8 (from

In the second s o l u t i o n i t was cut

.7748 t o .0877) i n the t h i r d by

103,

i n the f o u r t h by 10,900.
The

path f o l l o w e d i n the s o l u t i o n i s shown

i n F i g u r e 2.2.

graphically

from

10

4
3
2

L , feet

I
9 99

998
L

9-

-i

-L

5 ?3,4

997

l i n e a r stiffness
start
1

-3
-4
o START

-5

Path

of S o l u t i o n
Fig.

The
all

the important

problems
the

example

there

cables

will

complicated;
tion

because

tion.

point

may

I f we

wish

to solve

well

advised

solved

F o r more

elements,

and the l o a d i n g

will

converge

will

be

readily to a

be

observed

convergence

this

example

o f t h e method,

as c l o s e

a structure

from

as p o s s i b l e

f o r some

the s o l u t i o n procedure

we

quite
solu-

can save

t o the

loading,

f o r a d i f f e r e n t but s i m i l a r loading,
to start

general

point.

a starting point
have

but i t exhibits

a n d many n o n - c a b l e

inextensible,

of the quadratic

by u s i n g

cables

any s t a r t i n g

further

simple,

o f t h e method.

be many

n o t be

very

b u t t h e same m e t h o d

f o r almost
A

time

may

Example

2.2.

c h o s e n was
aspects

to

we

and
will

solunow
be

at the deflected

shape
in

resulting

this

ings,

the

position will

and

will

For
leted

from

be

quite

instance,

without

the

earlier

be

just

one

kip

load

feet)

i s considerably

(L=997.17

feet)

than

Thus,

as

vious

solution point

than

might

starting
By

problems,
linear

be

at

program

solve

to

ifications!

2.2.

Fig.

order

at

to

cable
each

vector

of

of

unbalanced

compthe

soluti

solution
feet).

at

the

faster

pre-

convergence

point.

problems

stage

starting

i n considerably

utilize

modify

end,

(L=999

point

load-

we

use

as

the

the

need

only
we

(2)

each

stiffness

computer
two

major
(1)

need

to

linear

solve

of

analysis

make

and

to

methods

iteration

loads,

series of

methods

stiffness
we

find

to

the

modeval-

stiff-

matrix.

the

their

the

unbalanced

already

are

from

in particular,

Moreover,
to

previous

initial

two

just

the

familiar

example

c l o s e r to

the

loads

similar.

right

to

able

are

the

we

are

the

at

result

initial

the

problem

In

ness

the

solve

non-linear

problem

the

will

unbalanced

loadings

s o l v i n g the

analysis.

uate

visualized

to

two

applied

(L=996.54

The

d i f f e r e n c e between

i f the

wish

i t i s to

solution.

the

small

i f we

11

known.

stiffness

simply

the

contributions

load

vector

Assuming

that

matrices

are

products

of

and

of
the

these

non-cable

stiffness

elements

constant

their

the

and

matrix

behave

the

stiffness

elements

linearly,

forces

matrices

are

they
with

develop
their

deflections.
For
necessary
find
These

their

the
to

cables,

find

the

however,
end-forces

d e r i v a t i v e s , which

problems

are

discussed

things

are

developed

comprise
i n the

the

next

not
by

so
each

cable

two

simple.
cable;

stiffness

chapters.

It
and

is
to

matrix.

- 12 -

Chapter

Cable

Since
the

cable

"cable
of

lies

plane"

i n a plane.
i s readily
and

(2)

cable

This

found

i s constant

plane,

since

i t contains

It

i s convenient

when

calculating

co-ordinate

i n direction,

hereinafter called

(1)

i t contains

the vector

As

direction

of loading,

Forces

shown

Chapter

will

be

i n F i g . 3.1a,

and dimensions

actual

t o use a c o - o r d i n a t e
the cable

system

system".

The

on each

both

the
ends

representing the

on t h e c a b l e .

plane
this

Forces.

the loading

the cable,

load

End

directions

5 - f o r now,

end f o r c e s
called

a r e shown

i s opposite

i t to say that

they

direction of loading on cable

Coordinate
Fig.'

to i t .

3.1a.

3lc.

are discussed i n

yj

Cable

matrix:

to the

i n F i g . 3lt>, a n d i n F i g .

found.

The

cable

co-ordinate

i s perpendicular

o f t h e x and y axes
suffice

i n the

and s t i f f n e s s

the "cable

the y-axis

and t h e x - a x i s

system

System

are

readily

- 13 -

F o r c e s in the C a b l e

Fig.

3.1b.

D i m e n s i o n s in the C a b l e

Fig.

3.1c

Plane

a = Cable area
E= effective modulus
of elasticity
U S L = unstressed length
C - curve ( s t r e s s e d )
length

Plane

- 14 -

H(y'+dy')

Element of a Catenary

Cable

Fig. 3-2.

The r e l a t i o n s h i p s between the f o r c e s o f F i g . 3lb and

the dimensions and p r o p e r t i e s o f the cable as shown i n F i g . 3.1c
may be r e a d i l y d e r i v e d .
Summation o f the y f o r c e s o f F i g . 3 . 2 y i e l d s :
Hy' +

wdC

dy'

so

y' =

H ( y + dy' )
1

= -77-dC
n

solving ,

dx

j h(^ -+

A)

y = "S-cosh(^- + A ) + B

3.1

3.2

- 15 -

We

have two b o u n d a r y

conditions

@ x = 0

y=0

@ x = L

y=h

Which g i v e :

=sinh"T

wL

h
w

2Hsinh
L

2H

-I

3.3

2H

B = "-^-coshA

Knowing t h e shape
component o f c a b l e
value

o f the c a b l e ,

tension

a t any p o i n t a l o n g

and k n o w i n g t h a t t h e

i n the x - d i r e c t i o n i s the

Hf i t i s r e l a t i v e l y

forces

3.^

constant

s t r a i g h t f o r w a r d to c a l c u l a t e the
the cable

and t h e l e n g t h o f t h e c a b l e

itself.
The

stressed length

of the cable i s :

C = |V+^sinh
The y-components

_ wh , .
Vo --~2~
n

3.5

o f t h e end t e n s i o n s a r e :

wL , Cw
2TT
~2~

_ ,
3*

u
I
n
\i - wh .. wL . Cw
V, - - y c o t h -grr +

__
3.7

t u
c o t n

The end t e n s i o n s

themselves are simply:

To S* [|HH"++
2

Vv . ' ]|' '

'.

3.8

And

In f a c t ,
this

3-9

x was c h o s e n n o r m a l t o

simplification.

the load

i n order

to y i e l d

16 -

And

interestingly:

T = wh

T, -

The

elastic

elongation

of the cable,

"
The
actual

H L r ^
a E[_2HL
c

unstressed

length

minus

and

general,

v ^
2H

E , a n d we

(and

so h

directly
end

and L
solve

will

will

know

).

