slender structures load carrying principles - tu...
TRANSCRIPT
Hans Welleman 1
Slender Structures
Load carrying principles
Cables and arches
v2018-1
Content (preliminary schedule)
� Basic cases
– Extension, shear, torsion, cable
– Bending (Euler-Bernoulli)
� Combined systems
- Parallel systems
- Special system – Bending (Timoshenko)
� Continuously Elastic Supported (basic) Cases
� Cable revisit and Arches
� Matrix Method
Hans Welleman 2
Learning objectives
� Extend the technique for basic cases
� Find the ODE for a specific case and the boundary
conditions for the specific application
� Solve the more advanced ODE’s (by hand and
MAPLE)
� Investigate consequences/limitations of the model
and check results with limit cases
Hans Welleman 3
Basic Cases
Second order DE
� Extension
� Shear
� Torsion
� Cable
Hans Welleman 4
Fourth order DE
� Bending
2
2
2
2
2
2
2
2
d
d
d
d
d
d
d
d
xt
uEA q
x
wk q
x
GI mx
zH q
x
ϕ
− =
− =
− =
− =
4
4
d
d
wEI q
x=
Model
� (ordinary) Differential Equation – (O)DE
– Boundary conditions
– Matching conditions
Hans Welleman 5
Cable
� How to find H in a cable structure
� Catenary solution,load along cable
� Axial deformation of cables
� Susceptive to changes in load
� Horizontal displacements of cables
Hans Welleman 6
Cable 1load distributed along the projection of the cable
Hans Welleman 7
� external load q
� internal generalised stress, vertical component V …. BC
� Cable slope tanα
� displacement field w …. BC
“cable stiffness” H
“cable without
elongation” ??!!
ODE
Fundamental relations
� geometrical relation
� Moment equilibrium
� Equilibrium
Hans Welleman 8
dtan
d
z
xα =
tanV H α=
d d 0
d
d
V q x V V
Vq
x
− + + + = ⇔
= −
2
2
d d d
d d d
z V zV H H q
x x x= → = = −⋯
Remarks� Cable takes no bending
� Cable ODE describes an equilibirum in the deflected state (funicular curve) so this is a non-linear approach! (no superposition)
� H can be regarded as constant only if no horizontal loads are
applied
� This model is not valid for loads distributed along the cable!
� Derivation is strictly based upon equilibrium only!
� Cable force can be expressed in H and z :
Hans Welleman 9
( )2
22 2 2 dtan 1
d
zT H V H H H
xα
= + = + = +
10
How to find H ?
� With specified cable length
� With (external) specified load
11
1st option : with specified length
Example length AB given: L = 11.6344 m
10 kN
60 kN
3.0 m 4.0 m 2.0 m 6.0 m
3.0 m
3.0 m
A
B
C
chord AB
zk1
zk2
2 2
2 2 2 2
1 2 1 2
7 23 ( 1) 4 ( 1) 2
3 3k k k k
L z z z z− −
= + − + + − − − + + +
12
Find position of the cable in terms of
the constant H
10 kN 60 kN
3.0 m 4.0 m 2.0 m
20 kN 50 kN
100 kNm
60 kNm
M-lijn 1kH z
2kH z
12 1
2
60 10
100 6
kk k
k
H zz z
H z= ⇒ =
13
1st option : with specified length
Example for fixed cable length L
A B
q
l
L
f
s∆
x∆
z∆
2
1( )
4 ( )2( )k
qx l xfx l x
z xH l
−−
= =
2d
d 1 dd
zs x
x
= +
2
0 0
dd 1 d
d
x l x l
x x
zL s x
x
= =
= =
= = +
∫ ∫
OEPS ..
14
Continue …
2 2 2 3
2
0 0 0
1 d 1 dd 1 d d
2 d 2 d 24
x l x l x l
x x x
z z q lL s x l x l
x x H
= = =
= = =
= ≈ + ≈ + = +
∫ ∫ ∫
A B
q
l
L
f
overlength ∆ = L – l :2 3
2
24
q lH =
∆2
3 8or
8 3
ff l
l= ∆ ∆ =Check with MAPLE
2
0 0
dd 1 d
d
x l x l
x x
zL s x
x
= =
= =
= = +
∫ ∫
15
A B
l
L
f
F
katrol.
q
F
T = F
Free Body
Diagram of
the block
support
reaction of
the block
force polygon
for the block F
F
VT = F
H
components
of the cable
force T
q
A
B
l
Lf
F
block.
