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Engineering Structures
journal homepage: www.elsevier.com/locate/engstruct
Keywords: Cable-stayed footbridges exhibit significant flexibility and lightweight leading to vibration prone structures.
Cable-stayed Safety and comfort of the pedestrians crossing the bridge are guaranteed by limiting both the horizontal and
Structural control vertical dynamic response of the bridge. In particular, the control of the synchronous lateral excitation (also
Multi-objective optimization known as ‘lock-in’) is a governing criterion in the design of long span footbridges. One of the most common ways
Integrated design
to mitigate the dynamic response is to install control devices. In the traditional approach both the structure and
Viscous dampers
Footbridges
control devices are designed separately. This paper concerns the integrated optimum design of a cable stayed
Lock-in steel footbridge and its control devices (here viscous dampers) by using three dimensional analysis. The opti-
mization algorithm finds the minimum cost solution which simultaneously satisfies all the static and dynamic
design criteria. Both ultimate and service limit states are considered, such as stresses throughout the structure,
buckling of the structure and the members, displacements, accelerations and the dynamic stability of the
structure when subject to synchronous lateral excitation. The analysis model includes both cable and geometric
nonlinearities.
⁎
Corresponding author.
E-mail address: fferreira@uc.pt (F. Ferreira).
https://doi.org/10.1016/j.engstruct.2018.11.038
Received 4 May 2018; Received in revised form 12 November 2018; Accepted 13 November 2018
0141-0296/ © 2018 Elsevier Ltd. All rights reserved.
F. Ferreira, L. Simões Engineering Structures 180 (2019) 510–523
showed that the structural performance was significantly improved arrangements (harp and fan systems in particular) (Fig. 1). The tower
when compared to the solution where the structure and control devices shape geometry DVs allow for a complete change in the tower eleva-
were designed separately. To the authors knowledge no other works tion, resulting in inverted ‘Y’, ‘H’ and ‘A’ shaped towers for example
considered the optimum design of cable-stayed bridges with control (Fig. 2). The tower shape affects the lateral structural stiffness in par-
devices. Nonetheless other authors have proposed optimization algo- ticular, which is one of the governing aspects of the design, for the
rithms to solve the integrated structure and control design. For example limitation of the lateral displacement when subject to wind action and
Tzan and Pantelides [48] presented an optimization method to design the control of the ‘lock-in’ effect.
active frames subject to seismic excitation, by minimizing the structural The structural system under analysis consists of a cable stayed
volume with displacement and stresses constraints. Khot [49] optimally footbridge with a triangular bicelular box deck (Fig. 3), towers with
designed integrated space systems using multi-objective optimization rectangular hollow section (Fig. 4). The added concrete slab is only
by minimizing volume, control force and time to suppress oscillations. intended to add weight to the bridge which is needed to control the
Cimellaro et al. [50] illustrated a two-stage optimization procedure for dynamic response and no composite action is considered. The deck is
designing active steel frames with an inelastic response. The technique modeled as a simple section, but it actually represents a stiffened steel
proved efficient in determining the optimal control/structural system. plate deck (Fig. 3).
In this work the finite element model is used for the analysis of steel The number of cables (Ncables) is a discrete design variable and the
footbridges and an optimization algorithm is proposed to find the op- bridge is assumed to have the same number of cables in lateral and
timum design. The 3D response of the structure considers the six in- central span for each tower. All the cable areas and prestress are design
ternal forces interaction for the static design and includes the lock-in variables.
criteria, vertical accelerations and respective sensitivities for the dy- The foundations are assumed to be sufficiently stiff to neglect the
namic design of the structure. Contributions from the vertical and structural-foundation interaction, thus all translations and rotations are
torsional modes of vibration which characterize the spatial behavior are fixed at the tower base. The left abutment is considered to constraint all
considered, the optimum viscous damper coefficients for the transversal translations and the torsion of the deck, the same happens with the
and vertical directions are sought and the number of cables varies in the right abutment with the exception of the longitudinal horizontal
optimization routine. Moreover an analytical formulation for finding movement which is released. This is a common design option in order
the pedestrian ‘lock-in’ sensitivities to the design variables is also pro- to allow the bridge longitudinal expansion.