J ^
2wL
s

found

from:

i s o f course

the

- A

know

also
3.6

equations

3.10

^ l
H j

elongation:

3.H

the cable

the positions

I f we

of the cable

the e l a s t i c

know

properties

o f t h e ends

the value

a n d 3.7

of H

of the cable
i

we

could

f o r t h e y-components

of the

tensions.
Unfortuanately

know
USL:
or

length

we

USL

In

some

In this

use H

seldom

quantity:

o r t h e s a g a t some

T, .

then

other

we

case

to find

we
0

know

the value

the unstressed
value

o f x

length

hut instead

of the cable,

o r one o f t h e e n d t e n s i o n s

u s e t h e known q u a n t i t y

a n d V\ .

of H

to find

, and

To

Just
set

are going

of simultaneous

ibrium

position

non-linear

i s related

Ti ) by a n o n - l i n e a r

linear

t o u s e Newton's method

o f the entire

f o r H '> H

solve
or

a s we

17 -

equations

which

s t r u c t u r e , s o we

define
will

t o o u r known q u a n t i t y

equation,

to solve the
the

now

equil-

use i tt o

(USL, s a g , T

and Newton's method

solves

non-

equations.
If

procedure
Chapter

we

l e tK

(similar

2) w i l l

stand

f o r t h e known q u a n t i t y ,

mathematically

find

Guess

(2)

C a l c u l a t e K*,

a value

of H

Define f(H)

(4)

Carry

the value

i f i t were

(3)

based

= K-K*,

that

i+ 1

H' +

the quantity K

on the guessed
the error

out the Newtonian

discussed i n

(1)

have

t o t h e example

the following

value

would
of H

i n K .

sequence:

f(H')

V dH J

The
correct
gence
some

guessed

value,

value

a t which

has occurred
arbitrarily

when

small

of H will

converge

timeflH) = 0

We

the absolute

value

quadratically
can say that
o f f(H) i s l e s s

function of K , f o r instance:

|f(H)|<.

000001K

to the
converthan

- 18 -

It
is

i s only

simplified

necessary,

by using

rl K
to determine-^.

then,

On

the following

'/ '

=j3y?
these

functions:

-n - sinh2T sinhY

A-WJL+A
' H

Using

task

o -JL
3-t

oE

a-f

This

c
scn2

functions,

we

can re-write

thegoverning

equations:
1

3.3

c =

3.5

v, =

A
sag

3.1

Vo

And

sinhX
-tL ( coshX - cosh A )

3.2

aySL(-^gcothy )

3.6

aySL( + /Scothy )

3.7

(ev^r
h

sag = * - y

T ^y )
+

3.10
3.12

19

We

c a n now d i f f e r e n t i a t e

If

t h e known v a r i a b l e K

to find 4 5 *
an

results are:

1.

Case

i s t h e USL:
3.13

Case 2 .
If

dsoq

-i

t h e known v a r i a b l e K i s t h e s a g a t x
-

I"*. ^J-2Y*

dA \ coshA
HA
+ +sinhAdH
H
dH

3.14

Where:

xr,

dA
Case

- ff( l - y c o t h X )

3.15

3^ .
If

t h e known v a r i a b l e K

i s tension T

3.16
Where:
3-17
Case 3i-
If

t h e known v a r i a b l e K i s t e n s i o n T,

dT,
dH

dV,
dH

3.18

Where:

dV
d
T h i s method

-4>-rv
i s not i n f a l l i b l e :

which i t can f a i l .
for

any g i v e n

3.19

cable.

Firstly,
We

the cable

have d e f i n e d

there

a r e two ways i n

equations are not solvable

w as t h e l o a d

per u n i t

- 20 -

length

of

original
(which
load

length

is quite

in turn

loading
very
of

cable:

heavily

i f we

are

for,

further

This

effect

loaded

very

other

stretch a

constrained

reasonable

Fortunately
The

some

we

produces

etc.

hand.

thus

i s more

s o l u t i o n the

ologically

small,

or

each

iteration,

half

the

to

end

along

with

limit

than

forces
three

double

the

loading).

i n which

ailments.
new

The

value

of

to

be

further

i t can

get

out

imagination.
that

at

path-

the

antidote

procedure

is

simply,

at

no

less

than

forces

is

value.

said.

solution for
In

(written
minor

Appendix

in G-level

subroutines

the
a
/360

which

cable

end

subroutine
Fortran)

which
is

finds

reproduced,

calculate j-.

dH
For
values
for

cables

i n the

the

which

initial

initial

cable

are

defined

p o s i t i o n of
end

lengths,

upon which

the

based

subsequent

stages

at

i t

extra

for

become

case

on

except

i n the

will

load

produces

i t is possible

of H

its

This

i n which

only

real:

value

total

negligible

exist

negative,

the

p r a c t i c e , the

done

cable

even

numerical

previous
In

easier

to

ice

cables,

cables

i n the

succumb

double

i s completely

such

to

s t r e t c h i n g , which

stage

will

say,

flexible

danger

to

cable

forces

the
also

by

sag

structure,
gives

c a l c u l a t i o n s of
i n the

known

the

cable

end

or
the

tension
solution

unstressed
forces

are

solution.

- 21 -

C h a p t e r 4.
As

The C a b l e S t i f f n e s s

was d i s c u s s e d

Matrix.

i n C h a p t e r 1, t h e s t i f f n e s s o f a c a b l e

changes as i t i s deformed.

When we r e f e r

to the s t i f f n e s s

o f a c a b l e , we mean t h e s e t o f d e r i v a t i v e s o f c a b l e
with

respect

position
matrix,

to cable

end movements e v a l u a t e d

o f t h e cable-.

This

i s called

and i s a n a l a g o u s t o a t a n g e n t
Within

of freedom:

i t s own c a b l e

plane,

two a t e a c h e n d .

a "tangent"

each cable

the

cable

Hr

9F,

3S

35

354

dFz

8F

3F

35,

35

3 S

3F

3F3

8F

35,

35a

35

3F

3F

3F

35

35,

35

Where F, i s t h e f o r c e
ion

3F,

35,
3F

i n direction

1 ,

degrees

degrees o f f r e e ignoring

out of the plane,

is:

3F,

has f o u r

i n F i g . 4.1, t h e n ,

t h e moment t h e p o s s i b i l i t y o f d i s p l a c e m e n t s

3F,,

stiffness

modulus.

for

s t i f f n e s s matrix

end f o r c e s

i n the present

I f we a s s i g n t h e s e

dom a s shown b y t h e numbered a r r o w s

matrix

etc.

35

a F

3S4

3F

35

i n direction

4.1

1 , 5 , I

deflect-

- 22 -

If

we

now

make

the

substitution:

a, aS
ah = s a8<
3

3F,=- aH

aF =

avo

aF 3 = aH
8F
Our

matrix

av,

will

become:

aH
aL

aH

-avo
aL

-aH
aL

-av,

aL

- a H

ah
-a v..
ah

aL

ah
-av,
ah

aL

avo
3L

-aH

an

av.

aL

- a H

ah
avo
ah
aH
ah
av,
ah

Degrees of Freedom in the Cable

Fig.

4.1.

