Roebling Suspension Bridge. I: Finite-Element Model and Free Vibration Response

This first part of a two-part paper on the John A. Roebling suspension bridge (1867) across the Ohio River is an analytical investigation, whereas Part II focuses on the experimental investigation of the bridge. The primary objectives of the investigation are to assess the bridge’s load-carrying capacity and compare this capacity with current standards of safety. Dynamics-based evaluation is used, which requires combining finite-element bridge analysis and field testing. A 3D finite-element model is developed to represent the bridge and to establish its deformed equilibrium configuration due to dead loading. Starting from the deformed configuration, a modal analysis is performed to provide the frequencies and mode shapes. Transverse vibration modes dominate the low-frequency response. It is demonstrated that cable stress stiffening plays an important role in both the static and dynamic responses of the bridge. Inclusion of large deflection behavior is shown to have a limited effect on the member forces and bridge deflections. Parametric studies are performed using the developed finite-element model. The outcome of the investigation is to provide structural information that will assist in the preservation of the historic John A. Roebling suspension bridge, though the developed methodology could be applied to a wide range of cable-supported bridges.     

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.     

Vibration Studies of Tsing Ma Suspension Bridge

A three-dimensional dynamic finite element model is established for the Tsing Ma long suspension Bridge in Hong Kong. The two bridge towers made up of reinforced concrete are modeled by three-dimensional Timoshenko beam elements with rigid arms at the connections between columns and beams. The cables and suspenders are modeled by cable elements accounting for geometric nonlinearity due to cable tension. The hybrid steel deck is represented by a single beam with equivalent cross-sectional properties determined by detailed finite element analyses of sectional models. The modal analysis is then performed to determine natural frequencies and mode shapes of lateral, vertical, torsional, longitudinal, and coupled vibrations of the bridge. The results show that the natural frequencies of the bridge are very closely spaced; the first 40 natural frequencies range from 0.068 to 0.616 Hz only. The computed normal modes indicate interactions between the main span and side span, and between the deck, cables, and towers. Significant coupling between torsional and lateral modes is also observed. The numerical results are in excellent agreement with the measured first 18 natural frequencies and mode shapes. The established dynamic model and computed dynamic characteristics can serve further studies on a long-term monitoring system and aerodynamic analysis of the bridge.     

Finite-Element Analysis and Vibration Testing of a Two-Span Masonry Arch Bridge

This paper presents the analytical modeling, modal testing, and finite-element model updating for a two-span masonry arch bridge. An Ottoman masonry arch bridge built in the 19th century and located at Camlihemsin, Rize, Turkey is selected as an example. Analytical modal analysis is performed on the developed 3D finite-element model of the bridge to obtain dynamic characteristics. The ambient vibration tests are conducted under natural excitation such as human walking. The operational modal analysis is carried out using peak picking method in the frequency domain and stochastic subspace identification method in the time domain, and dynamic characteristics (natural frequencies, mode shapes, and damping ratios) are determined experimentally. Finite-element model of the bridge is updated to minimize the differences between analytically and experimentally estimated dynamic characteristics by changing boundary conditions. At the end of the study, maximum differences in the natural frequencies are reduced on average from 18 to 7% and a good agreement is found between analytical and experimental dynamic characteristics after finite-element model updating.     

Cable Modal Parameter Identification. II: Modal Tests

The cable dynamic stiffness describes the load–deformation behavior that reflects the cable intrinsic dynamic characteristics. It is defined as a ratio of response to excitation and represents a very similar frequency response property to the frequency response function (FRF). Therefore, by fitting both analytical cable dynamic stiffness and measured frequency response function, the modal parameters of cables can be identified. Based on the simplified cable dynamic stiffness proposed in the first part of the two-part paper, this paper presents a cable dynamic stiffness based procedure to identify the cable modal parameters (natural frequencies and damping ratios) by modal tests. To carry out the curve fitting, a nonlinear least-squares approach is used. A numerical simulation example is first introduced to illustrate the feasibility of the proposed method. Further, a series of cable modal tests are conducted in the laboratory with different cable tensions and the frequency response functions are measured accordingly. A number of issues related to the cable modal tests have been discussed, such as accelerometer arrangement and excitation placement, frequency resolution, windowing, and averaging. It is demonstrated that the cable modal parameters can be effectively identified by using the proposed method through the cable modal tests.     

