Structural Engineering International

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Cable Dynamics - A Review

U. Starossek (Civil Eng.)

To cite this article: U. Starossek (Civil Eng.) (1994) Cable Dynamics - A Review, Structural
Engineering International, 4:3, 171-176, DOI: 10.2749/101686694780601908

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Cable Dynamics — A Review
U. Starossek
Civil Eng., J. Muller mt.. San Diego. CA. USA

Summary A more precise solution for the free vi-

brations of an inclined extensible and
The history of the theory of cable vibrations from the 18th century to the present sagging cable was given by Triantafyl-
is reviewed. Basic equations of linear dynamics of an extensible sagging cable are lou in 1984 [43]. For this, spatial vari-
presented. A dynamic stiffness function that can be derived from these equations ability of dynamic tension and weight
is given. Limiting transitions lead to other well known results: The static equiva- component parallel to chord were
lent modulus of elasticity given by Ernst as well as the natural frequencies of mo- taken into consideration. For the fre-
tion given by Irvine and Caughey can be inferred from this function. A discus- quency curves of inclined cables it fol-
sion of dynamic-excitation mechanisms and of dynamic interaction between ca- lows that each 'cross-over' is replaced
bles and other structural elements conclude this contribution. by an 'avoided crossing' (i.e.. nearly a
cross-over'). Nevertheless, validity of
Irvine's theory was confirmed for a
wide range of parameters.
The problem of dynamic interaction
Introduction However, until the 1970s there had between cables and other system ele-
neither theoretical nor experimental ments demands investigation of
The vibrating taut string was one of
work been done which dealt with a re- boundary induced cable vibrations.
markable discrepancy between the This point was treated by Davenport
the first physical systems to which the
theories known b then: When reduc- and Steels [7] in 1965. More refined
new analytical tools of modern me-
chanics and mathematics were applied.
ing the sag to zero, the frequencies of theories were presented by Veletsos
the symmetric in-plane modes of an in- and Darbre [46], and Starossek [38, 39.
Treatises on this problem were pre- extensible sagging cable do not equal 40]. In [38. 40], a complete linear theo-
sented by Brook Taylor. d'Alembert, the corresponding natural frequencies
Euler, Johann and Daniel Bernoulli ry of boundary induced vibration of a
during the first half of the eighteenth
of a taut string. As shown by Irvine damped cable was given.
and Caughey [14] in 1974. description
century [41]. All works mentioned so far were limit-
of that transition range requires con-
ed to the investigation of small
By 1788 Lagrange and others before sistent inclusion of cable elasticity.
displacements (linear theory). A sys-
had reached solutions of varying de- Their work [14] revealed an extensive
tematic exploration of nonlinear cable
grees of completeness for the vibra- comprehension of the linear theory of
tions of an inextensible, massless free vibrations of a rigidly supported
dynamics began only recently. As a
representative of this new period,
string, fixed at each end, from which horizontal cable with a ratio of sag to
Tonis' work [42] can be considered.
numerous weights were hung. This span from approximately 1:8 to zero
corresponds to a discretization of the (horizontal means that the cable ends
cable continuum. The general partial The following sections are dedicated
are supported at the same level). Their
to the linear dynamics of an extensible
differential equations of the motion of basic and straightforward assumption
sagging cable. For sake of conciseness.
a cable element under the action of a was that the dynamic cable tension is a
only vibrations within the (vertical) ca-
general force system were given by function of time alone (i.e., the elastic
Poisson in 1820 [141. However, apart deformation is assumed to be quasi- ble plane are considered. Structural
and/or fluid-dynamic damping is taken
from Lagrange's work on the equiva- static). They pointed out that the dy-
lent discrete system, solutions for the namic behavior of a cable essentially into account. The basic equations are
given. A dynamic stiffness function
sagging cable were unknown at that depends on only one geometric-elastic
that can be derived from these equa-
time. system parameter. For certain values
of this parameter, the so-called 'cross- tions is presented. By means of such
In 1868. after preliminary work by over' points, the natural frequencies of
functions, the dynamic interaction be-
Stokes and Röhrs. Routh gave exact symmetric in-plane modes and the re-
tween system elements and the dy-
solutions for an inextensible sagging spective antisymmetric in-plane modes
namic behavior of composed systems
cable which hung in a cycloid [29]. Ca-
coincide.
can be analysed. By limiting transi-
ble elasticity was considered for the tions, the dynamic stiffness function
first time by Kloppel and Lie [18] in Later on, Irvine extended the theory given here leads to other well known
1942. In 1949, Pugsley [27] proposed a to inclined cables [16]. For this, the results: The static equivalent modulus
semi-empirical theory for the natural weight component parallel to the cable of elasticity given by Ernst as well as
frequencies of cables with great sag chord was neglected. The same author, the natural frequencies of motion giv-
(1:10 ratio of sag to span 1:4). In jointly with Griffin. also made valu- en by Irvine and Caughey can be
1953, by assuming again that the cable able contributions to the analysis of ca- inferred from it. Finally, dynamic-ex-
was inextensible. Saxon and Cahn [31] ble response to dynamic loading as it citation mechanisms and dynamic
gave theoretical solutions for cables occurs in the case of support accelera- interaction between cables and other
with great sag. tion due to earthquake [15]. structural elements are discussed.