posed. The tower deck connection properties (stiffness and damping) are
The static response of the structure when subject to the standard considered as DVs which are governed by the static and dynamic re-
loading considers the geometrical nonlinear effects including the P- sponse of the structure. The reason for this is that the connection
delta effects in the tower and deck and the cables Ernst modulus [51]. properties completely change the natural frequencies, the damping, the
In this case the design variables (DVs) are divided in three categories: deck displacement (in particular for lateral wind actions) and the tower
stresses. These design variables correspond to the design of the viscous
1. Structural properties: In this case the deck, tower and cable cross dampers in the tower-deck connection.
sections and cable prestress; The structure is made of steel class S355 and the cables peak tensile
2. Geometry: stress is 1860 MPa, which were chosen between the most common in
a. Cable arrangement: Different cable position in the deck and bridge practice. The use of high strength cables is also useful as it in-
tower resulting in harp, semi-harp, and fan arrangement; creases the tension to mass ratio which results in an increase of the
b. Tower shape: The change of the tower geometry resulting in in- cables fundamental frequency and reduces the likelihood of a cable-
verted ‘Y’, ‘H’ and ‘A’ shaped geometries; structure interaction.
3. Control device properties: The tower-deck connection stiffness and The assumed unit costs are 2.4 €/kg for the deck, 3.8 €/kg for the
damping properties are considered as design variables. tower, 8 €/kg for the cables and 500 €/m3 for the added concrete slab.
A total of 27 + 4 × Ncables structural, geometry and control design
The use of a relatively high number of design variables (DVs) poses variables (DVs) are summarized in Table 1.
a challenge for the optimization algorithm while simultaneously sa- A parametric bridge analysis model generator tool was built in
tisfying a high number of static and dynamic criteria. Matlab. This tool takes the user inputs (bridge length, width, steel
classes, loading, etc.) and design variables to generate a three dimen-
sional finite element model of the bridge (Fig. 5). This model uses Ti-
2. Structural model
moshenko beams with linearized geometric stiffness to take into ac-
count both the deck and the towers P-Δ effects, rigid links to connect
2.1. Bridge geometry, structural cross sections and control design variables
the cable ends to the deck center of gravity and bars with equivalent
Ernst modulus for the cables. For the dynamic analysis, distributed mass
A bridge with 180 m total length (the main span being approxi-
mately 90 m long) and 4 m wide is used to illustrate the technique and
the crossing is positioned 10 m above foundation. The geometry design
variables (DVs) allow the algorithm to change the bridge elevation, in
particular the cable position DVs can results in different cable
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F. Ferreira, L. Simões Engineering Structures 180 (2019) 510–523
is considered for the deck and lumped mass for the deck and cables. The 2.2. Static loading and design criteria
deck was discretized with one element for each segment and the towers
used four elements below the deck and above the deck until the first Four loading types are considered: Self Weight “Gk”; Imposed load
cable connection (above the first cable, the towers are discretized for Qk = 5 kN/m2; Wind Wk = 1.6 kN/m2 (corresponding to a mean wind
each cable intersection). This was considered important to have a good velocity of vm = 34 m/s at the deck height according to Eurocode 1
approximation for the buckling factors and eigenmodes for the towers. [11]); and cable prestress “P”. The corresponding reduction and com-
The total number of elements in the finite element model is bination factors are used according to the Eurocode 0 [10].
