사장교의 3차원 비선형 동적 해석

Three-dimensional Nonlinear Dynamic Analysis of Cable-Stayed Bridge

1) 2) 3) 4)
태 후 타이 ․ 김 승 억 ,† ․ 김병석 ․ 조창빈
Thai, Huu-Tai Kim, Seung-Eock Kim, Byung Suk Joh, Chang Bin

요 약：본 논문에서는 3차원 사장교의 비선형 동적 해석을 개발하였다. 소성힌지이론을 사용하여 재료의 비선형성을 고려하였고, 안정함수
를 사용하여 기하학적 비선형을 고려하였다. 케이블은 등가 케이블 탄성계수를 사용하여 모델링 하였다. 구조물의 비선형 거동을 예측하기 위하여
기하학적 비선형과 재료적 비선형을 고려한 프로그램을 개발하였다. 해석 예를 통하여 제안된 프로그램의 정확성과 효율성을 입증하였다.
ABAQUS 와 SAP2000의 결과와 비교함으로써 개발된 프로그램이 실무설계에 사용할 수 있고 신뢰할 수 있는 효율적인 도구임을 입증하였다.

ABSTRACT：This paper presents the nonlinear dynamic analysis of three-dimensional cable-stayed bridges. The plastic hinge concept is
used to model the material yielding while the stability functions are employed to capture the geometric nonlinearity. The cable is modeled
using an equivalent cable modulus of elasticity. A computer software considering both geometric and material nonlinearities is developed to
predict the nonlinear behavior of the structures. Accuracy and efficiency of the proposed software are verified by comparing with the
SAP2000 and ABAQUS. It is concluded that the proposed software proves to be a reliable and efficient tool for daily use in engineering
design.

핵 심 용 어 : 비선형 해석, 사장교, 기하학적 비선형

KEYWORDS : nonlinear analysis, cable-stayed bridge, geometric nonlinearity

1. Introduction for cables to study the geometric nonlinear behavior of

Cable-stayed bridges are becoming very popular in
bridge engineering in recent decades because of their
aesthetic appearance and uniqueness. The most important
feature of this kind of structures is the high nonlinearities
of geometry and material. Geometric nonlinearities come
from the sag effect due to the self-weight of cable stays,
the interaction between axial and flexural deformations, and
the large displacement due to geometric changes. Material
nonlinearity occurs when the factored loads are applied.
Fleming (1979) used an equivalent modulus of elasticity for
cables to study nonlinear behavior of a planar system
while Karoumi (1999) used the two-node catenary elements
1) 세종대학교 토목환경공학과 박사과정 (taispkt@yahoo.com)
2) 정회원, 세종대학교 토목환경공학과 교수
(Tel. 02-3408-3391, Fax. 02-3408-3332, sekim@sejong.ac.kr)
3) 건설기술연구원 책임연구원(bskim@kict.re.kr)
4) 정회원, 건설기술연구원 선임연구원(cjoh@kict.re.kr)
two-dimensional cable-stayed bridges. Nazmy and Ahmed
(1990) and Kanok-Nukulchai and Hong (1993) performed
the geometric nonlinear analysis of the three-dimensional
cable-stayed bridges using equivalent modulus of elasticity
for modeling the cable stays. Song and Kim (2006) dealt
with the nonlinear inelastic problem of the
three-dimensional cable-stayed bridges using the
bifurcation point and limit point instability approach.
However, most of these researches are limited to the
nonlinear static analysis of the cable-stayed bridges. The
nonlinear dynamic behavior of cable-stayed bridges should
to be investigated.
In this paper, the nonlinear dynamic analysis of the
three-dimensional cable-stayed bridges is presented. All
sources of geometric and material nonlinearity have been
considered in this study. A computer software which is
capable of considering both geometric and material

