Free Vibrations of Taut Cable with Attached Damper. II: Nonlinear Damper

Free vibrations of a taut cable with a nonlinear power-law damper attached near the end are considered. An approximate analytical solution for the amplitude-dependent effective damping ratios in each mode is developed by assuming the same form of solution as for the linear damper and minimizing the mean-square error in the force equilibrium at the damper. An asymptotic approximate solution for small frequency shifts reveals a nondimensional grouping of parameters allowing the development of an amplitude-dependent “universal estimation curve” for the power-law damper. The shape of the universal curve is slightly different for each value of the damper exponent, but for a given exponent the curve is nearly invariant over the same range of parameters as the universal curve for the linear damper. This formulation yields insights into the dependence of nonlinear damper performance on mode number and amplitude of oscillation, suggesting potential advantages that may be offered by a nonlinear damper over a traditional linear damper.     

Vibration of Tensioned Beams with Intermediate Damper. II: Damper near a Support

Analytical solutions are used to investigate the free vibrations of tensioned beams with a viscous damper attached transversely near a support. This problem is of particular relevance for stay-cable vibration suppression, but no restrictions on the level of axial load are introduced, and the results are quite broadly applicable. Characteristic equations for both clamped and pinned supports are rearranged into forms suitable for numerical solution by fixed-point iteration, whereby the complex eigenfrequencies and corresponding damping ratios can be accurately computed within a few iterations. Explicit asymptotic approximations for the complex eigenfrequencies are also obtained, subject to restrictions on the closeness of the eigenfrequencies to their undamped values. These asymptotic approximations are expressed in the same “universal” form identified in previous studies. It is observed that the maximum attainable modal damping ratios and the corresponding optimal values of the damper coefficient can be significantly affected by bending stiffness and by the nature of the support conditions, and a nondimensional parameter grouping is identified that enables an assessment of when bending stiffness should be considered.     

Damping of Taut-Cable Systems: Two Dampers on a Single Stay

The mitigation of in-plane stay oscillation in cable-stayed bridges is commonly addressed by placing an external mechanical damper, linear or nonlinear, on each stay or by introducing transverse cross-ties among cables. Although the problem of a cable with a single external damper has found significant attention in the past and different techniques have been proposed for the solution of the free-vibration problem, limitations are related to the fact that the location of the damper is usually very close to the cable end (on the bridge deck side) due to geometric constraints, leading to inherently low modal damping in the fundamental modes. In this paper the installation of more than one damper on an individual stay is considered to overcome such limitations and to increase the overall performance of the system. An existing procedure, based on the linearized taut-string theory, was modified to allow for the presence of multiple external discrete viscous dampers. The case of two devices with arbitrary location has been solved, identifying advantages and disadvantages of the proposed solution. In addition, extensions of the practical “universal curve” and the interpretation thereof are presented.     

Combined Damping Effect of Two Dampers on a Stay Cable

The combined effect of two dampers, either on the same end or opposite ends of a stay cable, is analytically studied in this paper. By considering small distances of the dampers from the anchorages, an asymptotic formula for the modal damping ratio of the cable is derived from which the total damping effect is presented in an explicit form. It is shown that when two dampers are installed at opposite ends of the cable, the total damping effect is asymptotically the sum of the contributions from single dampers. On the contrast, if two dampers are at the same end, there is no advantage of increasing the maximum modal damping in the cable over the use of a single damper.     

Analytical Study on Bending Effects in a Stay Cable with a Damper

The effects of bending on the modal properties of a stay cable with a transverse damper are analytically studied. Considering that the value of the flexural rigidity in the stay cable is small in practice, an explicit asymptotic formula for the modal damping of a cable with a general type of damper is derived. For a viscous damper, the asymptotic formula obtained is compact, accurate, and thus is very suitable for practical design. Furthermore, for the first few vibration modes of interest, the asymptotic solution is independent of the modal index. It is shown that flexure in the cable reduces the maximum attainable modal damping, possibly up to 20%, while it significantly increases the optimal damping coefficient of the damper.     

Wavelet-Galerkin Method for Free Vibrations of Elastic Cable

The wavelet-Galerkin method is applied to study the free vibration of a horizontally suspended catenary cable. Antiderivatives of the Daubechies compactly supported wavelets have been used with multilevel representations. Comparison between wavelet and Fourier methods is presented for natural frequencies, mode shapes, and dynamic tension of the cable. Both methods showed that they are converging fast in obtaining the natural frequencies and mode shapes. However, as the dynamic tension is obtained, the Fourier solution shows many oscillations and the existence of the Gibbs phenomenon at the cable supports, whereas, these oscillations do not appear in the wavelet solutions. Comparison is also made with the linear theory of cable vibration. Due to the inclusion of the inertia term of the longitudinal component in our solution, new modes have been found. Those modes are reverting but swapping modes in which the longitudinal displacement component is larger than the transverse displacement component.     

