Compurers & Strucrures Vol. 18, No. 6, pp. 98%997, 1984 004>7949/84 $3.00 + .

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Printed in GreatBritain. 0 1984 PergamooPress Ltd.

DYNAMIC RELAXATION ANALYSIS OF

THE NON-LINEAR STATIC RESPONSE OF
PRETENSIONED CABLE ROOFS

W. J. LEWIS and M. S. JONES

Department of Building and Civil Engineering, The Polytechnic, Wolverhampton, England

and

K. R. RUSHTON
Department of Civil Engineering, The University of Birmingham, England

(Received 31 May 1983; receivedfor publication 21 September 1983)

Abstract-A summary of various existing methods of cable roof analysis is followed by a detailed
description of a dynamic relaxation technique that can be applied for the solution of such structures.
Theoretical analysis of static response of pretensioned cable networks is presented using a non-linear
energy approach. Solutions are obtained by dynamic relaxation, a numerical finite difference technique.
Detailed results are presented for a pretensioned cable truss. Comparisons are made with alternative
numerical and experimental results. The extension of dynamic relaxation to more complex cable-cladding
problems is outlined.

NOTATION
high-power computers the analysis of these highly
A stiffness matrix redundant structures has become feasible.
U column vector of displacement Cable structures exhibit highly geometrically non-
AU change of displacements
linear behaviour which is often compared to the
P external force vector
i suffix indicating direction (x, y or z)
behaviour of structural mechanisms. The non-
suffix indicating node linearities arise because, for equilibrium to be
RJ residual or out-of-balance force vector satisfied, the deformations of the structure must cause
sufficient strain in the cables to produce the required
or Cartesian co-ordinates changes of tensions. Therefore any theoretical anal-
x,. xz, x3 t ysis must take into account the deformed geometry of
m, mass in ith direction the cables under the external static load.
4 total potential energy of the system
V potential energy of external loads
u internal strain energy CURRENT METHODS OF THEORETICAL ANALYSIS
internal strain energy in member ‘m’
[$
A fundamental assumption made in the analysis of
transposed column vector of external loads
pretensioned cable roofs is that the cables are the
VI column vector of displacements
p: external force in ith direction at node y’ main load-carrying elements, the axial and shear
d,“, 4 displacements of nodes ‘n’ and ‘j’ in the ith stiffness effects of the cladding being ignored. Litera-
direction ture relating to the analysis of such “bare” cable
F, elastic force in member ‘m’ networks is now considerable. The analytical meth-
E Young’s modulus ods discussed later represent varoius ways of ap-
L unstrained length plying the deformation theory of pretensioned cable
L, unstrained length of member ‘m’ networks, which deal with the deflections and cable
AL, increase of length due to elastic strains forces when the structure is subjected to super-
A cross-section area
number of cable links meeting at node ‘j’
imposed loading. Generally, there are three ap-
5 proaches adopted:
[I” tension coefficient (force per unit length)
damping coefficient in the ith direction (1) Variously formulated linear analysis or stiffness
matrix analysis corrected for non-linearity
d,,; velocity and acceleration in the ith direction
n; number of iterations for one cycle of oscillations effects[l-61.
/ frequency of oscillations
(2) Analagous membrane solutions[7-91.
At time increment (3) Non-linear analysis based on an energy app-
L J suffices indicating step increments in space roach[lO, 111.
The principles involved in the linear analysis can be
INTRODUCTION explained following Siev’s approach. In the analysis
Cables, because of their flexibility, offer interesting a set of equilibrium equations is derived, based
possibilities for shaping attractive three-dimensional initially on the assumption of linear behaviour, which
roofing forms. In recent years there have been a represented in a matrix form, gives:
number of cable roofs constructed to cover both large
and medium span areas. With the development of AU= -P (1)
989
990 W. J. LEWISet al.
or. after inversion:
U,= -A-‘P, (2)
where A-’ is the stiffness matrix representing the
influence coefficients for the displacements Ui at any
joint as a function of the load components P, in the
ith direction.
The subsequent correction for non-linearity is im-
plemented in the iterative process using the residuals
R which represent an out-of-balance load. Whenever
the effect of non-linearity is small, the matrix A-’
may be assumed valid, and the change of displace-
ments AU, is:
AU, = - A-‘R,
(3)
The displacements U, are being updated at every
iterative step in order to calculate R,, the iterations
being discontinued when Ri becomes negligible. The
rate of convergence of this approach will depend on
the error introduced when assuming the values of
stiffness matrix or influence coefficients A-’ for
higher loads. In highly non-linear cases an arbitrary
assumption of what is considered to be a small
displacement may lead to divergence of the solution.
Analogous membrane solutions of pretensioned
cable networks simplify the analysis by replacing the
discrete system of cables by a continuous membrane
and applying shell theory to obtain the solution. The
approach is considered by many as a retrograde step
in the analysis, since the exact solution of the mem-
brane may differ significantly from the original prob-
lem. However, a rigorous analysis of cable networks
is still recognised as a complex and lengthy process,
and the membrane approach can fulfill the need for
an approximate method in the preliminary design of
cable roofs.
Outlined above are two alternative approaches to
cable network analysis; within each there are various
methods, proposed by different authors, of applying
deformation theory in order to obtain the solutions.
A unified views of relevant methods of cable network