Vibration Control of Stay Cables of the Shandong Binzhou Yellow River Highway Bridge Using Magnetorheological Fluid Dampers

The Shandong Binzhou Yellow River Highway Bridge is a three-tower, cable-stayed bridge in Shandong Province, China. Because the stay cables are prone to vibration, 40 magnetorheological (MR) fluid dampers were attached to the 20 longest cables of this bridge to suppress possible vibration. An innovative control algorithm for active and semiactive control of mass-distributed dynamic systems, e.g., stay cables, was proposed. The frequencies and modal damping ratios of the unimpeded tested cable were identified through an ambient vibration test and free vibration tests, respectively. Subsequently, a series of field tests were carried out to investigate the control efficacy of the free cable vibrations achieved by semiactive MR dampers, “Passive-off” MR dampers and “Passive-on” MR dampers. The first three modal damping ratios of the cable incorporated with the MR dampers were also identified from the in situ experiments. The field experiment results indicated that the semiactive MR dampers can provide significantly greater supplemental damping for the cable than either the Passive-off or the Passive-on MR dampers because of the pseudonegative stiffness generated by the semiactive MR dampers.     

Evaluation of Load Distribution Factor by Series Solution for Orthotropic Bridge Decks

In bridge engineering, the three-dimensional behavior of a bridge system is usually reduced to the analysis of a T-beam section, loaded by an equivalent fraction of the applied live load, which is called the live load distribution factor (LDF). The LDF is defined in the both the AASHTO Standard Specifications and the LRFD Specifications primarily for concrete slabs and has inherent applicable limitations. This paper provides explicit formulas using series solutions for LDF of orthotropic bridge decks, applicable to various materials but intended for fiber-reinforced polymer (FRP) decks. The present formulation considers important parameters that represent the response characteristics of the structure that are often omitted or limited in the AASHTO Specifications. A one-term series solution is proposed based on the macroflexibility approach, in which the bridge system is simplified into two major components, deck and stringers. The governing equations for the two components are obtained separately, and the deflections and interaction forces are solved by ensuring displacement compatibility at stringer lines. The LDF is calculated as the ratio of the single stringer interaction force to the summation of total stringer interaction forces. To verify this solution, a finite-element (FE) parametric study is conducted on 66 simply supported concrete slab-on-steel girder bridges. The results from the series solution correlates well with the FE results. It is also illustrated that the series solution can be applied to predict LDF for FRP deck-on-steel girder bridges, by favorable comparisons among the analytical, FE, and testing results for a one-third-scale bridge model. The scale test specimen consists of an FRP sandwich deck attached to steel stringers by a mechanical connector. The series solution is further used to obtain multiple regression functions for the LDF in terms of nondimensional variables, which can be used for simplified design purposes.     

Ambient Vibration of Long-Span Cable-Stayed Bridge

The investigation of dynamic response for long-span cable-stayed bridges largely depends on a detailed understanding of their dynamic characteristics, such as the natural frequencies, mode shapes, and modal damping ratios. In this paper, the dynamic characteristics of a fairly long cable-stayed bridge in Hong Kong are studied using finite-element analysis and ambient vibration measurements. A three-dimensional finite-element model is first established for the bridge based on design drawings. The dynamic characteristics are then analyzed from the statically deformed configuration. Ambient vibration measurements are also conducted to obtain the dynamic characteristics of the bridge. Comparison between these two results shows that, for the most part, a total of 31 modes can be correlated with a reasonable agreement. However, the frequency differences of the higher modes can range between 15 and 30%. This implies that, if the measurement is more reliable, a finite-element model updating is necessary in order to achieve better correlation between these two results.     