Plane

4.2

- 23 Upon
general

evaluating

this

represented
usual

by each

behaviour

conservative
length
if

the cable

in

the e l a s t i c

small

ratio

conventional

matrices,

a n d i f we

to

cables,

matrices

t h e asymmetry

virtually

minor
longer

, we

load

elongation

have

per unit
that

increases.

i s small

i n loading
load.

such

un-

a non-

assumed

We

equations

compared

do f a c e
use

a conventional

a l o tof trouble

to the

on t h e cable i s

a n a l y s i s programs

t o modify
save

are applying

i n practice our cable

stiffness

will

we

This

problem,

symmetric
program

by u s i n g

symmetric

f o r our cables.

Now
is

we

value

to the t o t a l

wish

the set of forces

By d e f i n i n g t h e l o a d

and t h e i n c r e a s e

however:

handle

that

the t o t a l

n o t mean t h a t

of the cable,

and t h a t

that i n

i s not self-equilibrating.

to the cable.

i s stretched
does

t h e same

column

as the constant

inadequate:

length

i s n o t symmetric,

i s due t o t h e f a c t

load

of cable

This
are

matrix

the d e r i v a t i v e s , i t i s found

negligible

modifications
strictly

This

i n most

i s readily

matrix

cases.

to the matrix

exact,

Replacing:

i n the cable

Accordingly,

which

will

symmetric.

achieved

avo

3L
avi

aL

by:

by

by

i s small,

-8H

8h

aH
ah

render

we

and i n f a c t
will

make

i t , though

no

- 24

av.

And:

av*
an

by

8h

av*
ah

Where:

This

g i v e s us

a new

approximate

an
ah
av*
ah

aH
aL
aH
ah

[ "] =

av.
ah

-aH

aL

-aH
ah

matrix:

-aH

-aH
ah
- av*
ah

- aH
ah

-aH

a Vc
ah

aH

aH

ah

aL

ah

-av*
ah

aH
ah

av*
ah
h.3

Using
procedure.

the

approximate matrix

Firstly,

i t t u r n s out

does n o t

hinder

the

are

small.

Secondly,

correct matrix:

example

i n Chapter

have b e e n u s e d

Newton's method does n o t

a c l o s e one
2,

will

(1),

do.

f o r i n s t a n c e , any

f o r the

solution

that f o r cables within

somewhat b e y o n d ) t h e r a n g e o f e n g i n e e r i n g u s a g e , t h e
ations

the

(2),

positive

cable s t i f f n e s s , ^ ^

, and

(and

approximrequire
(3)

finite

( I n the
value

could

Newton's method

d L
w o u l d have i n e v i t a b l y

l e d to the

gence m i g h t have b e e n s l o w ) .
uate

the unbalanced

correct

solution,

I t i s of course

l o a d e x a c t l y , but

this

though

necessary

to

i s independant

converevalof

cable

stiffness.
L e t us
this

chapter:

now

t u r n b a c k t o what was

the p o s s i b i l i t y

ignored at the

of cable displacements

start

out

of

of
the

cable p l a n e .

Two

more degrees

25

of freedom are r e q u i r e d to

d e s c r i b e these displacements, and are numbered 3 and 6 i n

F i g . 4.2.

As f o r a pin-ended

bar i n t e n s i o n , the s t i f f n e s s i n

these d i r e c t i o n s i s simply y- , so the approximate

3H

3L

3h

3H
8h

3 V*
3h

0
-

3H

3H

3L
-8H

0
-3H
8h

ah
0

-3-H

-3H

ah
-av*
ah ah

8L

0
0

-\

"

an

8H

8L

ah

dH

3V*

ah

ah

matrix becomes:

\
4.4

The
4.4.,

terms i n the m a t r i c e s of equations 4.2.,

are d e r i v e d i n Appendix 2.

In the remainder

i t w i l l be assumed that the approximate

matrix Kca

Degrees of Freedom for a General

Fig.

4.2.

4.3.., and
of t h i s

thesis

i - used.

Cable

26

Chapter

5.

The C a b l e C o - o r d i n a t e

System.

A t t h e end o f C h a p t e r 2 we s e t

o u t t o f i n d t h e two new

f e a t u r e s w h i c h w o u l d e n a b l e us t o c o n v e r t an o r d i n a r y
ness a n a l y s i s

program

i n t o an improved v e r s i o n

l i n g cable structures.

t h e y have been p r o v i d e d

i n Chapters

the e x i s t i n g framework,

ordinates.
to get

t h e y do n o t f i t d i r e c t l y

analysis

i n terms

p r o g r a m s work

of cable

components

coand

directions

axes.
l e n g t h o f c a b l e , W , may be s p l i t

p a r a l l e l to the g l o b a l X

respectively.

vectorially

co-

in global

t h e t r a n s f o r m a t i o n m a t r i x we n e e d t o know t h e

The l o a d p e r u n i t

and

into

To a d a p t them we n e e d a t r a n s f o r m a t i o n m a t r i x ,

of the cable c o - o r d i n a t e

and

matrix,

3 and 4 .

f o r t h e y work

and s t i f f n e s s

hand-

capacities

and t h e c a b l e s t i f f n e s s

L i k e many m o d i f i c a t i o n s ,

ordinates,

capable of

T h e s e two f e a t u r e s w e r e t h e

t o f i n d t h e c a b l e end f o r c e s

stiff-

, Y

, and Z a x e s :

Thus t h e c a b l e l o a d i n g may be

into
iW

represented

as:

Wy

5.1
Now y , t h e d i r e c t i o n o f t h e y - a x i s
o r d i n a t e s y s t e m must be o p p o s i t e
A vector in this

direction is

y =

to the d i r e c t i o n of

thus:

w,
- w.

i n the cable

co-

loading.

L e t C be
of the
(Fig.

the l i n e

f r o m t h e end

cable co-ordinate
5.1).

2 ?

of the c a b l e at the

system to the

i s represented

by

o t h e r end

i t s three

of the

origin

cable.

components:

c
c=
c

5 - 3

Now
to both
to the

the c r o s s product

o f them.

p l a n e , Z must be

vectors i s perpendicular

c a b l e z -axis i s , of course,

The

cable plane,

o f two

s i n c e b o t h y" and

and

C l i e i n the

p e r p e n d i c u l a r t o e a c h o f them.

perpendicular
cable

Thus we

write:

CXy

5 . 4

The
and

cable

Z -axes,

and

X -axis i s , of course,
so i s f o u n d

perpemdicular

to the y

by:

x = y X

z
5 . 5

Equations
t o the
these

5.2.,

cable co-ordinate

5.5.,

and

axes.

of a normalized
the v e c t o r ) .
is w

define vectors

I t i s convenient

v e c t o r s b y d i v i d i n g e a c h t e r m by

A subscript 1 w i l l

5.1.)

5.4.,

denote a n o r m a l i z e d

vector are, of course,

to

parallel

normalize

the l e n g t h of the
vector.