analysis can be obtained if the attainment of equi-
librium of the structure under the external loads is
regarded as a process of minimization of the total
potential energy with respect to all displacements.
Studies carried out by Buchholdt [ lo] utilize an energy
solution for non-linear deformation analysis of cable
networks. The numerical solutions are obtained by
various iterative techniques, after the replacement of
partial derivatives in the equilibrium equations by
equivalent finite differences. The following iterative
techniques can be employed: the method of steepest
descent; the method of conjugate gradients; or the
Newton-Raphson method (Buchholdt[lO]). Exam-
ination of these techniques shows that some of the
procedures may have certain limitations such as very
slow convergence, characteristic of the method of
steepest descent, or instability inherent in the
Newton-Raphson method.
This paper presents an energy approach using the
dynamic relaxation technique to obtain analytical
solutions for highly redundant non-linear structures.
The technique is conceptually more powerful than the
linear or membrane methods previously discussed.
..
deals directly with non-linearity, and readily accom-
modates the problem of slack tensile cables and
buckled compression members. The computational
algorithm is attractively simple, and the iterative
technique is numerically stable except under one,
easily predeterminable, condition of the time in-
crement.
The dynamic relaxation technique was devised by
J. R. H. Otter in 1964 in the course of analytical
investigation of prestressed concrete nuclear vessels.
Since then the technique has been widely applied to
a variety of structural problems, reflected in
Refs. [12-151. The first application of dynamic relax-
ation to cable networks was by Day and Bunce[l 11.
FORMULATION OF EQUATIONS
Dynamic relaxation provides a solution of the
equilibrium equations using the energy method in
which the following assumptions are made:
(1) The cable elements between nodal connections
are straight lines.
(2) The external loads act only at the nodal con-
nections of the structure.
(3) The cables possess only axial stiffness.
(4) The prestressing force in the cables is of such
magnitude as to ensure linear elastic behaviour.
Below a certain level of tension, the cables exhibit
marked non-linear elastic behaviour due to the un-
winding of the strands.
Consider equilibrium of a structure presented in
Fig. 1, loaded with a concentrated load P at joint i.
Each node of the structure possesses three degrees of
freedom, i = 1, 2, 3. If the total potential energy of
the system 4 is a summation of the strain energy U
and the potential energy of the external loads I’:
cp=u+v (4)
then for the discrete structure of ‘m’ links, eqn (4)
becomes:
where [PI’ is the transposed column vector of all
external loads, and [d] is the column vector of nodal
displacements.
~ 3
I
+3 -
It
Fig. 1. Network layout.
 Dynamic relaxation analysis
Differentiation of eqn (5) with respect to the dis-
placements d/ at all nodes gives:
$.=i,$P/
where PJ is the vector of externally applied loads
acting at node j in the ith direction.
It can be shown that for a member m between
nodes n, j, extracted from the cable system, as shown
in Fig. 1, the following relation is true:
{(X; - ,I’;) + (d; - d:)}
where X:, X,Jare the co-ordinates of nodes n, j, in the
ith direction; F,,, is the internal force in member m due
to the elastic strains in the cables; L, is the unstrained
length of member m; AL, is the increase in length L,;
and N, is the number of cable members meeting at
node j.
Equation (7) represents the summation of vector
forces in X,, X2, A’, directions respectively from all the
cable links meeting at node j.
Introducing a tension coefficient 9 defined as:
tin = FlPi
L,+dL,
eqn (6) reaches the following form:
gj = n$,
t’“((x:- xi) + (d," - &)I - p/
where i= 1, 2, 3; and j= 1, 2...j,,,.
For the cable system to be in equilibrium under the
action of static loading, the total potential energy
must be a minimum, and hence:
or
“$, t’“{(X,” - Xl) + (di” - dij)} - P/= 0.
Equation (9) represents a system of simultaneous
equilibrium equations. For simplicity the suffix j will
be suppressed in the remainder of the paper.
di(I-l,J-1) di(I,J-1)
Fig. 2. Finite difference grid involving space and time.
991
SOLUTION OF EQUATIONS BY DYNAMIC RELAXATION
If the cable system is not in equilibrium the vector
iT+/ad,will not be zero but equal to some residual
(6)
force Ri.
R=_Z. (10)
a4
The static configuration of an elastic system can be
regarded as a consequence of a previous dynamic
state. Making use of the d’Alembert equation of
dynamic equilibrium:
(7) R, = rn,J+ c&, (11)
where m, are the masses concentrated at the nodes of
the structure, oscillating about their positions of
equilibrium; c, are the damping coefficients causing
the dissipation of the kinetic energy of the system
which continues+.until a steady equilibrium state is
reached; and d,, d, are the velocities and accelerations
of the movements of the stucture respectively.
The system of equilibrium equations as represented
by eqn (9) can be solved for the unknown displace-
ments d, and internal forces F,,,by means of eqns (10)
and (11) in the iterative process. However, the solu-
tion by dynamic relaxation requires the finite
difference representation of the partial derivatives in
the governing equations. Figure 2 shows the finite
difference grid involving time and space used in the
numerical analysis. Equation (11) can be rewritten
using centred finite differences, in the following form:
(8)
R,“‘“‘=~(jl+‘_~~)+~(li:+‘+li,.) (12)
where 4 are the acceleration terms expressed as first
derivations of velocities di; At represents the time
increment; and n is the suffix indicating time interval.
Rearranging eqn (12) gives:
(9)
The displacements of any point of the cable network
can be found at mid-point of the time interval as:
WIf= d;+“2 + &+‘At.
d, (14)
diCI+l,J-1)
“cl step
992 W. J. LEWISet al.

