PAMM Proc. Appl. Math. Mech. 9, 263 264 (2009) / DOI 10.1002/pamm.

200910105

Modeling problems of steeply inclined cableway subjected to moving load

Marta Knawa1 and Danuta Bryja1
1

Institute of Civil Engineering, Wrocaw University of Technology, Wyb. Wyspianskiego 27, 50 - 370 Wrocaw, Poland

Problems of structural modeling of multi-span bicable ropeway systems due to significant inclination of a track are discussed
in this paper with reference to the vibration analysis. The analytical continuous model of a cableway is formulated in a
form which enables to describe in-plane vibrations of steeply inclined carrying cable subjected to traveling passenger carriers
modeled by moving pendulums. The nonlinear interaction between carrying cable and moving carriers is taken into account
in the moving load definition. Effects of a steep track slope are discussed on the basis of equations of motion of the system.
c 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim

Introduction and problem statement

In mountain regions where difficult terrain conditions are found, aerial cableways are common transport system. To cover
long distances and high elevations, bicable circulating or reversible ropeway systems are feasible technical solution. In the
design and calculations of such structures, a steep slope of the cable track must be taken into account. As so far authors
considerations were related to the cableway systems with slightly inclined or horizontal cable chord (Refs. [1, 2]). To comply
with the assumption of a steep slope, the previously formulated cableway model is modified in this paper.
In a new formulation, the model is described with reference to spatial coordinate x where the x axis direction is defined by
average track slope described by the angle Fig. 1. It is assumed that: (i) the cable slides on intermediate supports along
the x axis direction and (ii) operational velocity v of passenger carriers traveling on the cable track is constant when it is
measured along the x axis. These assumptions are believed to be justified as the difference in cable inclination for adjacent
spans is mostly limited in real installations. However, in special cases, each span can be treated separately and the model is
still valid when employed for a single span. The initial static configuration of the cable subjected to gravity load and tightened





by counterweight is defined by the following equations: [H0i ] = mg sin , [H0i zi ] = mg cos , where i = 1...k
is the number of cable span. Solving first equation one by one for cable spans, the initial cable tension can be obtained
in the form: H0i (xi ) = H0 + mg sin (li + ... + lk xi ), where H0 = T g + mglk+1 is the constant tension related to
horizontal cable chord (when = 0). The solution of second equation, obtained for > 0, describes a catenary cable profile:


lzr
lzr x
lzr x
hi hi1
xi
li
0
zi (xi ) = hi1 + tan
ln i lzr i i tan
ln i lzr i , where lizr = mgHsin
+ kj=i lj , i = ln li+1
zr . Lengths of
+
i

i
i
i
cable spans li = Li /cos + ai sin ai1 sin are referred to x direction (Fig. 1). Dynamic increments in cable tensions




2
have the form: Hi = EAi cos 0i , Nk+1 = EA(uk+1 + uk+1
/2) which result from Green-Lagrange deformation












i (xi , t) = cos2 0i (ui + zi wi ) + cos2 0i (ui2 /2 + wi2 /2), where cos 0i = (1 + zi 2 )1/2 .
Basing on nonlinear equations of motion of a cable:






m
ui [H0i ui + Hi (1 + ui )] = pxi ,








mw
i [H0i wi +Hi (zi +wi )] = pzi ;
tightening cable section:


uk+1 = 0;
Nk+1 + m
and counterweight:
k+1 (lk+1 , t) = 0,
Nk+1 (lk+1 , t)+T u
formulated in Ref. [2], formulas of potential and kinetic energy have been derived. Then, applying Ritz approximation of displacements into energy formulas and using Lagranges equations,
matrix eq. B
q + Cq + Kq = F(t) RN
governing the motion of carrying cable
Fig. 1 Model of steeply inclined cableway
under distributed load pxi , pzi has been
obtained (see Ref. [2]). The essential
difference between equations of motion derived for a slightly or steeply inclined cable track reveals in a formulation of particular submatrices of structural stiffness matrix K. That results from different forms of zi function which describes a parabolic
or catenary curve, respectively. Moreover, for > 0 the stiffness matrix includes new components produced by -dependent
part of initial tension H0i (xi ).