(The

vector,

components

the d i r e c t i o n c o s i n e s

For example, the l e n g t h of the W

vector

of

(equation

, where:

+ W

V/,
+

5 . 6

So

the normalized

28 -

cable

loading

vector

would

be

'w /w ^
x

Vl /W
y

w /w
z

5.7
quantities L

The
of

C , and a r e r e a d i l y

Where

In
cable.

and h
found

and y

components

by:

= Xi- C

5.8

=y,-c

5.9

dot

F i g . 4 . 2 a r e shown

represented

the x

represents

I n terms

are simply

o f them,

product.

the s i x degrees

the cable

o f freedom

end f o r c e s

of a

( F i g . 3.16) are

by the vector:

-H
Vo

0
H
V,

0
and
them

the s t i f f n e s s

matrix

5.10

i s as i n equation

to global co-ordinates

we

will

(4.4).

use a 6x6

To

transform

transformation

- 29 -

m a t r i x , J_TJ

This

matrix

m a t r i c e s ft] a r r a n g e d

i s composed

on t h e

o f two

3x3 sub-

identical

diagonal:

o o p
0

0!
5.11

x\, y

Where

the three

, and

Z :

of the sub-matrix

are the

vectors

[T.] = [
In

columns

global

5.12

co-ordinates,

the cable

end f o r c e s a r e

5.13
I

And

analysis
we

will

method.

I c

the s t i f f n e s s

K CO
We

'

now

know

program
consider

matrix i s :

a l l we

to solve
some

ways

need
cable

5.14
i n order

to convert

structures.

t o extend

stiffness

I n the next

chapter

the v e r s a t i l i t y of the

- 30 -

Cable and Global Coordinate Systems

Fig.

5.1.

- 31 6.

Chapter

Advanced

With
we

a r e now

we

will

what
able

Topics.

has been

discussed

to analyze

consider

many

i n the previous

cable

some r e f i n e m e n t s

structures.

which

will

five

chapters

In this

make

chapter

t h e method

more

general.

1.

Non-linear
In

of

Chapter

change

assumption

as they

using

handle

these

a r e many

components

matrices
cases

would

where

this

i f the material
o r i f t h e member

i s an i n t e r a c t i o n

successive
approach

non-linearities

elements

a t each
this

stiffness

i s non-linear,

these

stiffness

practice,

the non-cable

f o r instance:

or i f there

a tangent

forces

There

Components.

under-

between

axial

stiffness.

principle,

simply

Structural

that

- their

deflected.

relationship

and bending
In

one

linear

large rotations,

force

assumed

i s not justified,

stress-strain
goes

o f Non-Cable

2 i t was

t h e s t r u c t u r e were

not

can

Behaviour

just

matrix,
deformed

a s we

no p r o b l e m

handle

- we

the c a b l e s , by

a n d e v a l u a t i n g t h e member e n d
position

c a n be q u i t e

of the non-linearities

pose

mentioned

of the structure.

difficult,
above

there

but f o r at
i s a

In

least

simpler

procedure.
In

frame

stiffness
matrix:
secant

"secant"

matrix

gives

i s built

the effect

of axial

i s g e n e r a l l y handled
matrix.

i n terms

a solution

solution
matrix

o f a beam
a

scheme,

analysis,

"Stability

an estimate
based

by a d i f f e r e n t
f u n c t i o n s " (4)

of the anticipated

i s performed

using

axial

the linear

of the axial

on t h i s

f o r c e on the

estimate.

forces,

kind of
define the

force.

Using

matrix.
and a

A solution

bending

this

This

secant

i s now p e r -

- 32 formed
axial
ive
or

based

on

this

new

forces results.

solutions
three

The

converge,

this

but

i t is a

was

mentioned

secant

lot closer

matrix:

lets

find

the

member

calculate

the

axial

since

the

based

on

member

axial
the

and
The

guessed
is

now

point

to

of

with

respect

values,

final

so

i s continued
achieved

i s not

tangent

error

forces:

force

of

the

until

success-

after

just

matrix

matrix

necessary

to

Moreover,

member

i s constant)

and

then

Multiplying

the

secant

gives

the

have

the

(which

true

we

two

want,

i s , and

i n i t s deformed

i n the

about

force
to

the

secant

matrix

position

i s no

the

as

the

problem

secant

matrix

matrix

by

(exact) non-linear

secant

i s correct,

bending
tend

and

to

the

bending

in this

i n each

sequence

the

secant

i f the
matrix

deformations.
rapidly

linearly

by

on

The

their

the

time

axial

become

singular.

were

loaded

almost

to

would

wander

beyond

the

demise.

of

i f the

will

a p p l y i n g the
stage

converge

method:

structure

o b v i a t e d by

then

is this:

approached.

danger

a premature

matrix

shear

quite

i f a

Newtonian

the

linear

do.

matrix

load

be

will

stiffness

that

can

one

the

possible

suffer

the

beams b e h a v e

is

i s one

great,

and

the

i t i s not

members

the

solution

There

the

4,

end

note

axial

final

too

estimate

shears.

f o r c e s i n the

are

better

i s usually

i t than

force.

axial

the

to

stiffness

axial

value

linear,

matrix

close

deflections

moments

procedure

which

i n Chapter

correct

we

and

solutions.

Now

us

matrix,

the

This

problem

load

i n steps:

iteration

its

occurs

It is

critical

critical
rarely,

for small

i s reduced,

loads

and

load
and

steps
the

- 33 -

deflections
we

will

quired

never

first
load,

the

starting

for

75

deviate

solve
then

f o r 75

guyed

above,

2.

towers.

its

position
tension
find

know

example

each
cess,

the position

we

changing

position

length

of

the cables

behaviour

were

used,

as

described

7.

length

of a cable,

position.

know

I f , i n the

deformed

problem

the cables

unstressed

are

position

In this

of the cable

to

or the
3 "to

predetermined

case

we

from

do n o t
i t s un-

during

simple:

the solution

specified

tensions

When c o n v e r g e n c e

lengths

loading

at
pro(by

i s achieved,

of the cable.

considers

tensioning.

a r e known, o t h e r

initial

Frequently,

i s surprisingly

found

lengths).

find

tensioned.

to their

unstressed

can

of Chapter

f i n d i n g H).

i s erected.

to this

we

the sag of the cable

(by f i r s t

a n a l y s i s , o f course,

the time

i n the

i n a structure are tensioned

calculate the true

at

significant

of Chapter

as the cables

re-tension

This

as

solution

o f the s t r u c t u r e , f o r i t deforms

solution

their

solution

at the

c a n use t h e methods

the structure

successive

the previous

of the r e -

Tensions.

e n d , we

the cables

The

percent

words

starting

functions

o f t h e s t r u c t u r e , we

after

stressed

are often

the unstressed

the unstressed

values

percent

f o r any deformed

at either

however,

we

know

end f o r c e s

f o r 85

Stability

S p e c i f i e d Cable
we

using

effects

i n the second

If

percent

In other

and so on.

Beam-column
of

then

the solution.

f o r , s a y , 50

the problem

point,

percent,

f a r from

Once

only

the loads

applied

the unstressed

lengths

cases

(wind,

snow, e t c . )

- 34

are

readily

considered

handled

i n the

i n Chapter

usual

fashion.

employed

this

The

method

second

of

example

specifying

cable

tensions.

3.