Equations (9), (13), (14) can be solved in a cyclic
order as outlined below:
(1) Setting the deflections d,, velocities di. cable
forces F,,, and residuals R, at their initial values at
time t = 0.
(2) Calculating the residuals at time ;At (eqn 9).
(3) Calculating the new velocities ci, at time 1At
(eqn 13).
(4) Substituting the velocities into eqn (14) to
obtain the displacements at time IfAt.
(5) Obtaining new values of member forces F, at
time l;At.
(6) Returning to step (2) unless the residuals R, are
close enough to zero.
The boundary conditions, such as zero displacements
at the nodes fixed to the rigid boundary, are intro-
duced between steps (4) and (5). Based on the numer-
ical procedure outlined above is the flow chart of
dynamic relaxation analysis of pretensioned cable
networks presented in Fig. 3.
DYNAMIC RELAXATION PARAMETERS
There are three basic factors that enter the equa-
tions of motions in the dynamic relaxation formu-
lation: namely, the time increment At, damping
coefficients c,, and masses m,.
The value of time increment At is critical to the
stability and convergence of the iterative technique.
To reduce the number of iterations. At must be as

Qstart

Read: geometry of the structure, loads, cross-

section area of cables, elastic modulus, dynam-
ic relaxation parameters.

Calculate initial lengths of cables and inter-

nal forces.

Apply boundary conditions

Print out intermediate Calculate new lengths of the strained

results cables
I

Calculate internal forces in the cables

IlO

Print out results

Fig. 3. Flow chart for cable network analysis.