Structural Engineering International 3/94 Reports 171

 ____dy

Basic Equations It is assumed that the vibration is de-

scribed by the products
A horizontal cable with shallow sag is
I — ds
considered (Fig. 1). Its static form is v(x,t) = (x)e°t , u(x.t) =
approximated by a quadratic parabola. (4)
I + dT
The condition of dynamic equilibrium where
lv+av
of the vertical forces (Fig. 2, leads to H+h
the equation of motion i2—1 , U,V,OJEC

d-t d-v cv dv
H—-÷h——- = m—+c— (1)
and in which u is the circular frequen-
dx- dx- dt2 dt
cy of motion. Consequently, the ex-
pression
Fig. 2: Differential cable element
where
hr(x,t)=hr(x)eio)l: h cC
H= the horizontal component of the static ca-
ble tension will be valid, and analogous product
m = the cable mass per unit length descriptions are valid for the boundary
c = the damping force per unit length and ve- forces and displacements. That is, only From the compatibility condition (3),
locity.
harmonic vibrations and vibrations
with an exponentially variable ampli-
The auxiliary quantity h7 is defined as dv thY dii
tude (modified-harmonic vibrations) (7)
are considered. With this approach, EA[dx) = dxdx + dx
(2) both the steady-state system response
ds
to harmonic excitation as well as is obtained. In further derivations, dis-
where r is the dynamic part of the total damped free vibrations can be investi- placement function ii(x) in equation
cable tension that is supposed to be in- gated. (7) is usually eliminated by integra-
variable along the cable (quasi-static tion.
With the adoption of approach (4). the
elastic deformation). The second basic
equation equation of motion (1) leads to the or- The equations given so far and the im-
dinary differential equation plied results are valid for a horizontal
where
cable. By neglecting the weight com-
(3) ponent parallel to the chord. however,
EAI,,dx) dxdx dx entire theory can be extended to
= —1 . ,o cc, the
an inclined cable. The admissible ratio
provides for the elastic and geometric h(x,t) = 1r(x)e'°; h1 cC of sag to span depends on boundary
compatibility of the cable element, 8d - conditions, cable inclination, and ma-
H----- + o2miY = (5)
E = Youngs modulus of elasticity dx2
terial. For a rigidly supported horizon-
A= the effective cross-sectional area of the ca-
tal steel cable, the maximum ratio is
ble. approximately 1:8. An application to
The introduction of the auxiliary para-
inclined cables and to cables with dis-
meter
When the damping term is omitted placeable boundaries demands limita-
and the quantity h is substituted by h tion of the sag-to-span ratio to 1:20
= (6)
(dynamic part of horizontal compo- or less [38. 39, 40].
nent of total cable tension), equations where
C

