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Abstract: This paper provides a very efcient, integrated framework for seismic analyses of long-span cable-stayed bridges. The efciency
comes from the dramatic reduction in formation time and the degrees of freedom (DOF) associated with the structure, using the integrated nite
strip method (IFSM) along with the application of a very robust and efcient time history method (THM) using the Newmark scheme for dynamic
analysis of the bridge structure. The previous versions of the nite strip method are limited to modeling the bridge deck only, whereas other struc-
Downloaded from ascelibrary.org by 219.90.119.26 on 04/03/17. Copyright ASCE. For personal use only; all rights reserved.
tural components are replaced by assumed boundary conditions. Using the IFSM, all components of the long-span cable-stayed bridge can be mod-
eled in a unied system, and consequently, the real dynamic behavior including the interactions between deck, piers, and cables can be perfectly
considered. To verify the solution, the geometric and dynamic properties of the Kap Shui Mun (KSM) Bridge, as a real example of a long-span
cable-stayed bridge, are derived by the proposed nite strip method. Then, the seismic response of KSM Bridge under uniform and nonuniform
earthquake loadings is investigated by using the THM. The results show that the IFSM can be applied successfully for seismic analysis of long-span
cable-stayed bridges, and the analysis can be performed in a minimal amount of time. DOI: 10.1061/(ASCE)BE.1943-5592.0000821. This work is
made available under the terms of the Creative Commons Attribution 4.0 International license, http://creativecommons.org/licenses/by/4.0/.
Author keywords: Seismic analysis; Time history method; Newmark method; Long-span bridge; Cable-stayed bridge; Dynamic;
Integrated nite strip method.
Introduction using FEM has been one of the most widely adopted approaches for
the study and design of long-span bridges in the last few decades
To meet the economic, social, and recreational needs of the commu- (Cook et al. 1989). With increased span lengths and successful
nity for safe and efcient transportation systems, long-span bridges application of lightweight composite materials for bridges, the
have been built throughout the world. These bridges represent some dynamic characteristics of these structures have become more com-
of the most challenging kinds of structures designed in civil engi- plex and the conventional FEM approach might not always be suf-
neering. Today, long-span cable-stayed bridges are of great interest, cient. In contrast, the formulation of a FEM model and setting up of
mainly as an alternative and a more economical solution than sus- the boundary conditions of a three-dimensional bridge structure for
pension bridges. Because of their great exibility, modern long-span dynamic analysis is very complicated and time consuming, espe-
cable-stayed bridges are usually very susceptible to dynamic loads. cially for long-span cable-stayed bridges, and because of the
Therefore, the wind-resistant and earthquake-resistant designs are extremely high number of degrees of freedom (DOF) involved,
key issues for successful construction of these bridges. such a procedure becomes inconvenient in practice. The conver-
The structural response of long-span bridges under dynamic and gence rate of the conventional FEM in dynamic problems also is
aerodynamic loads is very complicated, and powerful computa- usually slow, because the nonlinearities associated with the exible
tional techniques that can accurately analyze and predict the struc- bridge structures lead to signicant redistribution of the internal
tural behavior of these massive structures are required. This is a forces. One of the solutions for improving the convergence rate is to
major point in successful and optimized design of long-span cable- use very small-sized elements throughout the structure, resulting in
stayed bridges. Most of the bridge structural analyses are performed a large number of DOF. Therefore, in the case of long-span cable-
by the aid of the well-known FEM. Quasi-static numerical analysis stayed bridges, with thousands of DOF, and at the same time with
high nonlinear behavior under dynamic and aerodynamic forces,
1
the nite element analysis does not seem to be efcient enough.
Ph.D. Student, Dept. of Civil and Environmental Engineering, Univ. The nite strip method, as a semianalytical numerical analysis pi-
of Ottawa, Ottawa, ON, Canada K1N 6N5.
