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The Finite Element Library of the MIDAS Family Programs includes the following types of Truss and Cable
Elements: general truss element, a tension-only truss element (with Hook ability), a compression-only truss
element (with Gap ability), and a cable element (equivalent truss element & elastic element of a cable with sag
catenary cable).
A typical, three dimensional, truss element is shown Fig. 1. The formulation of truss element is based on the
following assumption:
1.
2.
3.
At the end of element can be member end-offsets along its centroidal axis.
X1
u2
2
Z1
Y1
1
u1
Z
Y
X
Z1
u1
Y1
1
2 u2
L/2
X1
u=
1
1
(1 ) u1 + (1 + ) u2
2
2
(1)
where
ui
( 1 +1 ).
Axial displacement defined by Eq. (1) can be rewritten in terms of local x coordinate as:
u=
1 x
x
u1 + u2
L
L
(2)
x
u = 1
L
x u1
= fq
L u2
(3)
where
f
q
The strain-displacement relationships for the truss element consist of one derivative
= x = du =
where
vector of strains
d
B
du df
= q = Bq
dx dx
(4)
B=
df 1
= [ 1 1]
dx L
(5)
= x = D = E x = DBq
(6)
in which
vector of stresses
D=E
(7)
K = BT DBdV =
V
E
L2
L
1
EA 1 1
1 [ 1 1] 0 A dAdx = L 1 1
(8)
The stiffness matrices for a tension-only truss element and a compression-only truss element are the same as
above. But, they can or cannot exhibit the stiffness depending on the condition defined by the sign of the
member forces or relative displacements.
Z1
Y1
X1
X1
Gap
Z1
Y1
Hook
Thus, the tension-only truss element is capable of resisting only an axial tension force. Therefore, if a member
force is positive (tension), it exhibits the stiffness previously described, and if a member force is negative
(compression), its stiffness becomes zero. Hook ability means that the element has a constant initial distance
h , named as hook distance (see Fig.3); so only when the relative displacement is larger than or equal to h ,
the element exhibits its stiffness. That is,
( q 2 q1 ) h
(9)
Conversely, a compression-only truss element transfers only an axial compression force. Therefore, only when
a member force is negative, it exhibits the stiffness of Eq. (8). Similarly, it has Gap ability, so only when the
relative displacement is smaller than or equal to a constant initial distance g , termed as gap distance (see
Fig. 3), it exhibits its stiffness. That is,
( q2 q1 ) g
(10)
A typical, cable-equivalent truss element is shown Fig. 1. Te cable element, however, is capable of resisting
only the axial tension force and is used to model structural behavior of the cable. Basic property of the cable is
known as stress stiffening due the tension force applied to the element. It should be noted, that this element
is formulated in such way, that when it is used in linear analysis it is automatically transformed in an
equivalent truss element, and in geometric nonlinear analysis it acts as an elastic catenary cable element.
The stiffness of the equivalent truss element consists of a general elastic stiffness and the stiffness due to sag.
The cable element has the same nodal DOFs and forces as a general truss element and general elastic stiffness
is the same as in Eq. (8)
K elastic =
EA
L
K sag =
12T 3
w2 L3
(11)
where, T is the tension force in the cable element, and w is the self-weight per unit length of the cable.
If we combine the elastic stiffness and the stiffness due to sag in series, the stiffness of the combined cableequivalent truss becomes,
K comb =
1
=
1 K elastic + 1 K sag
EA
w2 L2 EA
L 1 +
12T 3
(12)
The elastic catenary cable element is based on Lagrangian formulation and accounts for geometric nonlinear
effects caused by large displacement. Basic procedure in the formulation of this element is evaluation of
tangent stiffness matrix. For the implemented cable element the tangent stiffness matrix is obtained as follows.
Lets consider a 2-node cable, located in the fixed coordinate system x, y, z, as shown in Fig. 4. Assume that in
initial equilibrium configuration cable is subjected to six nodal forces F1 , F2 , F3 , F4 , F5 , F6 and his
initial properties are defined as follows: section area A0 , length L0 , and self-weight per unit length (weight
density) w0 .
Assume that cable is subjected to a displacement field defined by the six displacement components: u1, u2 and
u3 at the node i and u4, u5 and u6 at the node j, accompanying the nodal forces F1, F2, F3, F4, F5 and F6.