(1) and (3) conform to the equations 2mco

presented by Irvine and Caughey [14].
As shown in [38 and 40]. these rela- provides a substantial simplification of
Dynamic Stiffness Functions
tions can be derived without limitation further derivations. By utilizing tn-
Static analysis of mechanical systems
of the horizontal displacement u. They gonometrical solution functions with
can therefore be taken as a basis for complex arguments. they can now be
usually requires knowledge of the
the analysis of a cable with displace- load-deformation behavior of the sys-
formally carried out as if damping tern elements. This behavior can be de-
able boundaries presented herein. were not present [38, 40].
scribed in compact form by stiffness

I___ matrices. Limited to the steady-state

response, it is possible to transfer this
concept to the investigation of dynam-
ic processes, which implies the devel-
opment of dynamic stiffness matrices
[4]. The coefficients of these matrices
are time-independent relations be-
tween boundary forces and boundary
d displacements of the element as a part
of a vibrating system. They are func-
tions of the frequency of motion. From
equations (5) and (7), a dynamic stiff-
ness matrix for the sagging cable can
Fig. 1: Horizontal cable be derived which is suitable for dy-
172 Reports Structural Engineering International 3/94
 i
1[1+stana(K_1)12
K* +pQ(cotQ (10)
"
KL 1+.(?c_1)
.J

namic direct-stiffness analysis of com- tan(Q 12)

posed systems such as cable-stayed K (16)
bridges or guyed masts [38, 39, 40]. /2
Using an example. attention is focused
on the coefficient Fig. 3: Global force and displacement quan-
T0 = H / cos 0 (17) tities

K11=-5- (8)
zi Furthermore, I denotes the chord
length; and d is the sag perpendicular
of that matrix. If a (see Fig. 3) is chosen to the chord. The quantity Te repre-
to be equal to the chord inclination, sents the static cable tension at the sec-
K11 represents the horizontal dynamic tion where the cable is parallel to the
stiffness at the upper end of an in- chord, and corresponds approximately
dined cable that is fixed at the lower to the average cable tension. Angle 9
end. is the chord inclination (measured
from horizontal line); and g is the gray-
To obtain dimensionless graphs. K1 is
itational acceleration.
related to the elastic part K of the
static stiffness K1 of a taut wire (i.e., a
The dynamic stiffness given by equa-
straight rod) tion (10) is a complex function. Its real
and imaginary parts correspond to the
K1 = K[1 + L._tan2
EA
a] properties of a frequency-dependent = 23A8 = 55.86°
spring-dashpot system. They are de-
picted in Fig. 4 for a randomly selected
11
= cos2 a (9)
set of parameters. Considerable varia-
e=O.1218
fl/jr
tions occur within the range of natural
Eq. (10) results as an analytical func- frequencies (i.e., of a cable fixed at Fig. 4: Dynamic stiffliess function
tion, which is mainly influenced by the both ends). They are associated with
fundamental cable parameter increased transversal cable vibrations.
This may lead to nonlinear effects [421,
' and could affect the validity of the transformed into the formula for the
EAI = here given linear theory. Recent mea- so-called equivalent modulus of elas-
cos - o
l'ø ) T0Le surements on a tall guyed mast under ticity given by Ernst [8]. The second
EA / wind action [26], however, confirmed term — cable parameters p — corre-
= - — — (11) the relevance of linear analysis to prac- sponds to the ratio of rotational to
T0 L. tical applications, elastic stiffness of a taut wire (see
equations (9) and (14)). In the static
which was introduced by Irvine and case, this parameter is usually of minor
Caughey [14]. Other characteristic ca- influence on the total stiffness.
ble parameters are Equivalent Static Cable
Stiffness In order to obtain the equivalent mod-
mgi 8d ulus of elasticity in a more repre-
c= —cos 0 = (12)
T0 I sentable form. some substitutions are
Upon carrying out the limiting transi- made, and 1/Le is approximated by uni-
tion Q, — 0, equation (10) reduces to tv. The fundamental cable parameter
+ 1E2) A2 can now be written
L. i[l (13)
+
8[]1 = 1(1

K1
i
(18)
÷PJ
A2
T0 a
p=—tan-au-——tan-a (14)
EA The first term in brackets represents where
the elastic stiffness and the geometric
The remaining quantities are defined stiffness due to cable sag. (The quanti-
as y= mg/A = the cable weight per unit length
tv 1/12 is the ratio of both stiffness
A.2 and effective cross-sectional area
n- contributions.) It is a function of the a- = Ta/A = roughly the average cable stress
= w,j --
\ Te
(15) fundamental cable parameter A de-
fined by equation (11) and can be
I = (cos® = the horizontal cable span
= -ylio-.