Miscellaneous
The

and

Problems.

effects

turnbuckle

on

adjustment

unstressed

lengths.

4.

Loads.

Cable
The

of

loads

accumulated

evaluation

the

varies
the
a

wind

load

the

simply
a

low
Now

per

of

direction
of

has

the

unit

are

of

line

normal
treat

of

are

cable

temperature

readily

due

readily

to

changes,

handled

i t s own

by

For

slippage,

changing

weight

evaluated.

end

and

wind

their

the

weight

loading

the

difficult.

the

wind

loading

i s curved,
length

catenary

direct

that

we

cable

theory

the

i s more

along

rather

on

ice

Firstly,
Since

cables

of

each

direction

the

cable,

i f a

element

We
cable
of

the

the

to

( F i g . 51)

i t as

ends

s e r i e s of

of

of

the

which

avoid

between
C

perpendicular

the

cables.

manner:

acts

wind

as

loading

taut,

being

cable:

I f the

shorter

cable.

embarrassement

i s reasonably

the

the

is contradictary

this

cable

to

cable

cables,

we

the

to
in

treat

same

as

i and

apply

the

has

large

sag,

each

a
of

which

sag.
f o r wind
length

acting perpendicular

to

cable,

the

drag

force

i s :

Lf

P<lv C
2

6.1

- 35 -

Where P
eter, v
for

i s t h e wind

the cable.

.08071

weighs

It
a n g l e 7)
plane
the

velocity,

lbs/ft.

has been

i s the c o e f f i c i e n t

for C

value

i s the cable

i s 1.2.

diamof

A i rat

drag

s.t.p.

shown

(5)

that

i f the wind

perpendicular
to C

perpendicular

and

A reasonable

to the plane

cable

of the a i r ,d

i s the density

direction

to the cable

) the drag

i s s t i l l

(that

i s a t an

i s ,the

perpendicular

to

and has magnitude:

6.2
The

wind

components V

velocity

, v

may b e r e p r e s e n t e d

, and V

, so that

by i t s three

vectorially

i t

global

i s :

6.3
The

And

of the drag, w

direction

rf

i s found

by:

C X V I C

when n o r m a l i z e d

6.4

i s written

W,

'dl

Cos

Tj

i s simply:

6.5
So

the cable

loading

vector

due t o wind i s :

6.6
wind

d rog
P

<"

- 36

Chapter 7.

Examples.

1.

Example

(6),

T h i s simple example has been solved by others

cable spans 1,000

f e e t h o r i z o n t a l l y between f i x e d supports,

midspan sag b e i n g 100

0.85

in

area,

and

feet.

The

cable weighs 3.16

As s o l v e d by Frances and

problem was

the

psi.

f e e t from the l e f t

O'Brien (7) the loaded

support.

p o i n t moves

y = 96.0495' to x = 397.180', y = 114.509'.

s o l v e d by the methods presented

of d i f f e r e n t i n i t i a l p o s i t i o n s .

The

lbs/ft, is

has an e f f e c t i v e modulus of 19x10

v e r t i c a l load of o i s then placed 400

from x = 400',

(7).

The

h e r e i n , u s i n g a number

convergence c r i t e r i o n used

was

t h a t the unbalanced f o r c e s should

The

procedure converged to the same f i n a l p o s i t i o n as t h a t found

by Frances and
The

a l l be

i n i t i a l p o s i t i o n i s shown i n Table

convergence f o r each

7.1.

i s apparent upon examining the range of s t a r t i n g p o i n t s

used that the method i s not p a r t i c u l a r l y v u l n e r a b l e .

case where the s t a r t i n g p o i n t was

x = 400',

s t i f f n e s s i n the i n i t i a l p o s i t i o n was
s o l u t i o n l e d to a value

of y which was

t h e l e s s , the c o r r e c t s o l u t i o n was
i t e r a t i o n s were r e q u i r e d .
any

pound.

O'Brien, r e g a r d l e s s of the i n i t i a l p o s i t i o n chosen.

number of i t e r a t i o n s r e q u i r e d to achieve

It

l e s s than one

sense reasonable,

y = -50'

For
the

so s m a l l that the
about 700'

the
vertical

first

too low!

Never-

e v e n t u a l l y found, though twenty

For an i n i t i a l p o s i t i o n which was

in

only f i v e or s i x i t e r a t i o n s were r e q u i r e d .

- 37 -

CONVERGENCE OF EXAMPLE

CASE

INITIAL

POSITION

1.

NUMBER OF ITERATIONS REQUIRED

TO ACHIEVE

CONVERGENCE.

400

100

10

400

15

400

-50

20

400

-96.0495

400

-110

400

-120

400

-200

400

-300

350

-110

10

390

-110

11

410

-110

12

450

-110

Table.

7.1.

- 38 Example

2.

In

t h i s example the e f f e c t s o f v a r y i n g the i n i t i a l

tensions

and t h e b e n d i n g s t i f f n e s s

are i n v e s t i g a t e d .
anchored at i t s

and l o a d i n g a r e as

from the tower.

shown i n F i g .

Four d i f f e r e n t slenderness
l / r = 310,

1 = total
tensions

(unstressed)

and

t o p and m i d - p o i n t s b y f o u r c a b l e s a t e a c h

The c a b l e s a r e a n c h o r e d 700'

ered:

i n t h e mast o f a g u y e d t o w e r

1,000' h i g h

The t o w e r i s

cable

l / r = 269,

tower h e i g h t .

Areas,

level.

weights,

7.1.
ratios

f o r t h e mast were

l / r = 240 and l / r

= 219,

consid-

where

The c a b l e s w e r e s e t t o t h e p r e d e t e r m i n e d

u n d e r t h e i n f l u e n c e o f c a b l e and mast d e a d l o a d s

The a n t e n n a l o a d s

is

only.

a t t h e t o p o f t h e m a s t and t h e w i n d l o a d s

t h e n a p p l i e d , and t h e d e f o r m e d shape

and member end f o r c e s

were
found.

Beam - c o l u m n e f f e c t s on t h e mast w e r e c o n s i d e r e d as d e s c r i b e d
Chapter

6.

The c a b l e s w e r e i n i t i a l l y
ratio

of the mast,

giving a total
under the t o t a l

t o 10,

o f 16

20,

t e n s i o n e d , f o r each
30

slenderness

and 40 k s i a t t h e i r

cases c o n s i d e r e d .

l o a d a r e shown i n F i g s .

Some t y p i c a l
7.2

to

bottoms,
results

7.7.

The a x i a l f o r c e i n t h e mast was u n a f f e c t e d b y c h a n g i n g

slenderness

ratio,

but increased markedly w i t h i n c r e a s i n g

pretension,

as shown i n F i g .

7.2.

the

cable

in

- 39 Note: the values of l/r = 310,269,

240,219 correspond to
r ( inches ) = 1500,2000,2500,3000
2

Note:

similar cables

out-of-plane

Guyed

Tower

Fig.

7.1.

<

10

20
Initial

l o a d was a p p r o a c h e d .
reasing

Fig.