T
HHV V
support reaction
of the block
1
2V ql=
2
2 1
2H F ql
= −
2
2
2 18
2
qlf
F ql
=
−
2
8
qlf
H=
2nd option : with (external) specified load
Example (see also part 1)
Cable 2load distributed along the cable
Hans Welleman 16
� external load q
� internal generalised stress, vertical component V …. BC
� Cable slope tanα
� displacement field w …. BC
“cable stiffness” H
“cable without
elongation due to
cable force” !
ODE
Fundamental relations
� geometrical relation
� Moment equilibrium
� Equilibrium
Hans Welleman 17
dtan
d
z
xα =
tanV H α=
2
d d 0
d d d1
d d d
V q s V V
V s zq q
x x x
− + + + = ⇔
= − = − +
22
2
d d d d1
d d dd
z V z zV H H q
x x xx
= → = = − +
⋯
Catenary solution:
Hans Welleman 18
22
2
d d1
dd
z zH q
xx
= − +
d: sinh (1)
d
zsubsitute
xς=
2d(sinh )1 sinh
dH q
x
ςς= − +
d dcosh cosh
d dH q H q
x x
ς ςς ς= − ⇔ = −
1
qxC
Hς = − + 1
dwith (1): sinh sinh
d
z qxC
x Hς
= = − +
1 2coshH qx
z C Cq H
= − − + +
Catenary versus parabola
Hans Welleman 19
f
l
H
qlβ =
f Hversus
l qlβ =
Parabola
Catenary
Axial cable deformation (strain)
20
( )Tl
l straight cableEA
∆ =
2
2 2 2 2
2
d
d
d1 ( )
d
zT H V H H
x
zT H curved
x
= + = +
= +
2d
d 1 dd
zs x
x
= +
2 2
0 0 0
d d d1 d d
d d
s L x l x l
s x x
T s H z Hl H zL x x
EA EA x EA EA x
= = =
= = =
∆ = = + = +
∫ ∫ ∫
Curved cable:
Small for cables with modest sag
Oostende (B)
Hans Welleman 21
Nelson Mandelabrug in the Maria-Hendrika Park
http://office360.be/catalogus/025-voet-en-fietsbrug-oostende/
Hans Welleman 22
In de natuurlijke omgeving van het Maria Hendrikapark wordt
een sober en evident ogend kunstwerk gerealiseerd dat een
belangrijke schakel vormt in een bovenlokale wandel- en
fietsroute van de Stad Oostende. [a nice bridge in a park]
De brug wordt gereduceerd tot zijn essentie: loopvlak dat zich
uitstrekt van oever tot oever. De structuur wordt in het loopvlak
geïntegreerd, in de vorm van opgespannen kabels. Het loopvlak
neemt de elegante vorm aan van de natuurlijke kettinglijn en
overspant zo met een dikte van 28 cm een afstand van 72 m. De
brug won in 2006 de Staalbouw wedstrijd. [an elegant integrated
cable structure following the shape of a catenary with deck
thickness of 28 cm and a span of 72 m, Steel price winner 2006]
Mandela bridge, some numbers ..