 Dynamic relaxation analysis 993

large as possible. However, too large a time in- span of the structure, as shown. The nodes lie on two
crement will cause the divergence of the solution. parabolic curves. The remainder of the data is as
Numerical instability is readily detected as values of fol1ows:
internal forces and deflections start to oscillate be-
tween quite unrealistic values. An upper bound of the Span =9144m(300ft)
time increment At quoted by Day and Bunce[ll] as: Depth = 9.14 m (30 ft)
Cross-section area
of top cables = 1045.2 mm* (1.62 sq in)
Cross-section area
where A denotes the cross-sectional area of cables; of bottom cables = 2090.3 mm* (3.24 sq in)
and E is the Young’s modulus of the cables; gives a Cross-section area
good indication of the value of At that should be used of struts = 1290.3 mm*(2 sq in)
in the analysis for arbitrary chosen masses. Young’s modulus
The damping coefficients ci are important in regu- of the cables = 165.55 kN mm-*
lating the speed of convergence but they do not affect (24 x lo6 lbf per sq in)
the stability of the iterative solution. The critical Young’s modulus
damping coefficients that allow the structure to reach of the struts = 209.92 kN mm-*
equilibrium most rapidly can be found from a short (30 x lo6 lbf per sq in)
undamped run on the computer, as illustrated in Figs. Tension coefficient = 35.016 kN m-t
4 and 5. The critical damping is given as: (200 lbf per in)
Load P = 44.8 kN (1000 lbf)
c, = 4nmf (15)
The values of the dynamic relaxation parameters
where f= l/NAt is the fundamental frequency of used in the analysis are as follows:
oscillations; and N is the number of iterations for one
complete cycle of oscillations. Time increment At = 0.00095 s
It is recommended that only one value of damping Masses m, = 74 kg
coefficients ci is used in the analysis, and thus should Damping coefficients c, = 1956 kg/s (based on
be based on the dominant deflections of the structure 500 iterations for
and the associated fundamental frequency of oscil- 1 cycle)
lations. The process of determining the critical damp-
ing coefficient can be facilitated by the use of auto- The program took 750 iterations to reduce the re-
matic plotting routines, such as in the Gino F library siduals to a minimum.
of computer programs. The mode1 structure has been previously analysed
The value of masses mj have no bearing on the by Buchholdt [ lo] who published some theoretical
stability of the numerical solution, and can be chosen results obtained by utilising the method of steepest
arbitrarily to calculate the damping coefficients cP descent. Some results from the numerical analysis by
the dynamic relaxation technique are compared with
those of the method of steepest descent, in Tables 1
NUMERICAL EXAMPLES and 2. The values of y deflections are zero. Figure 7
A wide range of pretensioned cable networks have shows the deflected shape of the girder due to the
been studied using the dynamic relaxation technique. applied loading. The values of displacements are
The results are compared with solutions from alterna- scaled up three times in comparison with the scale of
tive methods, and with experimental data. the model.

Pretensioned cable girder Hyperbolic paraboloid network

A dual cable system in a form of prestressed cable Most of the cable networks used in pretensioned
girder is considered. The structure shown in Fig. 6 is roofs are two-way systems of negative Gaussian
symmetrical about the horizontal and vertical centre curvature, and a typical example of such structure is
lines. There is unsymmetrical loading on half of the a hyperbolic paraboloid, or ‘hypar’ net.

Fundamental node

0 1 2 cycles

Fig. 4. Undamped oscillations of deflections in dynamic relaxation.

994 W. J. LEWIS
et al.

Underdamped (c. less than critical)

/-

, Overdamped (ci greater than critical)

1 2 cycles

Fig. 5 Damped oscillations of deflections in dynamic relaxation.

I
( bottom cable

Fig. 6. Cable girder.

Table 1. Comparison of deflections for the cable girder

r
kLLi!c]
Displacement in Cm) of top cable

“Et’ diffe:..c:]

x-displacements z-displacements
2 0.4946 0.4980 0.6
3 0.7804 0.7762 0.5
4 0.8338 0.8326 0.1
5 0.6700 0.6668 0.4
6 0.2791 0.2795 0.1

I
7 -0.1270 -0.1294 1.1
a -0.3542 -0.3588 1.2
9 -0.4144 -0.4126 0.4

L 10 -0.2926 -0.2920 0.1

1
Table 2. Average change in tensile and compressive forces in the cable girder

Top cable Bottom cable struts

Average
Method of
CCSUpreSSiVe
numerical
i analysis
Link Force Link ?orce Link Fbrce Link Force Link FCO-ce

EuaitlOLDTr 21-24 -48.94

Method of 1-2 275.2 7-8 266.3 1-12 774.0 15-16 760.0 25 -32.36
steepest kN kN kN kN 26-29 -15.57
descent

w LEWISI 21-24!-48.89
Dynamic l-2 275.6 7-0 266.0 1-12 776.0 14-15 761.7 25 -32.37
relaxation kN kN !a kN 26-29 -15.74
 Dynamic relaxation analysis 995

Fig. 7. Displaced shape of the cable girder (the deflections scaled up 3 times in comparison with the scale
of the structure).