The Lagrangian (curvilinear) coordinate of an arbitrary point P (x, y, z) on a cable element is s for the
unstretched length, and p for the stretched length (see Fig. 4).
dx dy dz
+ + = 1
dp dp dp
(13)
dx
T = F1
dp
dy
T = F2
dp
(14)
dz
T = F3 ws
dp
Accordingly, the tension force T at point P is given by,
2 1/ 2
(15)
The relationships between the undeformed Lagrangian coordinate s and Cartesian coordinate are,
dx
ds
ds
dy
y ( s ) = ds
ds
dz
z ( s ) = ds
ds
x (s) =
(16)
where,
dx dx dp
F dp
F T
F1
=
= 1
= 1
+ 1 = 1 +
ds dp ds
T ds
T EA0
EA0 F12 + F22 + (F3 + ws )2
1/ 2
(17)
x = 0, y = 0, z = 0, p = 0 at s = 0
x = l x , y = l y , z = l z , p = L at s = L0
(18)
Therefore,
[{
(
) } ln{F + (F + F + F ) }]
F
F
s [ln{F + ws + (F + F + (F + ws ) ) } ln{F + (F + F + F ) }]
y (s ) =
w
EA
F
1
F
[{F + F + (F + ws ) } {F + F + F } ]
s
z (s ) =
2 EA w
EA
x(s ) =
F1
F
2
s 1 ln F3 + ws + F12 + F22 + (F3 + ws )
EA0
w
2
2
1
2
2
2
2
1/ 2
2
1
2
2
2 1/ 2
3
2
1
2
2
2 1/ 2
3
2 1/ 2
2
1
2 1/ 2
2
1
2
2
2 1/ 2
3
(19)
and,
[{
(
) } ln{F + (F + F + F ) }]
FL F
l =
[ln{F + wL + (F + F + (F + wL ) ) } ln{F + (F + F + F ) }]
EA
w
FL
wL
1
l =
[{F + F + (F + wL ) } {F + F + F } ]
EA 2 EA w
lx =
y
F1 L0 F1
2
ln F3 + wL0 + F12 + F22 + (F3 + wL0 )
EA0 w
2
2
1
2
2
1/ 2
2 1/ 2
2
1
2
1
2
2
2
2
2 1/ 2
3
2 1/ 2
3
(20)
3 0
0
2
0
2
1
2
2
2 1/ 2
2
1
2 1/ 2
3
2
2
The equilibrium conditions of the nodal forces and the compatibility conditions of nodal displacements are,
F4 = F1
F5 = F2
F6 = F3 w0 L0
(21)
lx = lx0 u1 + u4 = f ( F1 , F2 , F3 )
l y = l y0 u2 + u5 = g ( F1 , F2 , F3 )
lz = lz0 u3 + u6 = h ( F1 , F2 , F3 )
Differentiating both sides of Eq. (21), the relationships between nodal forces and changes of cable lengths can
be presented as:
dlx =
f
f
f
dF1 +
dF2 +
dF3
F1
F2
F3
dl y =
g
g
g
dF1 +
dF2 +
dF3
F1
F2
F3
dlz =
h
h
h
dF1 +
dF2 +
dF3
F1
F2
F3
(22)
or in matrix form
dlx
dF1
dl y = F dF2
dlz
dF3
(22a)
F1
g
F=
F1
h
F1
f
F2
g
F2
h
F2
F3
f11
g
= f 21
F3
f 31
h
F3
f12
f 22
f 32
f13
f 23
f33
(22b)
dF1
dlx
1
dF2 = K dl y K = F
dF
dl
3
z
(22c)
L
f
1
= 0 ln { F3 + wL0 + B} ln { F3 + A}
F1
EA0 w
f11 =
1
1
2
2
B + ( F3 + wL0 ) B A + F3 A
1
1
FF
f
f12 =
= 1 2 2
2
w B + ( F3 + wL0 ) B A + F3 A
F2
F12
f13 =
F +A
F F + wL0 + B
f
= 1 2 3
23
w B + ( F3 + wL0 ) B A + F3 A
F3
f 21 =
g
= f12
F1
f 22 =
L
g
1
= 0 ln { F3 + wL0 + B} ln { F3 + A}
F2
EA0 w
f 23 =
F22
w
1
1
2
2
B + ( F3 + wL0 ) B A + F3 A
g F2
f13
=
F3 F1
F 1 1
h
= 1
w B A
F1
h F2
f32 =
f 31
=
F2 F1
f31 =
f33 =
(23)
L
h
1 F + wL0 F3
= 0 3
EA0 w
B
A
F3
where,
12
{dF } = K T {du}
2 12
where
F1
u
1
F2
u
1
F3
u1
KT =
F1
u1
F2
u1
F
3
u1
F1
u2
F1
u3
F1
u4
F1
u5
F2
u2
F2
u3
F2
u4
F2
u5
F3
u2
F3
u3
F3
u4
F3
u5
F
1
u2
F
1
u3
F
1
u4
F
1
u5
F2
u2
F2
u3
F2
u4
F2
u5
F3
u2
F3
u3
F3
u4
F3
u5
F1
u6
F2
u6
F3
u6 K ii
=
F1 K ii
u6
F
2
u6
F
3
u6
K ij
K ij
(24)
K ii = K and
K ij = K
(25)
K
K
(26)
K
KT =
K
It should be noted that when using the catenary cable element, along with section area and modulus of
elasticity the weight density of the cable must be specified. This cable properties are used to define geometry
of the cable and cable tension in initial configuration.