Hans Welleman 23
span l = 72.00 m deck width b = 2.50 m
sag f = 1.30 m thick t = 0.28 m
p = 19.6 kN/m q = 5 kN/m2
EA = 21e6 kN 1 cable force due to dead weight,
2 cable force at full load,
3 sag at full load
24
Variation in H due variation in load
A B
L
L
1q q p= +
2q q p= −
q
12l 1
2l
2 3
224
q lL l
H= +
full load q:
( ) ( )
( ) ( )
221 1
1 1 1 1 222
222 1
2 2 2 3 422
d1
d
d2
d
zfield H H q H H z q x C C x
x
zfield H H q H H z q x C C x
x
− + ∆ = ⇒ − + ∆ = + +
− + ∆ = ⇒ − + ∆ = + +
Variation in load:
25
12
12
2 22 3
1 21 12 22
0
d d1 d 1 d
24 d d
x l x l
x x l
z zq lL l x x
H x x
= =
= =
= + = + + +
∫ ∫
Result …
( ) ( )
( ) ( )
221 1
1 1 1 1 222
222 1
2 2 2 3 422
d1
d
d2
d
zfield H H q H H z q x C C x
x
zfield H H q H H z q x C C x
x
− + ∆ = ⇒ − + ∆ = + +
− + ∆ = ⇒ − + ∆ = + +
Variation in load:
Total cable length remains unchanged (assume no elongation):
some work to do
2
21 1
4
pH H
q
∆ = + −
Suppose:
25% variation in q
0,78% variation in H
7,5% variation in z
26
Horizontal displacements
A B
L
L
u
1q q p= +
2q q p= −
q
12l 1
2l
27
More detail …
αA
z
x
α
α
B
w
u
A′
B′
du
dw
dz
dx
dd tan d with: tan
d
zu w
xα α= − ⋅ =
d d d dd d
d d d d
z u z wu w
x x x x= − ⇔ = − 1
d dd
d d
z wu x C
x x= − +∫
0
d d( ) (0) d 0
d d
x l
x
z wu l u x
x x
=
=
− = − =∫returns for arches
Alternative derivation
Cable length L is constant. Compare length due to load
q with length due to q+p : (axial deformation not included)
Hans Welleman 28
0
d dd 0
d d
x l
x
z wx
x x
=
=
=∫
2 2
1 12 2
0 0
d d( )1 d 1 d
d d
x l x l
x x
z z wx x
x x
= =
= =
+ + = +
∫ ∫
due to q due to q+p
Cable and beam (Euler-Bernoulli)
29
Model with constant H
30
2
2
d
d
zH p
x− =construction : all permanent load on cable:
( )2
2
4
4
d
d
d
d
cable
beam
z wH q
x
wEI q
x
+− =
=
After completion : beam + cable as P-system:
Load:
p = permanent
q = additional load
rigid links
EIbeam
z(x) cable
l
h
Simplified Model (constant H)
31
Final situation : beam + cable as P-system:
cable beamq p q q+ = +
( )24
4 2
dd
d d
z wwEI H q p
x x
+− = +
( )24 2
4 2 2
dd d
d d d
z ww zEI H H q
x x x
+− = − +
4 2 2
4 2 2
d d dwith:
d d d
w w zEI H q H p
x x x− = − =
Refined Model with changing Hnot part of the examination
32
( )( )24
4 2
dd
d d
z wwEI H H q p
x x
+− + ∆ = +
2
2
d
d
zH p
x− =Permanent load:
( )4 2 2
4 2 2
d d dwith:
d d d
w w H zEI H H q p H p
x x H x
∆− + ∆ = − − =
Two unknowns, additional equation required:
( )
0 0
d d d dd 0 or d
d d d d
x l x l
x x
H lz w z wx x
x x x x EA
= =
= =
∆= ≈∫ ∫
no axial deformation with axial deformation
axial deformation
compensated
Example
Hans Welleman 33
cable 0,6 kN/m
beam 9, 2 kN/m
2,0 kN/m
p
p
q
3
2
cable 1650,0 10 kN
beam 800 kNm
EA
EI
×
Question:
Find the deflection w at midspan due to
additional load q?
Assignment (use MAPLE and exact formulation for the length)
� Find length L of cable for z(a+b) = 0.8 m
� Find z(a+b) for change of length of +2.5% and –2.5%
Hans Welleman 34
:
2; 2; 2
5 kN/m; 15 kN;
given
a b c
q F
EA
= = =
= =
= ∞
H = 29,1667 kN, L = 6,25580 m
97.5% H = 47,26377 kN, z(a+b) = 0.49368 m
102.5% H = 22,75174 kN, z(a+b) = 1.02556 m
35
Arches
� Primarily compression
� Shape retained (not like a cable) due to bending stiffness of the arch
� Susceptible to buckling
F
w
q
xz
36
Cable versus Arch
q
l
A BH H
x
z
q
l
A BH H
x
z
EA, EI
arch no moments in the
arch
EA
37
Cable up side down ?
Only if the line of force due to the load corresponds to
the shape of the arch
ANTONI
GAUDI
(1852-1926)
38
Line of Force
8 kN/m
4,0 m
6,0 m 3,0 m
S
A B
C D
Me
N=
Centre of force in a cross section is the point
of intersection of the resultant force of all
normal stresses and the cross section.