2 + 4 × Ncables for the deck, 6 + 8 × Ncables rigid links, 28 + 4 × Ncables The wind loading is only considered as a static action and no dy-
for the towers, 8 × Ncables cables, 8 beams connecting the towers and 4 namic effects (apart from the wind turbulence that is already included
links for the tower-deck connection totaling 48 + 24 × Ncables elements in the Eurocode 1 [11] in Wk) are taken into account. It is known that
(ex. 116 elements for a bridge with Ncables = 3). The number of nodes is the wind dynamic effects are particularly important in long span and
3 + 6 × Ncables for the deck and 34 + 4 × Ncables for the towers with a torsional flexible bridges [52–57]. In this example, the combination of
total of 37 + 10 × Ncables nodes (ex. 67 nodes for Ncables = 3). Each the bicelular deck with the cables being connected at the deck edges,
node has six degrees-of-freedom (DOF) leading to a total of leads to a high torsional stiffness and low vulnerability to the wind
222 + 60 × Ncables for the entire structure. dynamic phenomena (such as flutter, vortex-shedding, buffeting, etc.).
This finite element model was validated using a deck shell model in The force coefficients for the deck and towers are considered re-
the commercial software SAP2000® with very similar results for the spectively as ± 1.4 and ± 1.1 for all directions, meaning the wind can
modes of vibration. induce pressures in both directions. The wind velocity is assumed
The displacement vector u in the static analysis is found by solving constant along the deck and towers below the deck. For the tower
the nonlinear equilibrium equation: members above the deck the wind velocity is assumed to be 15% higher
and constant along height. This procedure corresponds to a simplified,
Ku = f = > (Km + K c + K g) u = f (1)
yet conservative, approach to take into account the wind static actions
where f is the force vector and K the stiffness matrix that is given by the using the Eurocode 1 [11] rules. Actually, the force coefficient in a
sum of the material, cables and geometric stiffness (Km, Kc and Kg re- given cross section varies when the geometry of the cross section
spectively). The material stiffness matrix Km includes the deck, tower changes and there a number of papers which design bridge decks with
and rigid links elements stiffness and is constant for the analysis of all varying geometry considering both static and dynamic analysis [52–56]
load combinations. The Kc and Kg matrixes depend on the element but they fall outside the scope of the present work.
stress as Kc is dependent on the cables tension and Kg on the deck and For the design, different loading cases in the tower and deck are
towers axial forces. In this case Kg is positive for positive axial forces considered (Table 2) for both ultimate and service limit states (ULS and
(tension) inside the elements, nonetheless since almost all members are SLS respectively). In Table 2 the ‘+’ signs corresponds to the action of
in compression Kg is actually a negative stiffness matrix. both wind and live load in the gravity direction, the ‘−’ sign correspond
The nonlinear equilibrium equation is solved by using the Newton- to no live load and to upward wind. The ‘+’ and ‘−’ signs also corre-
Raphson method. spond to a factor of 0.9 and 1.1 respectively for the prestress “P” cable
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F. Ferreira, L. Simões Engineering Structures 180 (2019) 510–523
Table 1
Problem DVs.
Design variables Designation DVs number Units
Cont. ky, kz Stiffness and damping properties of the tower deck connection 2 kN/m
cy , c z 2 kNs/m
Cable Cable.s area Cable area in the side span Ncables cm2
Cable.c area Cable area in the central span Ncables cm2
Cable.s prestress Cable prestress in the side span Ncables kN
Cable.c prestress Cable prestress in the central span Ncables kN
Total 27 + 4 × Ncables
anchored in that deck portion (for the ULS combinations only). The same combination. This means that the wind pressure signal is de-
deck load arrangement corresponds to: 1-left lateral span; 2-left side of termined according to the worse case stress envelope and this is a
the central span; 3-right side of the central span and 4-right lateral conservative procedure for the wind effects on the structure because,
span. the wind is not a governing loading in this example. For wind vibra-
For the ULS combinations, a torsional eccentricity of 20 cm is also tional prone structures, in particular long span and torsional flexible
considered for the deck in the positive y direction for the actions with structures, a more complex approach should be followed [52–55].