Long-Term Response Prediction of Integral Abutment Bridges

The importance of long-term behavior in integral abutment (IA) bridges has long been recognized. This paper presents an analytical, long-term, response prediction methodology using finite-element (FE) models and compares results to measured response. Three instrumented Pennsylvania IA bridges have been continuously monitored since November 2002, November 2003, and September 2004 to capture bridge response. An evaluation of measured responses indicates that bridge movement progresses year to year with long-term response being significant with respect to static predictions. Both two-dimensional and three-dimensional FE models were developed using ANSYS to determine an efficient and accurate analysis level. Seasonal cyclic ambient temperature and equivalent temperature derived from time-dependent strains using the age adjusted effective modulus method were employed as major loads in all FE models. The elastoplastic p-y curve method, classical earth pressure theory, and moment-rotation relationships with parallel unloading paths were used to model hysteretic behavior of soil-pile interaction, soil-abutment interaction, and abutment-to-backwall connection. Predicted soil pressures obtained from all FE models are similar to the measured response. Predicted abutment displacements and corresponding design forces and moments at the end of the analytically simulated 100-year period indicate the significance of long-term behavior that should be considered in IA bridge design.     

Vibration Characteristics of K?mürhan Highway Bridge Constructed with Balanced Cantilever Method

K?mürhan Highway Bridge is a reinforced concrete box girder bridge located on the 51st km of Elaz??–Malatya Highway over the F?rat River. Because of the fact that the K?mürhan Bridge is the only bridge in this part of F?rat, it has major logistical importance. So, this paper aims to determine dynamic characteristics such as natural frequencies, mode shapes, and damping ratios of the bridge using experimental measurements and finite-element analyses to evaluate current behavior. The experimental measurements are carried out by ambient vibration tests under traffic loads. Due to the expansion joint in the middle of the bridge, special measurement points are selected and experimental test setups are constituted. Vibration data are gathered from the both box girder and bridge deck. Measurement time, frequency span, and effective mode number are determined by considering similar studies and literature. The peak picking method in the frequency domain is used for the output-only modal identification. An analytical modal analysis is performed on the developed two- and three-dimensional finite-element model of the bridge using SAP2000 software to provide the analytical frequencies and mode shapes. At the end of the study, dynamic characteristics of the Elaz?? and Malatya parts of the bridge obtained from the experimental measurements are compared with each other and transverse effects on the bridge are determined. Also, experimental and analytical dynamic characteristics are compared. Good agreement is found between dynamic characteristics in the all measurement test setups performed on the box girder and bridge deck and analytical modal analyses.     

Development of Dynamic-Response-Based Objective Functions for Finite-Element Modeling of Bridges

The basic mechanism and procedures of finite-element (FE) bridge modeling and calibration are briefly presented. Different physical parameters of FE models are adjusted during the calibration process. Dynamic-response-based objective functions are carefully developed based on two powerful indices: the modal assurance criterion and frequency correlation trend line. The nominal bridge models are calibrated by minimizing the quantified difference between analytical results and experimental measurements. Using an existing calibration strategy, a nominal FE bridge model is optimized by minimizing this global dynamic-response-based objective function. The value of the objective function is reduced from 10.70 to 4.61%. The minimization of the objective function indicates the convergence of calibration and it is shown that the automated calibration becomes practical due to the formulation of the dynamic-response-based objective function.     

Development of Static-Response-Based Objective Functions for Finite-Element Modeling of Bridges

The basic mechanisms and procedures of finite-element (FE) modeling and calibration are briefly presented in the context of bridge condition assessment. Different physical parameters of FE models are adjusted to simulate experimental measurements. To quantify the calibration process, static-response-based objective functions are carefully developed based on two powerful condition indices: bridge girder condition indicators and unit influence lines. Critical issues related to the indices are discussed in detail. Using an existing calibration strategy, a nominal FE bridge model is optimized by minimizing this global static-response-based objective function. The value of the objective function is reduced from 12.98 to 4.45%, which indicates convergence of the calibration process. It is shown that the automated calibration becomes practical due to the formulation of the static-response-based objective function.     