2 oneered by Y. K. Cheung in the 1970s (Cheung and Cheung 1971),
Professor, Dept. of Civil and Environmental Engineering, Hong Kong
Univ. of Science and Technology, Kowloon, Hong Kong; Western China has shown great potential for analyzing bridge structures. However,
Earthquake and Hazards Mitigation Research Centre, Sichuan Univ., because of some limitations, this method is not as popular as the
Chengdu 610065, China. FEM. For instance, the ordinary nite strip method can deal only
3
Dept. of Civil and Environmental Engineering, Hong Kong Univ. of with prismatic members with simply supported end conditions.
Science and Technology, Kowloon, Hong Kong (corresponding author). Moreover, the method cannot handle shear forces, internal supports,
E-mail: zhenyuanshen@gmail.com and concentrated loads. In spite of the large number of references on
4
Assistant Professor, Dept. of Civil and Environmental Engineering, the use of the nite strip method in structural analysis, the application
Univ. of Ottawa, Ottawa, ON, Canada KIN 6N5.
of the existing nite strip methods in seismic analysis is restricted to
Note. This manuscript was submitted on August 20, 2014; approved
on June 17, 2015; published online on December 30, 2015. Discussion pe- bridge superstructures or bridges with assumed pier conditions only.
riod open until May 30, 2016; separate discussions must be submitted for In the conventional nite strip methods, the piers and the cables of
individual papers. This paper is part of the Journal of Bridge the bridge are normally replaced by certain boundary conditions, and
Engineering, ASCE, ISSN 1084-0702. this assumption is reasonable only when the stress distribution along
gested that this method can be used for complete dynamic analysis of a number of layers along the thickness direction. In the area of aerody-
long-span cable-stayed bridges. In a recent study (Shen et al. 2013), namics, the nite strip method was extended to utter analysis of
the authors compared the computational times required by IFSM and long-span cable-stayed bridges by Lau et al. (2000) and Cheng et al.
FEM analyses. For similar modeling and mesh conditions, a 10% (2003). However, the extension is not a pure nite strip solution, but,
(approximately 24 min) timesaving was determined when perform- rather, a combination with the FEM. Free vibration analysis of arbitra-
ing the dynamic analysis of a medium-span slab-girder bridge by rily shaped plates and shells was performed by Li (1988) and Cheung et
IFSM (274 min) over that when performing a nite element analysis al. (1988). Cheung et al. (2009) and Shen et al. (2013) introduced the
(298 min). However, the number of sections for each strip in the inte- integrated nite strip solution for dynamic analysis of slab-girder and
grated nite strip mesh could be even further reduced, and conse- box-girder bridges in the framework of frequency domain method.
quently, the computational timesaving will be greater. The reason for In the environment of IFSM, this paper deals with time history
such low computational time can be attributed to the semianalytical analysis of long-span cable-stayed bridges under seismic load effects.
nature of the IFSM model in the longitudinal direction, through First, the derivation of the dynamic properties of a long-span cable-
which the number of sections for each strip can be reduced consider- stayed bridge, including stiffness, mass, and damping matrices, by
ably without losing the accuracy of the outcomes. Moreover, the - IFSM is briey presented. Using the stiffness and mass matrices
nite strip method can be programmed easily, such that only a limited derived from IFSM, the time history analysis of cable-stayed bridges
amount of the input data is needed. Considering that it was only a is performed by using the Newmark scheme. The Newmark method
simple case study, there is no doubt that for long-span cable-stayed is a powerful technique for solving the dynamic problems within the
bridges, with an impressive number of DOF, the amount of computa- time history environment, which is used and explained in this paper.