Corresponding author

e-mail: marta.knawa@pwr.wroc.pl, Phone: +48 713 203 779, Fax: +48 713 281 889
c 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim

264

Short Communications 4: Structural Mechanics

In-service load acting on the carrying cable is caused by passenger carriers running along the cable track. Carriers are represented by moving pendulums. In the cable load definition it is assumed that the cable sag is small due to high initial
tension, that is cos 0i 1. As carriages of carriers roll freely along the cable, the displacements of carrying cable and
these of carriages are independent in x direction. Along x axis motion of carrier in ith span is described by the function:
xij = [vt (j 1)d] (l1 + ... + li1 ), where d denotes constant intervals between carriers. The cross motion (along
z axis) of a carriage wij (t) is the same as the cable motion at the point xij (t), that yields wij (t) = wi [(xi , t), t]. Swaying movement of the j th carrier in cable plane is represented by the angle j , as it is shown in Fig. 2. Equation governing
the pendulum sway is derived with taking into account inertial forces of car units (carriage, hanger with cabin, passengers)
due to in-plane cable motion, and under the assumption of small pendulum sway (sin j j ). It has the following form:
2
2
Jj j + cj j + gSj j = Sj sin w
ij + Sj cos w
ij j , where Jj = Jch + Mch rch
+ Jlj + Mlj rli
- rotational moment of
inertia, Sj = Mch rch + Mlj rlj - static mass moment, cj - damper characteristic. The first component of right-hand side of the
equation describes linear cable-pendulum interaction which has its origin in kinematic excitation of pendulum sway caused by
cable motion. It appears only in a case of steeply inclined cableway track (when > 0). The second component constitutes
pendulum interaction and it exists both for slightly and steeply inclined track.
nonlinear cable U
As all forces acting in x direction are carried by hauling rope, the total load on carrying
cable results only from cross components of carriage weight, carriage inertia force and
carrier hanger reaction (Fig. 2). It is defined as: Pij (t) = Mc g cos + Mj g cos +
ij j Mj cos2 w
ij Mc w
ij , where Mj = Mch + Mlj and
(Mj g sin )j Mj sin 2w
Mc are masses of hanger with loaded cabin and carriage, respectively. This concentrated
load is expressed as distributed one by using delta Dirac function as follows: pzi,j (xi , t) =
Pij (t)(xi xij ). The cable load in x direction does not exist: pxi,j (xi , t) = 0. Substituting Ritz approximation of cable displacements into total work of cable loads caused

, t)
by all carriers (j = 1...N ), one obtains the excitation vector F = F(t)
B(
q

C( , t)q K( , t)q K (t) with coefficients which depend on time and pendulum
angular displacements = col(1 ...N ). Equations of motion of all pendulums can
be expressed in a matrix form as follows: {J} + {c} + g {S} = f, where f =
q (
q (
q (
, t)
, t)q K
, t)q and {J},{c},{S} - diagonal matrices of pendulums
qC
B
parameters.
Gathering
equations
of motion of two sub-systems: cable and moving penFig. 2 Pendulum model of a carrier
dulums, we obtain matrix equation governing the motion of coupled system:




 


  N 
, t)
, t) 0

, t) K (t)

q
q
B + B(
0
C + C(
q
R
F(t)
K + K(
=
. (1)

q
q
q

0
, t)
, t)
{J}
{c}
B (
C (
, t)
g {S}
K (

Conclusions

From Eq. 1 it reveals that the considered problem of vibrations of steeply inclined cableway under moving load is quite complicated. When > 0 equations of motion (1) are always coupled - both in linear and nonlinear problem. Couplings between
the cable motion and pendulums sway result from mutual interaction forces which have linear and nonlinear components.
The influence of these couplings is presented in Fig. 3. In the case of horizontal cable track, large-amplitude vibrations of the
carrier, appearing due to impulsive load at start conditions, are independent of cable vibrations and quickly decay (a black line in Fig. 3).
When the cable track is inclined, the sway motion of the carrier,
caused by cable vibrations, is observed during a whole time of the
passage (blue and red lines in Fig. 3). In the case when cableway
track is slightly inclined the vibration analysis is simpler. If = 0,
the equation of cable motion becomes independent and has the fol

RN .
lowing form: [B + B(t)]
q + [C + C(t)]
q + [K + K(t)]q
= F(t)
Then, cable vibrations are described by differential equations with
time-dependent coefficients and pendulums sway in cable plane has
no influence on the cable. Moreover, in a case of linear problem we
q (
q (
q (
, t) = C
, t) = K
, t) = 0, which means that the
have B
pendulums
sway
does
not
depend
on cable displacements, and then
Fig. 3 Horizontal sway movement of a carrier for different
equation of motion {J} + {c} + g {S} = 0 describes free vibratrack inclinations
tions of a set of pendulums.

References
[1] M. Knawa, D. Bryja, Effects of dynamic loads acting on carrying cable in operating ropeway, PAMM Proc.Appl.Math.Mech. 8, 1029710298 (2008).
[2] M. Knawa, D. Bryja, Vibrations of carrying cable of ropeway system loaded by passenger carriers modeled by series of moving
pendulums, Proc. 7th Europ. Conf. on Struct. Dynam., Southampton, UK, (M.Brennan, University of Southampton, UK, 2008), E115
c 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim

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