M-line and N-line required …
cf
cross section
39
Line of force48
48
48
4836
36
24
48
M-line [kNm]
32 16
12
N-line [kN]
8 kN/m
4,0 m
6,0 m 3,0 m
S
A B
C D
12 kN
32 kN16 kN
12 kN
M, e
x
1( ) 8 (6 ) 8 (6 ) 0,0 6,0
2M x x x x x= − ⋅ − + ⋅ ⋅ ⋅ − ≤ ≤
2 813 3
( ) 4e x x x= − + line of force (line of
pressure) A-S
Result
8 kN/m
4,0
m
6,0 m 3,0 m
A B
C
D 1,3
3 m
M, e
xS2 S3
change the
position of the
hinge to influence
the shape and
compressive force
and see ….
Perfect Arch ….
� “flipped” cable
� Geometry (shape) is identical to themoment distribution of a replacing beambut scaled by a constant H ….
� Try this !
Bridge with multiple spans
Bridge crossing the Ulvsund near Kalvehave in Denmark, photograph © Hans Welleman
15,0 m 25,0 m 10,0 m
5 kN/m
7,5 kN/m
5 kN/m
EI = 10000 kNm2
H = 100 kNH = 100 kN
Beam model with M-line ?
15,0 m 25,0 m 10,0 m
5 kN/m
7,5 kN/m
5 kN/m
Flip the M-line and scale the result by H
M [kNm]
x [m]
44
Force distribution in arches
� Line of pressure method … clumsy
� Classical method based on the force method for specific type of arches
� Differential equation for arches with a wider range of application but with limited deformations
45
Classical approach - based on the
force methodq
l
A BH H
x
EA, EI
( )b
z x
H H
z
q
lA
B
x
EA, EI
h
( )bz x
Condition:
Both ends with hinged
supports
46
Force Method
� Reduce structure to a statically determinate (principal) system:
curved beam , find the M-line
� Denote the Statically Indeterminates (redundants):
H
� Define the deformation condition:
h = 0 …. horizontal displacement
47
Horizontal displacementsFind h due to a moment distribution M in a
curved beam:
dd d
d
M Mx
x EI EI
ϕκ ϕ= = ⇒ =Beam (straight) :
horizontal displacement = rotation times vertical distance to centre of rotation
vertical displacement = rotation times horizontal distance to centre of rotation
d d dh a zϕ ϕ= = −
dd ds
ds
M M
EI EI
ϕκ ϕ= = ⇒ =Beam (curved) :
darch
Mzh s
EI= −∫
A
B dh
dϕ
a
z
48
Moment in principal system due
to H
H
HMH
a
0H H
H
M H a M H a
a z M H z
+ ⋅ = ⇒ = − ⋅
= − ⇒ = ⋅
x
z
49
Deformation condition
0
with:
: due to the load on principal system
: due to the redundant
: axial deformation of the arch
a H
a
H
h h h
h
h H
h
∆
∆
+ + =
daa
arch
M z sh
EI= −∫
2d ( ) d dHH
arch arch arch
M z s H z z s H z sh
EI EI EI
⋅ ⋅ ⋅ ⋅= − = − = −∫ ∫ ∫
Hlh
EA
∆ = −
2d d0
a
arch arch
M z s Hz s Hl
EI EI EA− − − =∫ ∫
50
Result classical approach
2
dx
dx
a
arch
arch
M z
EIH
z l
EI EA
= −
+
∫
∫
aM M Hz= +
Moment distribution in the arch is the
superposition of the distribution of the
statically determinate (principal) system
and the distribution due to the statically
indeterminate (redundant) H
51
Exampleq
l
A BH H
x
EA, EI
( ) sinb
xz x f
l
π= −
Given:
l = 100 m
f = 15 m
q = 4,0 kN/m
EA = infinite
1( )
2
aM qx l x= −sin
xz f
l
π = −
2
dx
dx
a
arch
arch
M z
EIH
z l
EI EA
= −
+
∫
∫
aM M Hz= +
52
Result
> restart;
> l:=100; q:=4; f:=15;
> z:=-f*sin(Pi*x/l);
> plot(-z,x=0..l,-50..50,title="boog");
moment Ma in het statisch bepaalde hoofdsysteem> Ma:=(1/2)*q*x*(l-x);
> plot(-Ma,x=0..l,title="Momentenverdeling Ma");
los H op met de klassieke methode:> H:=-int(Ma*z,x=0..l)/int(z^2,x=0..l);
> M:=simplify(Ma+H*z);
> plot(-M,x=0..l,title="Momentenverdeling in de boog");