tional timesaving is much more signicant than that with nite ele- The accuracy of the integrated nite strip solution in dynamic anal-
ment dynamic analysis. Therefore, IFSM can provide simple means ysis of long-span cable-stayed bridges is evaluated by comparing the
for a rapid and accurate seismic analysis of long-span cable-stayed natural frequencies of the Kap Shui Mun (KSM) Bridge with those
bridges, with various types of end and interior supports. It is worth obtained by FEM and with the natural frequencies reported from the
mentioning that when applied to most structural problems, IFSM eld-test measurements (Lau et al. 1999). In addition, the effects of
yields a relatively narrowband matrix of a small-to-moderate size; uniform, nonuniform, and varying seismic excitations on structural
behavior of the KSM Bridge are investigated. The numerical results
thus, it requires little computational effort. In IFSM, the different
show that the convergence and accuracy of IFSM in dynamic analysis
structural elements of a long-span cable-stayed bridgesuch as the
of long-span cable-stayed bridges is very high, which conrms the ef-
bridge deck, the piers, the towers, and the cablesare represented by
ciency and capability of this numerical technique.
different types of strips, and a perfect connection between them
needs to be dened to model the entire bridge as an integrated system.
In the current research, the at shell spline nite strip is used for mod- Dynamic Properties Estimation Using IFSM
eling the deck, whereas the column strip has been developed for mod-
eling the piers and the towers (pylons). On the basis of the column For extensive structural systems with numerous DOF, the nite strip
strip, the so-called cable strip is proposed for modeling the cables. method is one of the most efcient methods for the structural analysis
Last, a so-called transition section has been developed so that differ- of bridges; reduced computational time with no effect on affecting
ent structural components can be connected together. The IFSM has the degree of accuracy has been reported. Therefore, the nite strip
the order continuity C2 because it uses B3-splines, which are piece- method is an ideal platform for the traditional time-consuming
wise cubic polynomials with continuity over the entire interval up to dynamic analysis of long-span bridges. Cheung et al. (2009) and
the second derivative. It should be noted that the same order continu- Shen et al. (2013) recently introduced an IFSM for analyzing multi-
ity C2 in FEM can be achieved only if a fth-order polynomial is span continuous slab-on-girder and box-girder bridges by modeling
introduced for the interpolation. In common FEMs, the order conti- the bridge deck, the piers, and the bearings together so that the inter-
nuity is usually C0 or C1. It means that more grid points and conse- actions between piers and decks can be considered in the analysis.
quently more iterations are needed to ensure the convergence of the The method has been extended to the analysis of long-span cable-
results for the nonlinear terms in FEM. stayed bridges by developing other types of strips as well. The IFSM
In terms of dynamic analysis and design of long-span bridges, par- has been successfully applied to static and free vibration analysis of
ticular considerations should be made regarding the safety criteria dur- long-span cable-stayed bridges (Naderian et al. 2015).
ing extreme earthquakes and wind events. In recent decades, many By representing the entire bridge as a single integrated system,
researchers have achieved great fundamental progress in promoting the actual dynamic behavior of the bridge can be studied, and the
the seismic random analysis of long-span structures and their interactions between different structural components can also be
Assuming that the bridge deck is a shell structure, both in-plane (2)
and out-of-plane DOF are included in the analysis. A at shell
spline strip is shown in Fig. 1, in which each knot of a nodal line has in which
Cm ym2 ym2 ym2 ym1 ym1 ym1 ym ym1 ym1 ym2 1
Dm ym2 ym2 ym1 ym2 ym1 ym1 ym1 ym ym2 ym1 1 (3)
The membrane displacement functions u and v and the ex- equations are cubic Hermite polynomial functions used for vertical
ural displacement function w are expressed as the product of displacement variation and linear interpolation for in-plane dis-
transverse polynomials and longitudinal B3-splines, as in the placements as
following:
N1 1 X; N2 X; N3 1 3X 2 2X 3 ;
X
r1
u N1 U1m yuim N2 U5m yujm (4)
m1 N4 x1 2X X 2 ; N5 3X 2 2X 3 (7)
X
r1 where X x=b. U1m to U8m are row matrices, and each matrix
v N1 U2m yvim N2 U6m yvjm (5) has (m 3) local B3-splines. U1m , U2m , U5m , and U6m are
m1 related to displacements u and v of nodal lines i and j, respec-
tively, whereas U3m , U4m , U7m , and U8m are related to dis-
X
r1 placement w.