The b e n d i n g moments

4 0

i n t h e mast

increased

7.3.

as t h e b u c k l i n g

we s e e t h e moment

or the slenderness

Fig.

50

7.2.

Thus i n F i g . 7 . 3

as t h e p r e t e n s i o n

1_

30
40
c o b l e s t r e s s (ksi)

ratio

inc-

increased.

The
initial

deflections

guy t e n s i o n s

ment

points,

ness

ratio,

buckling
were

which

quite

was

small

the

mast.

ted

i n Figs.
to
>
1

followed

were r e l a t i v e l y

approached.

at the

1,000'

a t t h e guy

a t t h e 750'

stiffness
and

higher
attach-

by the tower

The d e f l e c t i o n s

due t o t h e h i g h e r

and

pattern:

unaffected

the deflections

The d e f l e c t i o n s
7.4

a predictable

decreased the deflections

but increased

load

41

slender-

level

a t t h e 250'

o f the lower

750'

points

level
half of
are plot-

7.5.

O
O

2
o

_ +a
o

o
l/r = 3 1 0 , 2 6 9 , 2 4 0 , 2 1 9
v
O

10

20

30
Initial

40

cable stress

Fig.

(ksi)

7.4.

m
N

20
l/r = 310

5 *"
o

a>

*-

1 5

l/r = 2 6 9
l/r = 2 4 0

10

4-

l/r

a
a
10

JL
20
Initial

30
cable

Fig.

stress

7.5.

40
(Ksi)

219

as the

- 42 -

Finally,
with

initial

tension

tension,

i n the higher

stiffnesses
with

t h e guy

tensions

as might
cable

o f t h e mast,

the windward

well

was

while

increasing slenderness

on

have

almost
that

been

i n the lower

o f the mast,

as

by

indicated

" r 219
l/r = 3 1 0

tt
tt
<D

T3

in

50

X
40

10

20

30

Initial

cable

40
tension

Fig..

7.6..

Fig.

7.7.

stress

(ksi)

The

the

cable

60

a. o
Q. O

increased

expected.

unaffected

7.7.

and

side

varying

increased
i n Figs.

7.

- 43 -

This
rather

example

to point

otherwise

out the f a c i l i t y

i n t r a c t a b l e problems.
o f 2.5

on

average

in

the cables,

to

solve

were

i s n o t i n t e n d e d t o be

and

iterations
on average

the l i v e - l o a d

performed

i n about

with which
Over

were
of

3*25

seconds

The

solutions

to set the

iterations
full

on an

study, but

t h e method

t h e 16

required

condition.

70

a case

IBM

were

s e t o f 16

360-67.

can

handle

performed,
pretensions
required
solutions

_ 44 8.

Chapter

In

Discussion.
general,

the

initial

The

closer

will

position

to the nearest

the i n i t i a l

and f i n a l

the structure

an

unstable

It

i s rather

Method

hard

equilibrium,

converge

herein

stable

will

converge

equilibrium

positions,

the faster

a reliable

from

position.
t h e Method

position

reasonably

Given

Newton's

the present

Method,

out that,

has n o t f a i l e d

close

structure.

we

break

We

position

to this point

of

t h e Method

will

knowledge

More o p t i m i s t i c a l l y ,

i n t h e problems so f a r p r e s e n t e d
on a s t a b l e

stable

then f o r

of mathematical

c a n s a y no more.

t o converge

down.

may* s a y ,

to this position,

state

into,

as t o whether the

has a well-defined
close

wanders

will

prediction

or not f o r a given

and i s n o t u n s t a b l e

can point

Method

a t , or erroneously

t h e s t i f f n e s s method

i fa structure

to i t .

regarding

t o make

converge

that

initial

starts

configuration,

will

however,

we

proposed

converge.
If

an

t h e Method

solution

to i t , the
i f one

existed.
The

(1)

advantages

The r e s u l t
chosen

(2)

i s an exact

to describe

The Method
many

o f t h e Method

cables

(3)

(Appendix

3)

summarized:

solution

c a n be a p p l i e d
(slack

be

the behaviour

into

of the equations
of the structure.

to structures

or taut)

By t r a n s l a t i n g t h e m a t h e m a t i c a l
Goldstein

may

a n d many

proof

which

non-cable

o f convergence

structural

contain
elements.

given

terminology.

by

- 45 -

(3)

And

(1)

Already

existing

adapted

to

Method

analysis

without

great

programs

can

be

difficulty.

i t s disadvantages:

Because
solve

The
be

of

the

certain

iently
(2)

the

stiffness

as

more

Method

may

very

rare

generality
restricted
specific
break

of

the

types

Method,

i t does

of problems

as

effic-

methods.

down

(though

occurrence).

this

appears

not

to

- 46 -

Bibliography.

Livesley
Pergamon

R.K.,
Press,

"Matrix
1964.

I967.

John F.,
Breuch,

"Lectures

Methods

of Structural

on Numerical

Analysis",

Analysis",

Gorden and

K a n t o r o v i t c h L . V . a n d A k i l o v G.P.,
"Functional
i n N o r m e d S p a c e s " , M a c M i l l a n , New Y o r k ,
1964.

I965.

Home and Merchant.

Press,

"The S t a b i l i t y

o f Frames",

Analysis

Pergamon

R e l f E . F . a n d P o w e l l C.H.,
" T e s t s on Smooth and S t r a n d e d
W i r e s I n c l i n e d t o t h e Wind D i r e c t i o n , a n d a C o m p a r i s o n o f
R e s u l t s on Stranded Wires i n A i r and Water".
Associated
R e s e a r c h C o m m i t t e e , R & M 30?,
L o n d o n , J a n . 1917.
Results
reproduced i n :
N a t i o n a l R e s e a r c h C o u n c i l o f Canada, Report
MER-1
"The A n a l y s i s o f t h e S t r u c t u r a l B e h a v i o u r o f G u y e d
A n t e n n a M a s t s Under Wind a n d I c e L o a d i n g " , Ottawa,

1956.

M i c h a l o s J . and B i r n s t i e C ,
Changes i n Loading",
Trans..

"Movements o f a C a b l e Due t o
A S C E , V 1 2 7 , 1962.
Part
11.

O ' B r i e n W.T. a n d F r a n c i s A . J . ,
" C a b l e M o v e m e n t s U n d e r Two
Dimensional Loads",
J . S t r . D i v . A S C E , V 9 0 , No. S T 3 J u n e
1964.
Part
1.

Row, I967.
Goldstein

A.A.,

"Constructive

Real

Analysis",

Harper and

- i -

Appendix

1.