Structural Engineering International 3/94 Reports 173

 E The parameter a corresponds approxi- equation (22) correspond to the natur-
E mately to the ratio of the weight com- al frequencies associated with the sym-
ponent perpendicular to the chord to metric in-plane modes. Alternatively
the average cable tension. E/o is to a numeric solution of (22), the fol-
roughly the reciprocal of the average lowing interpolation formulae may be
cable strain. By utilizing equations used.
(18) and (19), the dimensionless equiv-
alent modulus of elasticity (tangent For large A2 (inextensible sagging ca-
modulus) can be written as follows: ble), the expression
'I
Eeq* - - Q,1(2n+1)Jr_
4.—*O. a=O
1
(2n--l)Jr
—
I + *A2 —
—
n=1. 2, 3,... (25)
1
(20) can be utilized [17]; maximum devia-
tion from exact values is 0.15 % (for
0.01 0.05 0.1 a A2 = oo). For sufficiently small A2 (taut
d — (71 string), it is valid that
j — This expression depends on only two
dimensionless parameters. Hence a ge- £7,1 (2n_l)ff ; n=l. 2 (26)
Fig. 5: Dimensionless equivalent modulus neral graphic presentation is possible
of elasticity as it is shown in Fig. 5. this formula becomes exact for )c2 = 0.
As an approximation for the frequency
Free Vibration Response of the first symmetric in-plane mode
Typical lnter ir and for any given A2. Irvine [17] de-
Suspension Brd NI.nn C.'k
Solutions for the free vibrations of a rived the expression Eq. (27), as by
Tvt,ical Interval fr Sts (.hIe'
3.92
cable that is fixed at both ends were means of a Fourier series approach:
given by Irvine and Caughey [14] and frequencies evaluated by this formula
Irvine [16]. Their results can easily be deviate at most 0.5 % from exact val-
derived from equation (10). The stiff- ues. An approximation by Bauer [2]
ness function that is described by this for the first symmetric in-plane fre-
equation becomes infinite for certain quency, adapted to the notation intro-
duced here reads
values of In the case of real Q.
these values coincide with the dimen-
sionless natural frequencies of an un- (28)
damped cable suspended from rigid
end supports. This condition leads to
the frequency equations this expression, however, is valid for
Fig. 6: The first two natural frequencies of sufficiently small A2 only; for A2 = 4ii2,
symmetric (a, c), and of anrisymmetric (b, deviation from exact value is +3 %.
d), in-plane vibrations [JO] tan±0 (21) (In [2], the influences of flexural stiff-
ness and elastic supports on natural
QQ
tan———+—I—I =0
4(Q'\3
(22)
frequencies are additionally investigat-
2 2 A22) ed.)

where the dimensionless natural fre- The first four in-plane natural frequen-
quency Q is defined as cies are depicted in Fig. 6 as functions
of A2. The first symmetric in-plane
mode is shown in Fig. 7 for three dif-
Q=wl T
-- (23) ferent values of A2. These pictures il-
\ lustrate the importance of the funda-
and in which w is the natural circular mental cable parameter and the signif-
frequency. The solution of equation icance of the cross-over points
(21) is
A2 = (2jjr)2 ; j = 1. 2. 3. ... (29)
Q=2n,r; n=l. 2 (24)
that mark the transition from the dy-
and corresponds to the natural fre- namics of a taut string (A2 = 0) to the
quencies of the antisymmetric in-plane dynamics of an inextensible sagging
modes. The roots of the transcendental cable (A2 = o)

Fig. 7: Possible forms of tile first symmetric

in-plane mode 114]
i {+{io ÷8o2) [(10Jr2 +i)2 4(946562)]2}}
(27)

a) A <-hr2. b) A2 = 4..2 c) A2> 4.2

174 Reports Structural Engineering International 3/94

It follows from Fig. 6 that the natural cables should be taken into considera- References
frequencies of tightly stretched cables tion [1, 22,40].
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