Stochastic Response of an Inclined Shallow Cable with Linear Viscous Dampers under Stochastic Excitation

Considering the coupling between the in-plane and out-of-plane vibration, the stochastic response of an inclined shallow cable with linear viscous dampers subjected to Gaussian white noise excitation is investigated in this paper. Selecting the static deflection shape due to a concentrated force at the dampers location and the first sine term as shape functions, a reduced four-degree-of-freedom system of nonlinear stochastic ordinary differential equations are derived to describe dynamic response of the cable. Since only polynomial-type terms are contained, the fourth-order cumulant-neglect closure together with the C-type Gram-Charlier expansion with a fourth-order closure are applied to obtain statistical moments, power spectral density and probabilistic density function of the cable response, whose availability is verified by Monte Carlo method. Taking a typical cable as an example, the influence of several factors, which include excitation level and direction as well as damper size, on the dynamic response of the cable is extensively investigated. It is found that the sum of mean square in-plane and out-of-plane displacement is primarily independent of the load direction when the excitation level and viscous coefficient of the damper are fixed. Moreover, the peak frequency and half-band width of the spectra of both the in-plane and the out-of-plane displacements are increasing with excitation level when the damper size is constant. It is also observed that, even though the actual optimal damper size is slightly greater than the one obtained by the complex modal theory, the difference of statistical moment of the cable caused by these two damper size is negligible, so the vibration reduction effect provided by the theoretical optimal viscous coefficient is satisfactory.     

Analysis of Traffic-Induced Vibrations in a Cable-Stayed Bridge. Part I: Experimental Assessment

This paper characterizes the experimental approach used for the evaluation of traffic-induced dynamic effects in Salgueiro Maia cable-stayed bridge. It presents the most significant results obtained both in terms of the static load tests developed at the commissioning phase, and of the dynamic tests under controlled heavy traffic. These tests were specifically conducted for the evaluation of dynamic amplification factors considering the passage of heavy trucks isolated or in groups, along several lanes and at different speeds. Furthermore, the experimental characterization of the random characteristics of the pavement roughness, using an appropriate spatial laser scanning measurement system, is referred.     

Wavelet-Hybrid Feedback Linear Mean Squared Algorithm for Robust Control of Cable-Stayed Bridges

Cable-stayed bridges are flexible structures, and control of their vibrations is an important consideration and a challenging problem. In this paper, the wavelet-hybrid feedback least mean squared algorithm recently developed by the writers is used for vibration control of cable-stayed bridges under various seismic excitations. The effectiveness of the algorithm is investigated through numerical simulation using a benchmark control problem created based on an actual semifan-type cable-stayed bridge design. The performance of the algorithm is compared with that of a sample linear quadratic Gaussian (LQG) controller using three different earthquake records: the El Centro (California, 1940), Mexico City (Mexico, 1985), and Gebze (Turkey, 1999) earthquakes. Simulation results demonstrate that the new algorithm is consistently more effective than the sample LQG controller for all three earthquake records. Additional numerical simulations are performed to evaluate the sensitivity of the new control algorithm. It is concluded that the algorithm is robust against the uncertainties existing in modeling structures.     

Performance and Repair Design of Stay Cables with Rain/Wind-Induced Vibrations

The results of a multifaceted investigation into large-amplitude vibrations of bridge stay cables are presented. The vibration of the stay cables occurred under light rain and wind conditions, and resulted in low-frequency, large-amplitude oscillations having recorded displacements of over 24?in. (0.6?m). Due to concerns about the implications of the vibrations on the integrity and durability of the stay cables and observed damage to stay-cable anchorage components, an investigation and repair program was developed. The final repair program arose from an investigation that combined the talents of practicing engineers, the Texas Department of Transportation, and representatives from four universities. Ultimately, a combination of supplemental hydraulic dampers and cable restrainers were used to mitigate the vibrations. This paper describes the results of the investigation and presents the practice-based methodology used to develop the implemented repair program.     