Listing

o f FORTRAN S u b r o u t i n e

Cable-End
The

following

as

a function

o r T. .
o

of a Fortran

Subroutine

to c a l c u l a t e the end-forces

o f known USL, s a g a t some p o i n t

of a

which

cable

x, o r end

tension

Also
the

Forces.

is a listing

u s e s Newton's Method

to Calculate

included

are three

function

sub-programs

d e r i v a t i v e o f t h e known f u n c t i o n w i t h r e s p e c t

zontal

components

of cable

tension (H).

to calculate
to the h o r i -

i i

APPENDIX 1

C-****

SUBROUTINE TO DETERMINE CABLE END FORCES

SUBROUTINE CABPOS<W,EL,V,USL,AREA,E,H,A,B,T0,Tl,SAG,X)
I M P L I C I T REAL*8tA-H,0-Z)

C***

c***

C ****

c***
c****

c****
c***
c***

C***

C***

C***
C****
***
C***
C****
C***
C***
C***
C***
C***
C***
C****
C**#*
C

FOR GIVEN :

EL
V
USL
AREA
SAG
E
TO
Tl

= LOAD IN POUNDS PER LINEAR FOOT

HORIZONTAL

LENGTH

= VERTICAL LENGTH
= UNSTRETCHED LENGTH OF CABLE
AREA OF CABLE
SAG OF CABLE AT X
= MODULUS OF CABLE
= TENSION AT BEGINNING
TENSION AT END

NOTE: I F SAG.NE.O CALCS WILL BE BASED ON SAG

I F SAG.EQ.O AND TO OR T l NE.O CALCS WILL BE BASED ON
TENSION, OTHERWISE CALCS WILL BE BASED ON USL
THIS PROGRAM USES A NEWTON-RAPHSON METHOD TO CALCULATE THE
POSITION OF THE C A B L E , AND RETURNS VALUES OF:
USL
H
= HORIZONTAL TENSION
T 0 , T 1 {NOTE: IF VERT COMP < 0, T I S SET < 0)
SAG AT X
A,B = CONSTANTS IN THE CABLE EQUATIONS:
Y = H/W*COSH(W*X/H+A)+B
Y* = SINHtWX/H+A)

NITER = 0
* * * GUESS A VALUE OF H, I F NECESSARY
IFtH.EQ.O.>H=W*EL/2.
IFC H.LT.(W*EL/20.))H=W*EL/20.
AE=AREA*E
1
CONTINUE
IFtSAG.NE.O.)G0 TO 7
IFCTO.NE.O.O.OR.Tl.NE.0.0)G0T011
CALL DUSLDHtW,EL,V,AE,H,USL$,DERI V)
F=USL-USL$
C*** F = ERROR IN CALCULATED USL
IF{DABS(F/USL).LT.1.D-8)G0T02
G0T08
7
CALL
DSAGDH(W,EL,V,AE,H,X,A,B,SAG$tDERIV>
F=SAG-SAG$
C***# F = ERROR IN CALCULATED SAG
IF(DABS(F/SAG).LT.1.D-6)G0T02
GOT 08
C

11

12

Ill

I F ( T O . H E . 0 . ) C A L L DTODH (W, E L , V, AE,H, T$ , D E R I V , & 1 2, & 1 3)

C A L L DT1DH ( W , E L , V , A E , H , T $ , D E R I V,& 12,&13)

F=ro-rf

F = ERROR I H C A L C U L A T E D T E N S I O N AT B E G I N N I N G
I F (DABS ( F / T O ) . L T . 1.D-6) G 0 T 0 2
G0T08
13
F=T1~T$
* * * * F = ERROR I N C A L C U L A T E D T E N S I O N RT ESD
I F (DABS ( F / T 1 ) . L T . 1.D-6) GDT02
8
DELTAH-F/DERIV
IF{(DELTAH+H/2.).LT.O.)DELTAH=-H/2.
H=H+DELTAH
KITEB=BITER+1
IF(NITER.LT.13)G0T01
W R I T E ( 6 , 1 0 0 ) H,F
100
F O R M A T ( ' CABPOS: NO SOLS AFTER 12 I T E R A T I O N S .
* F=',F9.6))
C * * * * WRAP UP
G E T UNKNOWNS
2
I F ( S A G . N E . 0 . ) G O TO 9
IF(TO.HE.0.0.OR.T1.NE.0.0)GOT015
C A L L DSAGDH ( W , E L , V , f c E , H , X , A , B , S A G $ , D E R I V )
SAG=SAG$
GO TO 10
9
CALL
DUSLDH(W EL,V,AE,H,USL$,DERIV)
USL=USL$
GOTO10
15
C A L L DSAGDH (W,EL,V,AE,H,X,A, B, SAG, D E R I V )
CALL
DUSLDH(W,EL,V,AE,H,USL,DERIV)
10
CONTINUE
S0=DSIHH(A)
S 1 = D S I H (W*EL/H+A)
T0=H*DSQRT ( 1 . +S0*S0) * D S I G N (1. DO,SO)
T 1=H*DSQRT (1. +S 1 * S 1 ) * D S I G N ( 1 . D0,S1)
WRITE(7,101)NITER,H
101.
FORMAT(13,' I T E R A T I O N S .
H=',F13.5)
RETURN
END
C

****

H=,F9

- iv SUBROUTINE DUSLDH (W , EL, V, AE, H , US L$, DERIV)

I M P L I C I T REAL*8 (A-H,0-Z)
S/R TO FIND USL AMD D(USL)/DL FOR k CABLE
BE=V/EL
GA=W*EL/2./H
SHGA=DSINH (GA)
CHGA=DCOSH (GA)
DE=H/AE
EP=DSQST(BE*BE+SHGA*SHGA/GA/3A)
rH=DE*(BE*BE*GA*CHGA/SHGA+0.5+SHGft*CHGA/2./GA)
OSL$= (EP-TH)*EL
EIA=SHGA*CHGA/EP/G&-SHGA*SHGA/GA/GA/EP
PSI=BE*BE*GA* (CHGA/SHGA-S ft/SHGA/SHGA)-SHGA*CHGA/2./GA
1+(1.+2.*SHGA*SBGA)/2.
DERIV = EL/R* (- ET A - T E* D E* PSI)
RETURN
END

SUBROUTINE DSAGDH(W,EL,V,AE,H,X,A,B,SAG$, DE81V)

I H P L I C I T REAL*8 (A-H,0-Z)
* * * s/R TO FIND SAG, D (SAG) /DH, A AND B FOR A CABLE
C**** NOTE THAT THE EQUATIONS ARE SLIGHTLY REWORKED
C**** FROH THOSE IN THE THESIS IN ORDER TO INCREASE
C**** COMPUTATIONAL EFFICIENCY
AL=AE/EL
BE=V/EL
GA=W*EL/2./H
SHGA=DSINH (GA)
CHGA=DCOSH {GA)
A=DRSINH(GA*BE/SHGA) -GA
B=-EL/2./GA*DC03H (A)
SAG$=BE*X-EL/2./GA*DC0SH (2. *GA*X/EL*A) -B
DE=H/& E
DGADH=-GA/H
DADH=1./DSQRT (1.+GA*GA*BE* BE/SHGA/SHGA) *(BE/SHGA-GA*BE
1/SHGA/SHGA*CHGA)*DGADH-DGADH
DBDH=EL/2./GA/GA*DCOSH(A)*DGADH-EL/2./GA*DSINH(A)*DADH
DERIV=-1./W*DC0SH(2.*GA*X/EL+A)-EL/2./GA*DSINH(
12.*GA*X/EL+A)* (2,*X/EL*DGADH+DADH)-DBDH
RETURN
END

- vi -

***

S U B R O U T I N E DTODH (W , E L , V, AE, H, T $, DER IV , *, * )

I M P L I C I T R E A L * 8 (A~H,0-Z)
T E N S I O N AND D ( T E N S I O N ) / D H FOR A C A B L E
/

TMOLT=-1.