w N3 U3m ywim N4 U4m yu im N5 U7m ywjm The cantilever behavior of the piers and the towers is modeled
m1 by using the so-called column strip, which is similar to the at shell
spline nite strip. However, this is modeled as a vertical strip xed
at one end, for providing the support boundary conditions, and free
N6 U8m yu jm (6) at the other end, as shown in Fig. 2. In fact, the global z-direction of
the column strip is similar to the local y-direction in the at shell
where r = total number of longitudinal sections on a nodal line. spline nite strip, which is controlled by the in-plane stiffness, in
Transverse shape functions adopted in the aforementioned the corresponding direction, whereas the global v-direction of the
X
r1
v vm Um z (10) Stiffness, Mass, and Damping Matrices
m1
After dening the displacement functions for all the structural mem-
For the displacementstrain relationships, only the bending in the ver- bers of the long-span cable-stayed bridge, in the environment of
tical and transverse directions and the axial stress are considered, whereas IFSM, the stiffness [k] and mass [m] matrices of different compo-
the shear stress and torsional moment are assumed to be negligible, nents can be calculated by using the standard nite element proce-
because the amount of these forces are very low in a 1D column strip. dure, which will be applied in the following form:
To model the cables in the nite strip environment, the cable
strip is developed, which is a simplied version of the 1D column k BTi DBj dA (11)
strip. In general, a cable can only resist against the axial tension
stresses. Therefore, only the axial stress denes the straindisplace-
ment relationship for a cable strip.
It should be noted that all the strips in the nite strip method m r tNTi Nj dA (12)
must come with the preset boundary conditions. There are some
techniques, such as the penalty method for considering the end
in which r = density of the strip, and t = thickness of the strip;
boundary conditions of the strips, that can be simply applied to -
nite strip modeling (Cheung et al. 1996). [D] and [B] are the elastic matrix and the strain matrix, respec-
tively; and [N] is the shape function matrix. Similar to the FEM,
the IFSM strip properties are converted to nodal properties during
Modeling the Transition Section the model formulation process, although the number of nodes
required are signicantly reduced because of the semianalytical na-
With the concept of elements and nodes in the FEM, there is no par- ture of the IFSM method. Thus, the derived matrices can be
ticular difculty in adding other elements to the bridge deck and con- assembled using the standard assembling techniques, making the
necting them together. However, the concept element in the longitu- global stiffness matrix [K] and the global mass matrix [M] of the
dinal direction is not dened in the ordinary nite strip method or in bridge.
the spline nite strip method. To solve this problem, a special transi- There are different methods for evaluating the damping matrix
tion section was developed within the IFSM and is applied to connect [C] (Humar 2012). In this research, the classic Rayleigh damping is
Ms Msb ds t
Cs Csb d_ s t
Ks Ksb d s t
0
(17)
T
Msb Mb db t T
Csb Cb d_ b t T
Ksb Kb d b t Pb t
in which the subscripts b and s represent the master (support dis- and Pb t is the reaction force vector. Ms , Cs , and Ks are the mass,
placements) and slave DOF of the long-span structure, respectively, damping, and stiffness matrices associated with the unrestrained
Eq. (20), which leads to the following equation (De Silva 2005):
or
where
Fig. 6. Towers of the KSM Bridge (data from Naderian et al. 2015)
Newmark Scheme for Numeral Integration Using the Newmark method, similar to other types of time-step-
ping methods, the bridge responses at t ti1 can be predicted
Assuming that at t ti and t ti1 , the equations of motion can be under the condition that the responses at t ti and the loading at
written as both times are known.
a
Mode number IFSM (1) FEM (2) Field tests (3) Nature of mode shape [(1)-(2)/(2)] [(1)-(3)/(3)]
1 0.2113 0.2061 First mode of the tower 2.5
2 0.2409 0.2338 Second mode of the tower 3.0
3 0.4250 0.4226 0.39 First vertical bending of the deck 0.5 8.9
4 0.5217 0.5160 0.49 First lateral bending of the deck 2.1 6.4
5 0.7526 0.7179 0.83 First torsional mode of the deck 4.8 9.3
6 0.8523 0.8500 0.66 Second vertical bending of the deck 0.2 29.1
7 0.9305 0.9257 0.90 Second lateral bending of the deck 0.5 3.3
8 1.0032 1.0023 1.07 Third vertical bending of the deck 0.0 6.2
9 1.1381 1.1048 Third mode of the tower 3.0
10 1.1391 1.1058 Fourth mode of the tower 3.0
a
Lau et al. (1999).