262
nonlinearities is developed. Numerical examples are
presented to verify for accuracy and efficiency of the
proposed software (3D-PAAP).
2. Formulation
2.1. Modeling of cables
The cables are assumed to be perfectly flexible and to
resist the tensile force only. The inclined cables of
cable-stayed bridges will sag into a catenary shape due to
their self-weight. The tension stiffness of a cable, which
varies depending on the sag, is modeled by using an
equivalent straight truss element with an equivalent
modulus of elasticity. The concept of an equivalent cable
modulus of elasticity was first proposed by Ernst (1965)
and has been verified by several researchers. The
equivalent cable modulus of elasticity is given by
E
Eeq =
( wL ) 2 AE
1+
12T 3
in which Eeq is the equivalent modulus of cable; E is the
Young's modulus of cable; L is the horizontal projected
length of cable; w is the weight per unit length of cable;
A is the cross sectional area of cable; and T is the cable
tension.
2.2. Modeling of beam-column members
The large deformations in the pylon and girder members
due to the combined effect of high axial forces and large
bending moments, produce a strong coupling between axial
and flexural stiffness in these members. This coupling can
be considered in nonlinear analysis by introducing the
concept of stability function. The stiffness matrix
formulation of a three-dimensional beam-column element
proposed by Kim et al. (2001) is applied in this paper. The
gradual yielding due to flexure can be traced by using the
parabolic function. The yielding level at the end of member
is determined by using the New-Orbison yield surface.
New-Orbison’s full plastification surface of cross section,
as presented by McGuire et al. (2000), is given by
α = p 2 + m 2z + m 4y + 3.5p 2 m 2z + 3.0p 6 m 2y + 4.5m 4z m 2y (2)
where p = P/Py, mz = Mz/Mpz for strong-axis, and my =
My/Mpy for weak-axis
(1a)
To treat the strain reversal effect in the hinge due to
the abrupt change in applied direction of dynamic load, the
scalar parameter η, which allows for gradual inelastic
stiffness reduction of the element associated with
plastification at member end, is modified based on the
double modulus theory in Kim et al. (2006) as follows:
η d = η dy η dz (3)

When the tension in cable changes from Ti to Tf during where

the application of a load increment, the secant value of the
4η 0 2η 0
η dy = and η dz = (4)
(1+ )
equivalent modulus of elasticity over the load increment is
1+ η 0
2
η0
given as follows:

in which
E
Eeq =
( wL ) (Ti + T f ) AE
2
(1b)
1+ 2 2
η 0 = 1.0 for α≤0.5 and η 0 = 4 α ( 1 - α ) for α > 0.5
24Ti T f
(5)

The axial stiffness of the cable with the equivalent

modulus of elasticity is used as the axial stiffness of the 2.3. Dynamic analysis
truss element.

263
 The incremental equation of motion of the structures is ⎡ γ 1 ⎤ On
⎢[ K ] + [C ] + 2 [
M ]⎥ ⎡⎣ t Δu ⎤⎦ = [ ΔF ]
given by ⎣⎢ βΔt β ( Δt ) ⎦⎥
c e
⎡ 1 γ ⎤ ⎡1 ⎛ γ ⎞ ⎤
+⎢ [M ] + [C ]⎥ ⎡⎣ t u& ⎤⎦ + ⎢ [M ] +Δt ⎜ − 1 ⎟ [C ]⎥ ⎡⎣ t u&& ⎤⎦
[M ][ Δu&& ] + [C ][ Δu& ] + [K ][ Δu ] = [ΔF ] (6) ⎣ βΔt β ⎦ ⎣ 2β ⎝ 2β ⎠ ⎦
[ t Δu ] is known, [ t Δ̇u ] and [ t
Δ̈u ] can be
where [K ] is the stiffness matrix; [M ] is the lump determined by the following equations

mass matrix; [Δu&& ] , [Δu& ] , [Δu ] , and [ΔF ]