GO TO 1
ENTRY
DT1DH(W,EL,V,AE,H,T$,DERIV,*,*)
TMULT=1.
CONTINUE
AL=AE/EL
BE=V/EL
GA=W*EL/2./H
SHGA = DSINH{GA)
CHGA = DCOSH (GA)
DE=H/AE
E P = D S Q R T ( B E * B E + S HGft*SHGA/G A / 3 A )
ETA=SHGA*CHGA/EP/GA-SHGA*SHGA/GA/G&/EP
PHI=BE*GA*GA/SHGA/SHGA
VV=AL*GA*DE*EL*(BE*THULT*CHGA/SHGA+EP)
T$=DSQRT (H*rI + VV*VV)
DVDH=TMULT*PHI-GA*ETA
D E R I V = 1 . / T $ * (H + VV*DVDH)
I F ( T M U L T . L T . 0 . 0 ) RETURN 1
RETURN 2
END

Appendix

2.

In
for

these

In
require

was

Terms

i n the

(4.2), (4.3)

equations

cable

Appendix

Derivation of

v i i -

defined

d e r i v a t i v e s are

a d d i t i o n to

the

of

additional

function:

The

unstressed

length

of

the

Matrix.
stiffness

matrix

several derivatives.

In

this

evaluated.

symbols

an

(4.4)

and

i n terms

Cable

defined

cable

a^SL . a i i A ) ,
a h
dh

i n Chapter

i s constant,

3t

will

so:

So :

ac
ah
From

And

equation

from

aA
ah

.
"

A2.2

(3.5)

-3C

ah

'

equation

O
p/

og

BH_
ah

2.3

(3.10)

A2.4

Solving

equations

v i i i

and

( A 2 . 3 )

(A2.4) f o r

^tL

3h
| y - ^ [

c o ,

y - ]

A2.5
e q u a t i o n s (3.7)

Differentiating

and

(3.6)

we

find:

|^=a[ 8(coth /9/ )] + t>-yr)) | i i

r

r+

A2.6

3h

3V

3H

2 y S c o t h * / j - 2<j>

3h

3h

A2.7
As

defined

i n Chapter

3h

"

4 , the approximate

3h

term:

3h
A2.8

Or
As

a/Scothy + ^>

i n equation

A2.9

(A2.1)

3USL

8(C-A)

3L

3L

'

- i o

So

3C
3L

3A
"

3 L

A2.ll

- ix -

From e q u a t i o n

8L

(3.5)

And f r o m e q u a t i o n

>

o 8l_

A2.12

(3.10)

3A
a

A2.13

Solving equation

(A2.12) and (A2.13) f o r

dH
dL

dH
-a
dL

A2.14

Or

""^aF

dL
And d i f f e r e n t i a t i n g

equations

A2.15

(3.7)

and (3.6)

we

find:

U-a[ 8( -%+ i , - * v ) ] ( - ^ ) | H
y

A2.16

And

9H

, 3V,
A2.17

Knowing H . e q u a t i o n
evaluated
or

(4.4)

(A2.5),

(A2.9) and (A2.15)

to provide the cable s t i f f n e s s

matrix

are readily

o f equations

(4.3)

Appendix

3.

Newton's

of

the

oldest,

of

non-linear

it

was

able

not

to

come

to

found

atively

called

simplest,

and

It

comparatively

(3),

are

most

valuable

i n that

converge

to

stable

provided

only

that

Consider
Theorem

1,

C-4,

page

work**).

may

will

verify

In

readily

use

they

show

(assuming
point

merely

might

digested,

143,

the

is

solution

therefore,

mathematicians

that

were

.
(x)

state,

find
hence

to

of

Goldstein
us,

that
one

(based
in

but

Method

(3)

qualitatively

Newton's

enough
on

may

Quantit-

Method

exists) for a

is close

which

Newton's

to

will

structure

the

solution.

Goldstein's

i t s turn

was

based

on

i t let:

(x)

for himself

Some r e a d e r s

and

f o l l o w i n g theorems*

UBL,

we

(2)

little

initial

Which

of

solution

the

the

Chapter

Kantorovitch's

for

surprising

convergence
John

theorems

procedures

recently that

d e s c r i b i n g the

i n Kantorovitch

are

best

Newton-Raphson method)

i s somewhat

these

they

the

grips with i t .

Theorems
be

(also

equations.

until

Method.

Newton's Method
one

be

d e f l e c t e d shapes

be

the

stiffness

be

the

unbalanced

and

not

prove.

i t ' s isomorphism
Kantorovitch
the

to

to

the

matrix

at

loads

at

The

structure.

X
X

insistent'reader

Goldstein's

somewhat

references

of

too

theorem.

h i r s u t e to

Goldstein

and

John,

be

Let

a point

K (x )
_1

x i -

(the i n i t i a l

7)o = || K'Hxo)

UBL

ll=

(Xo)

the

length

mental

deflection

vector

calculated

Define

the sphere

that

II x( S

i s thus

and

having

such

a sphere

eigenvalue

o f K (x)

II

K(x)-

A n d !

where:

K(y)ll>

the inverse

(In a highly

k l l x

at Xo

stable

such

smallest

position

of

i t becomes

i s approached,

of neutral

^y'!

centered

o f the

and p o s i t i v e ,

position

at a position
exists

space

small

as an u n s t a b l e

a numberk

If

a l l X

t o 27] ).

=
.

structurej3ois

infinite

i tcontains

i n deflection
equal

|| K ^ ( X o ) ! !

larger

at

a radius

o f the incre-

X o 11$ 27?

Define^ =

the

f o r which

exists.

Set

p o i n t ) Le given

and i s

equilibrium).

that:

fora l l x

and

i n

/o7? k$l/2
0

Then

the structure

rium

i n S and the Newtonian

x, =
+1

converges

Xj -

has a p o s i t i o n

K'^Xj) UBL

quadratically

of stable

sequence
(Xj)

to i t .

defined

equilibby:

- x i i -

Note
tion,
the

sphere S

chances

the i n i t i a l

(and the f a s t e r
What

(Chapter

2.12)

then

general

statement

will

the sphere

i s to the solution,

criteria

solution

The s m a l l e r

matrix

vary

k be.

Thus

the better the

matrix?

i n the approximate
become

harsher,

i f the i n i t i a l
then

solu-

convergence.

i f the error

c a n be made:

and t h e s m a l l e r w i l l

o f u s i n g an approximate

the convergence

i s to the

the s t i f f n e s s

the rate) of

that

to the (stable)

hence

across S

point

i s the e f f e c t

bounded

enough

be7) and

deflections

position

the i n i t i a l

i s , t h e more n e a r l y

with

closer

shows

the closer

the smaller w i l l

linearly
the

that

point

convergence

John
matrix i s

b u t t h e same
i s close

i s assured.