Analysis of Traffic-Induced Vibrations in a Cable-Stayed Bridge. Part II: Numerical Modeling and Stochastic Simulation

This paper describes the development of a numerical model to simulate the dynamic response of the bridge–vehicle system of Salgueiro Maia cable-stayed bridge, using the results from an extensive experimental investigation to calibrate this model. Further, a set of stochastic Monte Carlo simulations of the bridge–vehicle dynamic response is also presented, with the purpose of evaluating dynamic amplification factors, taking into account the randomness of different factors associated to characteristics of the pavement, of the vehicles and of the traffic flow.     

Nontarget Image-Based Technique for Small Cable Vibration Measurement

In this paper, a proof-of-concept image-based technique is proposed for measuring small cable vibration. The technique analyzes an image sequence of a vibrating cable segment captured by a camera. An optical flow method is used to calculate variation of optical intensity of an arbitrary selected region of interest (ROI) on the cable image sequence. The obtained optical flow vector provides the direction of vibration for the ROI on the cable segment, which then can be used to estimate displacement of the ROI on the image plane. Furthermore, actual displacement of the ROI can be extracted when some conditions are met. The proposed technique is validated both in the laboratory using a rigid pipe and in the field on a small pedestrian bridge cable. Results show that the technique is able to measure the pipe motion and the cable vibration accurately. The proposed technique requires only one commercial camera, and no prior camera calibration is needed. In addition, the use of an optical flow method eliminates the need to attach any target to the cable and makes the technique very easy to implement. Despite these advantages, the technique still needs further development before it can be applied to long-span bridge cables.     

Control of Suspension Bridge Nonlinear Vibrations due to Moving Loads

The flexibility and low damping of the long-span suspended cables in the suspension bridges make them prone to vibrations due to wind and moving loads, which affect the dynamic response of the suspended cables and the bridge deck. This paper shows the design of two control schemes to control the nonlinear vibrations in the suspended cable and the bridge deck due to a vertical load moving on the bridge deck with a constant speed. The first control scheme is an optimal state feedback controller. The second control scheme is a robust state feedback controller, whose design is based on the design of optimal controllers. The proposed controllers, whose design is based on Lyapunov theory, guarantee the asymptotic stability of the system. A vertical cable between the bridge deck and the suspended cable is used to install a hydraulic actuator able to generate the active control force on the bridge deck. The MATLAB software is used to simulate the performance of the system with the designed controllers. The simulation results indicate that the proposed controllers are capable of significantly reducing the nonlinear oscillations of the system. In addition, the performance of the system with the proposed controllers is compared to the performance of the system controlled with a velocity feedback controller. It is found that the system with the proposed controllers can provide better performance than the system with the velocity feedback controller.     

Control of Wind-Induced Self-Excited Oscillations by Transfer of Internal Energy to Higher Modes of Vibration. II: Application to Taut Cables

In Part I of this paper, a theoretical basis is presented using a two-degrees-of-freedom model. In this second part of the study, the passive control and the two types of semiactive controls introduced in Part I are examined numerically for a taut cable experiencing wind-induced galloping motion. The passive and the semiactive control schemes for taut cables show a good similarity with the results obtained for the two-degrees-of-freedom model. The potential of using these control schemes in practical applications to flexible structures is demonstrated.     

Vibration of Tensioned Beams with Intermediate Damper. I: Formulation, Influence of Damper Location

Exact analytical solutions are formulated for free vibrations of tensioned beams with an intermediate viscous damper. The dynamic stiffness method is used in the problem formulation, and characteristic equations are obtained for both clamped and pinned supports. The complex eigenfrequencies form loci in the complex plane that originate at the undamped eigenfrequencies and terminate at the eigenfrequencies of the fully locked system, in which the damper acts as an intermediate pin support. The fully locked eigenfrequencies exhibit “curve veering,” in which adjacent eigenfrequencies approach and then veer apart as the damper passes a node of an undamped mode shape. Consideration of the evolution of the eigenfrequency loci with varying damper location reveals three distinct regimes of behavior, which prevail from the taut-string limit to the case of a beam without tension. The second regime corresponds to damper locations near the first antinode of a given undamped mode shape; in this regime, the loci bend backwards to intersect the imaginary axis, and two distinct nonoscillatory decaying solutions emerge when the damper coefficient exceeds a critical value.     