‘+’ sign and in the opposite direction with the ‘−’ sign. For example the The design criteria (DC) are all the ultimate and service limit states
“Qk” load corresponds not only to a downward uniform distributed (ULS and SLS) according to the Eurocode 3 [12] procedure, in parti-
force of 20 kN/m (4 m × 5 kN/m2 for the elements with ‘+’ sign and 0 cular resistance of cross section, buckling resistance of members, ver-
for the elements with ‘−’ sign) but also to a 4 kNm/m uniform torsion tical and horizontal deflections (Table 3). In the optimization algorithm
(0.2 m × 20 kN/m) in the deck. all the DC are normalized (divided by their limit value) to define a
The structural imperfections are considered to be negligible when design factor (DF), which must be smaller than 1 to guarantee all the
compared to the magnitude of the live loads so they are not considered structural requirements.
in this work. The deck and tower buckling is found for load combinations ULS-1
Fig. 6 gives an example of the ULS-4 load arrangement to better to ULS-8 by solving the eigenvalue problem (Eq. (2)). It could be argued
illustrate the design combinations. The wind action is subdivided in y that ULS-1 and ULS-2 have the highest total loading and are therefore
and x directions (‘Wy’ and ‘Wx’ respectively) and the wind pressure in more likely to be governing to the buckling stability and that ULS-3-8
each surface is given by the product of the force coefficients, char- could be ignored for this analysis. Pedro and Reis [58] have shown that
acteristic and combination values. in certain situations, other load combinations lead to lower buckling
The wind may be associated with different force coefficients, for loads and, for this reason, the authors of this work opted to include all
instance it can lead to an upward or downward force in the deck for the the load combinations that increase the vertical downward action (ULS-
Fig. 5. Finite element model example with the deck, towers and rigid links represented with solid lines and cables with dashed lines.
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F. Ferreira, L. Simões Engineering Structures 180 (2019) 510–523
Table 2
Design combinations.
Deck load arrangement Tower 1 Wind Tower 2 Wind
Ultimate Limit State – ULS ULS-1 + + + + + + + + 1.35 “Gk” + 1.5”Qk“ + 0.9 ”Wy“ + 0.3”Wx” + ”P”
ULS-2 + + + + + + + + 1.35 “Gk” + 1.5”QK“ + 0.3 ”Wy“ + 0.9”Wx” + ”P”
ULS-3 + − + − − + − + 1.35 “Gk” + 1.5”Qk“ + 0.9 ”Wy“ + 0.3”Wx” + ”P”
ULS-4 + − + − − + − + 1.35 “Gk” + 1.5”QK“ + 0.3 ”Wy“ + 0.9”Wx” + ”P”
ULS-5 − + + − + + − + 1.35 “Gk” + 1.5”Qk“ + 0.9 ”Wy“ + 0.3”Wx” + ”P”
ULS-6 − + + − + + − + 1.35 “Gk” + 1.5”QK“ + 0.3 ”Wy“ + 0.9”Wx” + ”P”
ULS-7 + − − + − + + + 1.35 “Gk” + 1.5”Qk“ + 0.9 ”Wy“ + 0.3”Wx” + ”P”
ULS-8 + − − + − + + + 1.35 “Gk” + 1.5”QK“ + 0.3 ”Wy“ + 0.9”Wx” + ”P”
ULS 9 to 14 Same as Comb 3 to 8 but with 1.0 “Gk” and towers “Wy” with opposing signs
ULS 15 to 28 Same span arrangement as Comb 1 to 14 but with 1.5 “Wk” and 1.05”Qk“
Service Limit State – SLS SLS-1 + − + − − + − + 1.0 “Gk” + 1.0”Qk“ + 0.6 ”Wy“ + 0.2”Wx” + “P”
SLS-2 + − + − − + − + 1.0 “Gk” + 1.0”Qk“ + 0.2 ”Wy“ + 0.6”Wx” + “P”
SLS-3 − + + − + + − + 1.0 “Gk” + 1.0”Qk“ + 0.6 ”Wy“ + 0.2”Wx” + “P”
SLS-4 − + + − + + − + 1.0 “Gk” + 1.0”Qk“ + 0.2 ”Wy“ + 0.6”Wx” + “P”
SLS-5 + − − + − + + + 1.0 “Gk” + 1.0”Qk“ + 0.6 ”Wy“ + 0.2”Wx” + “P”
SLS-6 + − − + − + + + 1.0 “Gk” + 1.0”Qk“ + 0.2 ”Wy“ + 0.6”Wx” + “P”
SLS-7 + + + + 1.0 “Gk” + ”P“
1 to 8). consequence the erection stages are not a governing aspect of the de-
sign. Nonetheless the final design was checked in order to guarantee
det(Km + K c + g K g) = 0 or (Km + K c) g = g Kg g (2) that it could resist during the construction process.