Modal Testing, Finite-Element Model Updating, and Dynamic Analysis of an Arch Type Steel Footbridge

This paper describes an arch type steel footbridge, its analytical modeling, modal testing, finite-element model updating, and dynamic analysis. A modern steel footbridge which has an arch type structural system and is located on the Karadeniz coast road in Trabzon, Turkey is selected as an application. An analytical modal analysis is performed on the developed three-dimensional finite-element model of footbridge to provide analytical frequencies and mode shapes. Field ambient vibration tests on the footbridge deck under natural excitation such as human walking and traffic loads are conducted. The output-only modal parameter identification is carried out by using peak picking of the average normalized power spectral densities in the frequency domain and stochastic subspace identification in the time domain, and dynamic characteristics such as natural frequencies, mode shapes, and damping ratios are determined. The finite-element model of the footbridge is updated to minimize the differences between analytically and experimentally estimated modal properties by changing some uncertain modeling parameters such as material properties. Dynamic analyses of the footbridge before and after finite-element model updating are performed using the 1992 Erzincan earthquake record. At the end of the study, maximum differences in the natural frequencies are reduced from 22 to only 5% and good agreement is found between analytical and experimental dynamic characteristics such as natural frequencies and mode shapes by model updating. Also, maximum displacements and principal stresses before and after model updating are compared with each other.     

Modal Contribution Coefficients in Bridge Condition Evaluation

Impact modal testing combined with finite element (FE) analyses is currently being used to evaluate the condition of steel bridges in the state of Ohio. Using modal testing techniques, it is relatively easy to measure the dynamic response of bridges, including mode shapes, frequencies, and modal scaling factors. These responses are compared to the results of the FE analyses and the model is iteratively updated until a good agreement is obtained. After a good agreement between experimental and analytical results has been achieved, the FE model is used to obtain stresses that are used to load rate the bridge. During the iterative calibration process, several quantities, including the fundamental mode shapes and frequencies, are used to evaluate the accuracy of the FE model. Since each mode shape plays a different role in the dynamic behavior of the structure, a more efficient calibration routine can be achieved if more emphasis is placed on obtaining good matches for the modes that are most influential. The aim of this paper is to develop a quantitative measure of the contribution of different modes to the overall dynamic response of a structure. The proposed measure, a series of contribution coefficients, is used to identify which modes are most critical in the process of modal testing and FE model calibration. Several applications of the contribution coefficients are identified.     

Finite-Element Analysis of Time Domain Reflectometry Cable-Grout-Soil Interaction

Three-dimensional finite element analysis is combined with field and laboratory measurement of time domain reflectometry (TDR) cable-grout response to analyze the interaction between the cable, grout, and surrounding soil mass during localized shearing. Finite element (FE) model parameters for the cable and cable-grout interface elements are back-calculated by matching results from laboratory shearing tests to FE calculated response. These parameters are employed in subsequent FE model geometries to model the behavior of TDR cable-grout composites in soft soils. Optimal grout and cable design is determined by analyzing the relationship between grout strength and stiffness and calculated cable shear stress.     

Output-Only System Identification of Posttensioned Segmental Concrete Highway Bridges

This paper discusses the application of system identification of a highway bridge using finite-element method and ambient-vibration testing. The posttensioned Gülburnu Highway Bridge located on the Giresun-Espiye state highway was selected as a case study. A finite-element model of the bridge was developed using SAP2000 software, and dynamic characteristics were obtained analytically. During the test, sources of ambient excitations were provided by the traffic effects over the bridge. Ambient-vibration tests were applied to the bridge to identify dynamic characteristics. The selection of measurement time, frequency span, and effective mode number was considered from similar studies in the literature. Two output-only system identification methods, enhanced frequency domain decomposition and stochastic subspace identification, were used to estimate the dynamic characteristics of the bridge experimentally. The accuracy and efficiency of both methods were investigated and compared with finite-element results. Results suggest that ambient-vibration measurements are sufficient to identify structural modes with a low range of natural frequencies. In addition, the dynamic characteristics obtained from the finite-element model of the bridge have a good correlation with experimental frequencies and mode shapes.     