Moment distribution in the arch
M [kNm]
x [m]
53
ODE for Arches
� For all boundary conditions
� Bending and “flipped” cable
q
l
A Bx
EA, EI
z
( )b
z x
2 4
2 4
d dand
d dcable bending
z wH q EI q
x x− = =
geometry z
After completion of the arch the
load q is taken by the arch +
bending. Displacements w with
respect to z will occur and a
constant horizotal component H of
the compressive force in the arch
will occur
2 4
2 4
d dand
d darch bending
z wH q EI q
x x= =
54
Load carrying capacity
� Arch + Bending
2
2
4
4
d
d
d
d
arch
bending
zH q
x
wEI q
x
=
=
4 2
4 2
d d ( )
d darch bending
w z wEI H q q q
x x
++ = + =
4 2
4 2
d d
d d
w zEI q H
x x= −
55
Solution of the ODE
General Solution =
homogeneous solution + particuliar solution
Formulate four boundary conditions
solve the integration constants
Result : The solution in terms of the unknown H
MAPLE
56
Extra condition to find H
0
d dd 0
d d
x l
x
z wx
x x
=
=
=∫
no horizontal displacement at the supports:
0
d dd
d d
x l
x
Hl z wx
EA x x
=
=
= − ∫
Including axial deformation of the arch:
0
d 0
x l
x
w x
=
=
=∫
Parabolic arch:
2
0
8d
x l
x
Hl fw x
EA l
=
=
= ∫
Parabolic arch:
57
Fun ….
2
2
00 0
2
2
00 0
d d d dd d 0
d d d d
or
d d dz dd d 0
d d d d
x lx l x l
xx x
x lx l x l
xx x
z w w wx z z x
x x x x
z w zx w w x
x x x x
== =
== =
== =
== =
− = − + =
− = − + =
∫ ∫
∫ ∫
2
2
0 0 0
dd d 0 d 0
d
x l x l x l
x x x
zw x C w x w x
x
= = =
= = =
= = ⇒ =∫ ∫ ∫
constant for
parabola …
58
Example( )
bz x
q
l
A B x
EA, EI
z Given:
q = 5 kN/m
l = 80 m
f = 15 m
EI = 150000 kNm2
parabolic arch
2
2
d0; 0; 0
d
d; 0; 0
d
wx w
x
wx l w M EI
x
ϕ= = = − =
= = = − =
boundary conditions:
load:
12
5,0 ( )q Heaviside x l= ⋅ −
2
4 ( )fx l xz
l
−= −
arch:
DEMO with MAPLE
59
Conclusion
� Simple parametric model for arches to be used with MAPLE for design purposes
� Results of M-line etc is with respect to
the horizontal axis (x-axis) and not
perpendicular to the beam axis as in FEM programs
??
60
61
ODE result versus FEM result
3
3
3
3
d dcos sin
d d
d dsin cos
d d
w zN H EI H
x x
w zV H EI H
x x
α α
α α
= − + − −
= + − −
local (beam) x-axis
shear force V
shear force Vnormal force N
normal force N
FEM
Vbending Varch
z(x)
α
H
Varch+ Vbending
α
α
ODE
One last detail …
Complete ODE
� Do not neglect w with respect to z
62
4 2 2
4 2 2
d d d
d d d
w w zEI H q H
x x x+ = −
General solution
� use MAPLE
63
( )( )
4
2
1 1 3 422 2 2
2
2sin
4( ) sin cos
4 4
with:
o
xq l
f EIlw x x D x D x D x D
l HEI l H
H
EI
π
β βπ π
β
= − − + + +
−
=
� Buckling length (in plane) = half the span
� Buckling out of plane also possible!
� Snap-through problems Courses on CIE5144 Stabilityand CIE5142 Nonlinear FEM
Assignment Arch-1
Hans Welleman 64
� Find the horizontal component H of the force in the arch
� Find the maximum moment in the arch
( in terms of F and l )25 7
max128 128;
FlH M Fl
f= =
Assignment Arch-2
Hans Welleman 65
3 2
1 2
1 2
1 2
:
100 10 kNm ;
15 m; 25 m;
3 m; 5 m;
150 kN; 30 kN;
( ) sin 0ii i i i
i
Given
EI
l l
f f
F F
xz x f x l
l
π
= ×
= =
= =
= =
= − < <
� Find the moment distribution for a rigid connection betweenthe arches at the midspan support
� Find the moment distribution for a hinged connection betweenthe arches at the midspan support
� Discuss the results