where g is the buckling eigenvector and λ g is the load factor (buckling 2.3. Dynamic loading and design criteria
eigenvalue), meaning the ratio between the critical buckling and ap-
plied loads. As presented in Table 3 the load factor λ g must be higher The dynamic load models for pedestrians bridges is still an area of
than 2 for all ULS-1 to 8 combinations. intensive research nowadays. Human induced loads are different for
The resistance of the tower and deck cross sections for each in- each individual and even vary from time to time for the same person.
dividual element follows Eurocode 3 [12] provisions, which requires This type of action has a random character for various reasons, for
not only checking the Von Mises stress considering the internal forces example the pedestrian weight, gait and even the left and right steps are
interaction (axial, torsion, bending and shear in both directions), but different [59]. The behavior of a single pedestrian changes when he is
also the buckling resistance of members. Some of the non-linear P-Δ within a crowd and his reaction will be different when the ground is
effects are already incorporated in the model, via the Kg matrix, but moving. There are a high number of research works that study the
each element is also checked for the internal forces and buckling in- pedestrian loading, the pedestrian-pedestrian interaction and the pe-
teraction considering the length of the elements as buckling length. It destrian-structure interaction [60–63] and, so far, different load modes
would be also possible to use a more refined discretization and only have been proposed by different researchers.
check the Von Mises stress, but that would require a higher computa- The incorporation of this state-of-art load models in the interna-
tional effort for the analysis. Only the 12 worse combinations are tional standards is still a work in progress. Racic et al. [62] have
considered so, the number of DC is equal to the number of elements compared the different load models with the experimental findings and
times 12. concluded that Setra guidelines [2] have the best match with the ex-
The structural deflections are also limited by considering standard perimental observations. These guidelines provide a load model for the
length to deflection ratios. single pedestrian and determine the crowd response via multiplying the
The total number of static design criteria in this example depends on single pedestrian response by an equivalent number of pedestrians.
the number of cables (Ncables) and is in this case equal to 582 + 320 In this example, the Setra guidelines [2] are followed, nonetheless
Ncables, for example, for a bridge with Ncables = 3 the number of static the parametric tool in this work allows the user to input different load
design criteria is equal to 1542 (582 + 320 × 3). models. For the dynamic loading a crowd density of 1.5 pedestrians/m2
The erection stages are not directly taken into account because, in is considered for the evaluation of the ‘lock-in’ limit state and 1.0 pe-
footbridges, the live to dead loads ratio is substantially higher and in destrians/m2 for the evaluation of the vertical acceleration comfort
Fig. 6. Bridge elevation with the load arrangement example for the ULS-4 combination (only the loads in the x-z plan are drawn).
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F. Ferreira, L. Simões Engineering Structures 180 (2019) 510–523
Table 3
Static DC.