Nonlinear Finite Element Analysis of a FRP-Strengthened Reinforced Concrete Bridge

Three-dimensional nonlinear finite element (FE) models are developed to examine the structural behavior of the Horsetail Creek Bridge strengthened by fiber-reinforced polymers (FRPs). A sensitivity study is performed varying bridge geometry, precracking load, strength of concrete, and stiffness of the soil foundation to establish a FE model that best represents the actual bridge. Truck loadings are applied to the FE bridge model at different locations, as in an actual bridge test. Comparisons between FE model predictions and field data are made in terms of strains in the beams for various truck load locations. It is found that all the parameters examined can potentially influence the bridge response and are needed for selection of the optimal model which predicts the magnitudes and trends in the strains accurately. Then, using the optimal model, performance evaluation of the bridge based on scaled truck and mass-proportional loadings is conducted. Each loading type is gradually increased until failure occurs. Structural responses are compared for strengthened and unstrengthened bridge models to evaluate the FRP retrofit. The models predict a significant improvement in structural performance due to the FRP retrofit.     

Semiactive Damping of Stay Cables

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. Several studies have investigated optimal passive linear viscous dampers; however, even the optimal passive device can only add a small amount of damping to the cable when attached a reasonable distance from the cable/deck anchorage. This paper investigates the potential for improved damping using semiactive devices. The equations of motion of the cable/damper system are derived using an assumed modes approach and a control-oriented model is developed. The control-oriented model is shown to be more accurate than other models and facilitates low-order control designs. The effectiveness of passive linear viscous dampers is reviewed. The response of a cable with passive, active, and semiactive dampers is studied. The response with a semiactive damper is found to be dramatically reduced compared to the optimal passive linear viscous damper for typical damper configurations, thus demonstrating the potential benefits using a semiactive damper for absorbing cable vibratory energy.     

Probabilistic Strength Estimates and Reliability of Damaged Parallel Wire Cables

Cable reliability analysis involves the combined evaluation of cable capacity and cable load in a probabilistic manner. Assessment of cable capacity is only possible through visual inspections of the wires, field sampling, laboratory analysis of the degraded wire populations, and analytical techniques. In addition to a brief presentation of cable mechanics and deterministic models that approximate cable strength, this paper discusses inspection methodologies and statistical methods of estimation of the sizes of the degraded wire populations, and wire properties, leading to cable capacities. These capacities are described by probability distributions. The paper also discusses fundamentals of reliability analysis as they apply to bridge cables. Load criteria of present standard specifications (such as AASHTO or other international codes) are not applicable to long-span suspension bridges. The paper discusses criteria of bridge loading and reliability indices for bridge cables. More work is needed in the evaluation of loading for long-span bridges.     

Overview of a Modal-Based Condition Assessment Procedure

Condition assessment is a term that is used to describe the process of characterizing the physical condition of constructed systems. This paper summarizes a condition assessment (CA) procedure based on a complete system of field-testing, finite element (FE) modeling, and load rating. Experimental techniques, including both modal testing and truckload testing, are used to collect measurements of the constructed systems. The basic mechanism and procedure of the FE modeling and calibration are presented. Different physical parameters of FE models are adjusted during the calibration process using both static and dynamic responses as criteria to achieve convergence between experimental measurements and analytical results using carefully developed objective functions. Finally, a bridge load rating is completed on the basis of the calibrated model. These developments are described and illustrated using a representative bridge as an example.