Fig. 8. (Color) Longitudinal acceleration responses under uniform sine wave excitation at Point F (see Fig. 7) at the top of the east tower
Fig. 9. (Color) Longitudinal displacement responses under uniform sine wave excitation at Point F (see Fig. 7) at the top of the east tower
in which the response and the force increments are given by in which
Ddi di1 di ; Dd_ i d_ i1 d_ i ; Dd i d i1 d i (28)
^ K g C 1 M
K (32)
Dt Dt2
Using the dened increments, Eq. (26) can be rewritten as
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Dd_ i Dtdi g DtDdi (29) M gC _ M g
^ i DPi
DP di Dt 1 di (33)
or Dt 2 2
Fig. 11. (Color) Transverse acceleration responses under uniform Chichi earthquake excitation at Point B (see Fig. 7) on the deck
Fig. 12. (Color) Transverse displacement responses under uniform Chichi earthquake excitation at Point B (see Fig. 7) on the deck
4). It is a massive long-span cable-stayed bridge structure with a Here, the deck is modeled as a at shell in the integrated nite strip
Fig. 13. (Color) Longitudinal acceleration at Point E (see Fig. 7) at the west tower for velocity = 500 m/s
Fig. 14. (Color) Longitudinal acceleration at Point E (see Fig. 7) at the west tower for velocity = 1,000 m/s
all xed at the connection with the ground. The 176 cables are assumed and the towers are modeled as beam elements, and for the cables,
to be linear elastic elements and are modeled by a cable strip in the nite truss elements are assigned. As can be seen clearly in Table 2, there
Fig. 15. (Color) Longitudinal acceleration at Point E (see Fig. 7) at the west tower for velocity = innite
Fig. 16. (Color) Longitudinal displacement at Point E (see Fig. 7) at the west tower for velocity = 500 m/s
modes reported by the IFSM and the FEM were bending tower ment. Moreover, the results are validated against nite element
Fig. 17. (Color) Longitudinal displacement at Point E (see Fig. 7) at the west tower for velocity = 1,000 m/s
Fig. 18. (Color) Longitudinal displacement at Point E (see Fig. 7) at the west tower for velocity = innite
sage effect is a dynamic phenomenon in which seismic waves arrive and their effects are investigated using the IFSM.
Fig. 19. (Color) Vertical components of seismic waves: (a) Input 1; (b) Input 2
Fig. 20. (Color) Longitudinal components of seismic waves: (a) Input 1; (b) Input 2
Fig. 21. (Color) Vertical displacement responses at Point A (see Fig. 7) on the deck: Input 1 Input 1 (see Fig. 19)
Fig. 22. (Color) Vertical displacement responses at Point A (see Fig. 7) on the deck: Input 2 Input 2 (see Fig. 19)
Fig. 23. (Color) Vertical displacement responses at Point A (see Fig. 7) on the deck: Input 1 Input 2 (see Fig. 19)
Fig. 24. (Color) Longitudinal displacement responses at Point G (see Fig. 7) on the east tower: Input 1 Input 1 (see Fig. 20)
Fig. 25. (Color) Longitudinal displacement responses at Point G (see Fig. 7) at the east tower: Input 2 Input 2 (see Fig. 20)
Fig. 26. (Color) Longitudinal displacement responses at Point G (see Fig. 7) at the east tower: Input 1 Input 2 (see Fig. 20)
the conventional nite strip methods. By using the nite strip solu-
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