Static design criteria Number of DC
ULS criteria Deck buckling The critical buckling load of the deck and tower must be higher than 2 times the applied ULS loads 12
Tower buckling 12
Deck resistance The combined bending, shear, axial forces and torsion resistance must be checked according to Eurocode 3 [12] 24 + 48 Ncables
Tower resistance section 6 336 + 48 Ncables
Cable resistance Cable tension must be lower than 74% of the peak tensile strength 64 Ncables
SLS criteria Tower uy displacement Structural deflections must be lower than L/250 for load combinations, L/300 for isolated actions according to 72 + 12 Ncables
Tower ux displacement Eurocode 3 [12] 84 + 12 Ncables
Deck uy displacement 21 + 36 Ncables
Deck uz displacement 21 + 36 Ncables
Cable tension Cable tension must be inside the [5–50% ] range for all combinations 64 Ncables
limits. The single pedestrian time history loading in the vertical direc- Mu
¨ + Cu + Ku = f (4)
tion Fv (t ) is considered as a sum of three harmonic forces (Eq. (3)) and u
Considering the state space vector x defined as x = [ ], the 2nd
the crowd response is found by multiplying the individual response by u
the equivalent number of pedestrians 1.85 N =1.85 4 × 180 × 1 50 . order equation (Eq. (4)) is replaced by a 1st order:
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F. Ferreira, L. Simões Engineering Structures 180 (2019) 510–523
4.1. Optimization strategy where NDV is the number of design variables, equal to 27 + 4Ncables in
this particular example (Table 1) and dvj is the jth element of the de-
sign variable change vector dv .
The objective of this work is to find the lowest cost structure that
This optimization strategy has been used in cable stayed bridges
satisfies all the standard design criteria (DC) defined in Sections 2.2 and
subject to earthquakes [45] and pedestrian induced loading [46,47]
2.3 such as cross section resistance, buckling, deflections, accelerations
using active devices considering only the two dimensional behavior.
and ‘lock-in’ assessment. The design criteria are put in a normalized
The extension of this algorithm to a footbridge with VDs considering
form by dividing each one to its maximum value (DCimax) and these
the three dimensional structure posed some difficulties which required
quotient is defined as the structural design factor DFi = DCi/DCimax. It is
to update the algorithm, in particular including the ‘lock-in’ criteria,
important to clarify that the European legislation [10–12] takes the
vertical response considering the torsional influence, finding the op-
characteristic values of the actions and increases them by partial fac-
timum damping coefficients, analysing a higher number of load com-
tors, the same happens for the resistance in which the characteristic
binations and considering the number of cables as a discrete design
value is also decreased by partial factors. After this, the safety check of
variable.
the elements is performed to a reference design factor of 1. There are
For the dynamic DC the key aspects are the mass, modal frequencies
other international standards, even outside the Structural Engineering
and damping and all DV influence, even if in a small scale, these three
scope, where both loads and resistance are taken with their mean values
properties. One of the objectives of the structural design is to shift the
and, in this case the design factors need to be set to a substantially
lateral and vertical frequencies as far as possible from the [0.5–1] Hz
higher value.
and [1.7–2.1] Hz ranges respectively. The optimization algorithm does
In this problem the number of structural elements depends on the
not take this directly into account as the information which is given is
number of cables so the total number of static plus dynamic design
the sensitivities (Eq. (15)). It can be very easily observed that the
factors NDF is equal to 792 + 320 × Ncables.
sensitivities are more meaningful when the mode is outside the critical
The problem is then formulated (Eq. (12)) as finding the optimum
range (in the decreasing trend) both for the ‘lock-in’ and the vertical
design variables vector that guarantees all the design criteria and si-
accelerations criteria. Take, for example, a particular situation where a
multaneously tries to reduce the Cost in all iterations (it).