Corrosion and Embrittlement in High-Strength Wires of Suspension Bridge Cables

An in-depth analysis of the deterioration mechanisms in high-strength wires of suspension bridge cables is presented. Accelerated cyclic corrosion tests were conducted to assess the relative effect of corrosion on galvanized and ungalvanized wires. Samples were corroded under various levels of sustained loads in a cabinet that cyclically applied an acidic salt spray, dry conditions, and 100% relative humidity at elevated temperature, and mass loss, hydrogen concentration, ultimate load, and elongation at failure were measured. Elongation measurements indicated a significant embrittlement of the wires that could not be explained solely by the presence of absorbed hydrogen (hydrogen embrittlement). The main cause of reduction of wire elongation was found to be the surface irregularities induced by the corrosion process. The experimental results were validated through a numerical analysis using a finite-element method model of the corroded steel wire and through a series of scanning electron microscope analyses of the fracture surfaces.     

Damping of Taut-Cable Systems: Effects of Linear Elastic Spring Support

The influence of linear elastic support on the damper effectiveness of a cable-damper system was investigated by modeling the system as a taut string, an intermediate damper, and a spring in series. Two types of damper were analyzed in this study: (1)?the linear elastic damper; and (2)?the friction threshold. An exact formulation for the free vibration of the system was developed for the linear viscous damping system, and a complex eigenfrequencies equation was worked to obtain the explicit solution for the frequency shift. A damping ratio equation for different modes, which depicts the effect of the spring, was developed from the frequency shift. An effective flexibility coefficient was introduced to investigate the effect of different values of support stiffness on the effectiveness of the linear viscous damper. A universal curve family diagram was constructed, which indicated that linear elastic support reduces the effectiveness of the linear viscous damper. The universal curve obtained previously by Main and Jones was a special case of this universal curve family for the case in which the stiffness of the support approached infinity. The equation of maximum force introduced to the spring was also derived and was shown to be positively related to the cable tension force and the cable vibration amplitude at the damper attachment location. The influence of the linear elastic support on a cable-damper system with a friction threshold was also investigated by using the result of the linear viscous damper and the equivalent energy method. The result showed that the linear elastic support also reduces the effectiveness of the friction threshold. An equation showing how to select an optimal friction threshold for a stay cable was also proposed.     

Cable Modal Parameter Identification. I: Theory

Cable modal parameters (natural frequencies and damping ratios) that represent the cable inherent dynamic characteristics play an important role in the construction, vibration control, condition assessment, and long-term health monitoring of cable-supported structures. The existing options to identify cable modal parameters through vibration measurements are somewhat limited. For this purpose, a cable dynamic stiffness based method is presented to effectively identify the cable modal parameters. In the first part of this two-part paper, the cable dynamic stiffness is analytically discussed for a viscously damped, uniform, inclined sagging cable supported at the lower end and subjected to a harmonically varying arbitrary angle displacement excitation in an arbitrary angle at the upper end when the cable is assumed to have a parabolic profile at its position of static equilibrium. Special attention is paid to the physical meaning and significance of every part of the frequency-dependent closed-form cable dynamic stiffness. Comprehensive numerical analyses have been carried out and a simplified cable dynamic stiffness is proposed for the purpose of identifying the cable modal parameters with a good accuracy over a wide range of frequencies.     

Experimental Verification of Smart Cable Damping

Stay cables, such as are used in cable-stayed bridges, are prone to vibration due to their low inherent damping characteristics. Transversely attached passive viscous dampers have been implemented in many bridges to dampen such vibration. However, only minimal damping can be added if the attachment point is close to the bridge deck. For longer bridge cables, the relative attachment point becomes increasingly smaller, and passive damping may become insufficient. A recent analytical study by the authors demonstrated that “smart” semiactive damping can provide increased supplemental damping. This paper experimentally verifies a smart damping control strategy employing H2/linear quadratic Gaussian (LQG) clipped optimal control using only force and displacement measurements at the damper for an inclined flat-sag cable. A shear mode magnetorheological fluid damper is attached to a 12.65?m inclined flat-sag steel cable to reduce cable vibration. Cable response is seen to be substantially reduced by the smart damper.     

Optimization of Cable Tensioning in Cable-Stayed Bridges

During the structural analysis of cable-stayed bridges, some specific problems arise that are not common in other types of bridges. One of these problem is the derivation of an optimal sequence for the tensioning of the stay cables. This paper describes a novel solution to this problem, the unit force method. The method takes into account all relevant effects for the design of cable-stayed bridges, including construction sequence, second-order theory, large displacements, cable sag and time-dependent effects, such as creep and shrinkage or relaxation of prestressing tendons. Information about the implementation of this method into a computer program is given, and an example of a practical application of this method concludes this paper. The method is not restricted to the design of cable-stayed bridges and may well be used for other structural applications in the future.