are the incremental acceleration, velocity, displacement and γ t γ ⎛ γ ⎞
⎡⎣ t Δ u& ⎤⎦ = ⎡ Δ u ⎤⎦ − ⎡⎣ t u& ⎤⎦ +Δt ⎜ 1 − ⎟ ⎡⎣ t u && ⎤⎦
exciting force vectors, respectively, over a time increment βΔt ⎣ β ⎝ 2β ⎠
(9)
1 1 t 1 t
of Δt. The viscous damping matrix of the structures [C] ⎡⎣ t Δ u
&& ⎤⎦ = ⎡ t Δ u ⎤⎦ −
2 ⎣
⎡⎣ u& ⎤⎦ − ⎡ u&& ⎤
β ( Δt ) βΔt 2β ⎣ ⎦
is defined by [C ] = a [ M ] + b [ K 0 ] , in which a and b
are mass- and stiffness-proportional damping factors,

respectively, and [K 0 ] is the initial stiffness matrix.

Finally, the displacement, velocity, and acceleration at the
end of the time step (t+ Δt) are obtained as follows:
There are several numerical approaches to solve the
equation (6). The Newmark's method with the assumption
⎡⎣ t+Δt u ⎤⎦ = ⎡⎣ t u ⎤⎦ + [ Δ u ]
of average acceleration is used in this study to get
⎡⎣ t+Δt u& ⎤⎦ = ⎡⎣ t u& ⎤⎦ + [ Δ u& ] (10)
step-by-step numerical solution of the equation (6). The
detailed algorithm of the Newmark's method, as presented ⎡⎣ t+Δt u && ⎤⎦ + [ Δ u
&& ⎤⎦ = ⎡⎣ t u && ]
in Chopra (2001), can be summarized as following
equations. The velocity and displacement at time (t+ Δt)
The procedure presented in equations (8), (9), and (10) is
can be written in terms of integration parameters of β
repeated for the next time steps until the considered frame
and γ as follows: is collapsed or desired time duration ends.

⎡⎣ t+Δt u& ⎤⎦ = ⎡⎣ t u& ⎤⎦ + (1 − γ ) Δt ⎡⎣ t u&& ⎤⎦ +γΔt ⎡⎣ t+Δt u&& ⎤⎦ (7a)

3. Verifications

⎡⎣ t+Δt u ⎤⎦ = ⎡⎣ t u ⎤⎦ +Δt ⎡⎣ t u& ⎤⎦ + ( 0.5 − β )( Δt ) ⎡⎣ t u

2
&& ⎤⎦ (7b)
The proposed software, 3D-PAAP, considering both
+ β ( Δt )
2
⎡⎣ t+Δt u
&& ⎤⎦ geometric and material nonlinearities in dynamic analysis is
verified by comparing with the SAP2000 and ABAQUS.
The three-dimensional cable-stayed bridges with two
in which ⎡⎣ u&& ⎤⎦ ⎡⎣ t u& ⎤⎦ , and ⎡⎣ u ⎤⎦
t t
, are the total different cable layouts of fan-type and harp-type under
acceleration, velocity, and displacement vectors at time t. earthquake loading of El-Centro 1940 (Figure 2) are used
The integration parameters of β and γ are taken herein for verification of the proposed software. The geometric
as 1/4 and 1/2, respectively, correspond to the assumption dimensions and material properties of the three-dimensional
of the average acceleration method. Using equation (7), cable-stayed bridge, taken from Morris (1974), are
with some efforts, the final form of incremental equation of presented in Figure 1. Mass- and stiffness-proportional
motion can be rewritten as damping factors are chosen such that the equivalent
viscous damping ratio is equal to 5%. The gravity load
due to the weight of the structure is applied first to the
structure as lumped masses at the nodes. The earthquake
(8)
loading of El-Centro 1940 is applied as the ground

264
acceleration at the support of the cable-stayed bridge in behavior. The pylon and girder members of the bridge are
longitudinal direction. modeled as the frame elements in SAP2000 and
beam-column elements in 3D-PAAP. The cable is modeled
as the cable element in both 3D-PAAP and SAP2000
softwares.