critical ‘lock-in’ mode has a frequency of 0.51 Hz, in this case the ne-
all DF i (dv ¯) 1 ¯)
all DF i (dv 1 0 gative damping coefficient cp has a null sensitivity with respect to the
or mode frequency. By looking at Eq. (10) it becomes apparent that the
¯)
Costit + 1 (dv Costit ¯ )/ Costit
Costit + 1 (dv 1 0
sensitivity of the critical number of pedestrians with respect to the
(12)
frequency is positive (considering that the damping and mass variation
Both the Cost and the design factors are functions of dv and the are smaller), meaning that the algorithm would try to increase the
objective is to find the value that satisfies the conditions in Eq. (12). frequency (and by consequence Ncr) where, in fact it could do the exact
516
F. Ferreira, L. Simões Engineering Structures 180 (2019) 510–523
• Pursuing an independent search for the optimum damping coeffi- are not directly available and depend on the element internal forces pi
(tension for the cables and compression for the deck and tower), Eqs.
cients (cy and cz) using a logarithmic search, where each damping
value is multiplied by [1 × 10i] (i = −2:0.2:2). The objective was to (16) and (17) must be solved iteratively until convergence.
converge faster to a better damping efficiency. For the buckling load factors sensitivities an eigenvalue sensitivity
analysis of Eq. (2) is carried out:
The discrete DV (Ncables) is associated with a topology change and an Km Kc g g Kg g
( + ) + (Km + K c) = Kg g Kg
enumerative procedure is proposed. This DV is kept constant until the ¯j
dv ¯j
dv g ¯j
dv ¯j
dv g g
¯j
dv g ¯j
dv
algorithm converges to a local optimum and, after that, the algorithm
(18)
restarts with a ± 1 cable and the optimization process continues.
In this problem the domain is possibly non-convex and non- By multiplying all the elements of Eq. (18) in the left side by gT and
connected and there is no guarantee that the global minimum is rearranging the equation one obtains the eigenvalue sensitivity (Eq.
reached therefore, to find the best possible solution, a multi-start pro- (19)). The equation was simplified by assuming that the eigenvector
sensitivity is null ( 0 ) which creates a small error in the sensitivity
g
cedure is employed and the lowest cost and safe solution is chosen. The ¯j
dv
multi-start procedure requires the user to generate several initial solu- analysis, but is useful for faster computation and does not compromise
tions. Different initial geometries and the sectional design variables the quality of the solutions.
were considered with pre-designing formulas (for examples the towers
Km Kc Kg
were pre-designed so that the buckling load of the member was higher T T g T
g ( ¯j
+
¯j
) g + g g
¯j g =
¯j g Kg g
dv dv dv dv
than the total weight of the structure divided by four). The following
Km Kc T Kg
variations were considered in the multi-start strategy:
T
g g ( ¯j
dv
+ ¯ j) g
dv
+ g g dv
¯j g
=> =
¯j T
• Tower shapes with inverted ‘Y’, ‘H’ and ‘A’ shaped geometries; (19)
• Different control devices properties with three different initial The determination of the dynamic analysis sensitivity (Eq. (20))
results from differentiation of Eq. (4). As it can be seen after de-
properties (stiff, intermediate and soft);
• The total number of cables was considered between 3 and 4 in the termining the stiffness, damping and mass derivatives, the structural
response derivative is found by solving a similar dynamic equilibrium
initial design.
f
equation than Eq. (4) (with fictitious forces dv¯ ¯ ü )
K C M
¯ u
dv ¯ u
dv dv j j j j
After the optimization process converges, the multi-start routine and is computed using the same time history method presented in
saves the final optimal solution to an independent database. This has a Section 3.1.
double purpose as it is common that different initial designs lead to a
similar solution after a couple of iterations so, if a solution is similar to a u u u¨ f K C M
K +C +M = u u u¨
¯j
dv ¯j
dv ¯j
dv ¯j
dv ¯j
dv ¯j
dv ¯j
dv (20)
previous obtained one it is important to not waste time analysing it
again. Also this tool is able to analyse different examples, so if the user In this case the sensitivity of the stiffness matrix does not consider
now wants a solution for a different bridge (with 200 m length for ex- the non-linear behavior, only the material stiffness sensitivity
ample) the optimum solutions for this example are also employed as
( dv¯ = dv¯m ).