Fan Type
60.96

40 SAP2000
3D-PAAP
Harp Type Ground motion 30
3@20.32

Relative displacement (mm)

20
6@45.72=274.32 2@30.48 6@45.72=274.32
10
22.86

0
t=0.05 0 10 20 30
-10
t=0.05 d=0.15 Pylon and girder: E=207GPa
σ y=248MPa
2.0

-20
1.0

Cable: E=158.6GPa
1.0 1.0 -30
σ y=1103MPa
(Pylon) (Girder) (Cable)
-40 Time (sec)

Fig. 1. Cable-stayed bridges (unit: m)

Fig. 3. Displacement response at mid span (Fan type)

40 SAP2000
3D-PAAP
0.4 30
Relative displacement (mm)

0.3 20

0.2 10
Acceleration (g)

0.1 0
0 10 20 30
0 -10
0 10 20 30
-0.1 -20

-0.2 -30

-0.3 -40 Time (sec)

-0.4 Time (sec)

Fig. 4. Displacement response at mid span (Harp type)

Fig. 2. El-Centro Earthquake

Table 1. Comparison of maximum displacement response

3.1. Verification 1: Nonlinear elastic dynamic analysis at the mid span (mm) using cable element
Cable layouts SAP2000 3D-PAAP Error (%)
This example investigates the elastic dynamic behavior Fan-type 33.99 33.98 0.03
of the three-dimensional cable-stayed bridge using Harp-type 34.54 34.07 1.36
3D-PAAP and SAP2000 softwares. It should be informed
that SAP2000 is not capable of investigating inelasic

265
 The results for displacement response at mid span of 60 ABAQUS
3D-PAAP
two different type of cable-stayed bridges are shown in
40
Figures 3 and 4 and Table 1. It can be seen that the

Relative displacement (mm)

results obtained by the use of 3D-PAAP and SAP2000 20

softwares correlate very well. The maximum error in

0
displacement at the mid span of the cable-stayed bridges 0 10 20 30
is 1.36%, which is a rather small value. -20

-40
3.2. Verification 2: Nonlinear inelastic dynamic analysis
-60 Time (sec)

In order to verify the accuracy of the 3D-PAAP in

predicting the dynamic behavior of the cable-stayed bridge Fig. 6. Displacement response at mid span (Harp type)
in the inelastic range, the ground acceleration of 150% of
El-Centro earthquake is applied to the cable-stayed
bridges. The ABAQUS, with capacity of nonlinear dynamic Table 2. Comparison of maximum displacement response
inelastic analysis, is used to verify for the proposed at the mid span (mm) using truss element
software in predicting the dynamic inelastic response of the Cable layouts ABAQUS 3D-PAAP Error (%)
bridge. The pylon and girder members of the bridge are
Fan type 50.93 50.82 0.22
modeled as beam elements (B31) in ABAQUS and
Harp type 51.65 50.42 2.38
beam-column elements with plastic hinge model in
3D-PAAP. The cable stays are modeled by using an
equivalent straight truss elements in both 3D-PAAP and
The displacement response at mid span of two different
ABAQUS since ABAQUS does not provide cable element.
type of cable-stayed bridges is shown in Figures 5 and 6
and Table 2. Strong agreement in result is also obtained
with the maximum error in displacement at the mid span
of 2.38%.
60 ABAQUS
3D-PAAP

40
Relative displacement (mm)

20 4. Conclusions

0
0 10 20 30 A computer software considering both geometric and
-20
material nonlinearities has been developed in this paper.
-40
The accuracy of the proposed software is verified with
SAP2000 in elastic range, and with ABAQUS in inelastic
-60 Time (sec) range through the three-dimensional cable-stayed bridges
with two different cable layouts of fan-type and harp-type.
Fig. 5. Displacement response at mid span (Fan type) It can be concluded that the proposed software is capable
of predicting accurately the nonlinear dynamic behavior of
the cable-stayed bridges.

266
 Acknowledgements

본 연구는 한국건설기술연구원의 하이브리드 사장교 구조

시스템 통합 기술 개발 과제의 지원에 의하여 이루어졌음을
밝히며 이에 감사드립니다.

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267