K K
initial designs. j j
For the sensitivities of the lock-in design criteria the derivatives of
the eigenvalues of Al (Al l = l l ) must be obtained (Eq. (21)). The
4.2. Sensitivity analysis
sensitivity of the eigenvector is rather small ( l
¯j
dv
0 ) and allows
The first part of the sensitivity analysis is to find the finite element simplifying the equation. The eigenvectors are normalized so that
l = 1.
T
stiffness, mass and damping derivatives. This was done using a com- l
bination of the finite difference, the direct differentiation method and Al
T T l T l T l
the semi-analytical method [67]. This option allows to take advantage l ¯j l + l Al ¯j
= l ¯j l + l l
¯j
dv dv dv dv
of the analytical sensitivity computation in the simpler and direct
T Al
equations and the finite difference method in the remaining (ex. Ti- l l dv ¯j l Al
T
moshenko beam). The static and dynamic design criteria sensitivities => = =
¯j
dv T l ¯j
dv l
(21)
l l
allow the optimization algorithm to find the most promising design
variable changes (Eq. (15)) in each iteration. where l and l are respectively the eigenvalue and eigenvector of Al
The sensitivity analysis for the static loads (Eq. (16)) is done by and the sensitivity of the state space matrix are given by:
differentiation of Eq. (1) and consists of a structural analysis with
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F. Ferreira, L. Simões Engineering Structures 180 (2019) 510–523
Al 0 0
=[ 2 MK 1 K 2 M (C C cp Cun, lock in ]
¯j
dv M ¯j
dv
M ¯j
dv
M ¯j
dv
cp Ncr C un, lock in) M 1( ¯j
dv ¯ j Ncr C un, lock in
dv
cp Ncr ¯j
dv
) (22)
Ncables= 4
Design Factor
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F. Ferreira, L. Simões Engineering Structures 180 (2019) 510–523
a) 3d View
b) Bridge elevation
Fig. 8. Initial (dashed red) and optimum design geometry (solid blue). (For interpretation of the references to colour in this figure legend, the reader is referred to the
web version of this article.)
Table 4
Initial and optimum Design Variables (DVs).
DVs Initial Optimum Units
Table 6
Cost distribution in the initial and final solutions.
Initial Optimum
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1.3 Table 7
1.2 Optimum
Initial and optimum design factor for different design criteria.
Deck Design Factor
1.1 Initial
1 Design criteria Initial Optimum
0.9
0.8 Deck Buckling 0.48 0.58
0.7 Tower Buckling 0.95 0.99
0.6 Tower uy displacement 0.24 0.50
0.5 Tower ux displacement 0.74 0.93
0.4 Deck uy displacement 0.12 0.64
0 30 60 90 120 150 180 Deck uz displacement 0.69 0.86
Coordinate (m) Self-weight deck uz 1.21 0.89
Table 8
Initial and optimum cable tension design factor.
Fig. 11. Initial and optimum design factor along the bridge deck. Cables Initial Optimum
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a) SLS-3
29cm
b) SLS-7
26cm
c) ULS-4
43cm
Fig. 13. Bridge elevation showing the static response for three different combinations. (a) SLS-3, (b) SLS-7 and (c) ULS-4.
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Table 9
Initial and optimum design modes of vibration.
Initial Optimal
*
Mode Frequency (Hz) Type ξ (%) Frequency (Hz) Type ξ (%)*
Fig. 15. Initial (dashed red) and optimum design (solid blue) relevant modes of vibration. (For interpretation of the references to colour in this figure legend, the
reader is referred to the web version of this article.)
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F. Ferreira, L. Simões Engineering Structures 180 (2019) 510–523
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