The structure shown in Fig. 8 is analysed numer- that good agreement between the theoretical and
ically by dynamic relaxation, and the results are experimental results is achieved.
verified experimentally. The model consists of 3 x 4
cables attached to a rigid boundary, and forming a Multiple cable truss
part of a single hyperbolic paraboloid. The data used A three-dimensional counterstressed dual cable
in the analysis are as follows: structure is commonly used to support the cladding
in circular roofs. The structure, shown in Fig. 9, is
Average pretension in all solved by dynamic relaxation, and the results are
members = 0.20 kN compared with alternative solution by stiffness
Young’s modulus of cables = 128.3 kN mmm2 method proposed by Jonatowski[6].
Cross-section area of cables = 0.785 mm2
Load P = 0.0157 kN
Corner rise H = 0.45 m
Tabie 3. Comparison of theoretical and experimental test
The dynamic relaxation parameters used in the results for a ‘hypar’ net
analysis are as follows: r
Deflections z hm)
Load
Node
(kN) Numerical (DR) Experimental
Time increment dt =80x 10-6s
Masses m, = 1.8 x 10-3kg
5 0.0157 19.3 19.5
Damping coefficients ci =2.0kgs-’
6 0.0157 25.3 25.3

7 0.0157 23.0 22.8

The program took 340 iterations to complete the
solution. The resulting deflections from the numerical 10 0.0157 25.9 25.4

analysis and experimental measurements are given in 11 0.0157 33.8 33.6

Table 3. The very small deflections which took place 12 0.0157 29.4 28.8
in X, y directions are not quoted. 15 0.0157 26.4 25.2
The changes in tension of the cables due to the
applied unsymmetrical load are given in Table 4. The
load is shared adequately between the two sets of
cables with no member going slack. The largest
increase in tension is observed in cables that are most
loaded, i.e. 9-13, 14-18, 2-25 (Fig. 8). It can be seen

Fig. 8. Hypar net.

CAS Vol. 18, No. GD
996 W. J. LEWISet al.

The following data are used: The dynamic relaxation parameters used in the
analysis are as follows:
Span = 91.44 m (300 ft)
Upper sagf, = 6.706 m (22 ft) Time increment At = 1.3 x 10..3s
Lower sagf, = 3.048 m (10 ft) Masses m, = 1.54 kg
Length of cables Damping coefficients c, = 445.9 kg ss’
2-1, 49, = 2.134m (7 ft)
Cross-section area The program completed the solution within 630
of cables = 1290.3 mm’ (2 sq in) iterations. The results from the dynamic relaxation
Cross-section area and stiffness analyses, described in terms of x, y, z
of hangers = 322.6 mm* (0.5 sq in) components, of displacements, are given in Table 5.
Horizontal components The results prove to be the same to within 0.2mm
of prestress I& = H, = 449.98 kN (100 ki ps) accuracy. The changes of cable tensions are not
Concentrated load P = 222.49 kN (30 ki ps) quoted but both numerical methods confirm that the

Table 4. Average increase in tension in the hypar net

Cable Average pretension Average tension Average increast,

no. before loading after loading in tension
(kN) (kN) (kN)

l-24 0.2036 0.232 0.029

2-25 0.2043 0.255 0.051

3-26 0.2011 0.244 0.043

4- 8 0.2047 0.240 0.036

9-13 0.2052 0.273 0.068

14-18 0.1999 0.263 0.063

19-23 0.2000 0.235 0.035

Fig. 9. Multiple cable truss.

 Dynamic relaxation analysis 997

Table 5. Comparison of published and test results for a multiple cable truss
-

tiffness method (JONATUWSKI) DR method (W LEWIS)

I
Nlode
displac
no.
2
-

3 f 0.1176 0.0565

8 0.1132 -0.0153
2 -0.1365 0.0399

7 -0.1371 -0.0181

4 0.1322 - 1.546 0.1323

3 -0.0581 - 0.8154 -0.0581

12 0.0313 -0.0094 -0.0959 0.0315 -0.0092

16 -0.0088 0.0099 -0.0962 -0.0087 0.0101

28 0.0303 / 0.0106 0.1582 0.0303 0.0105

32 0.1576 -0.0103 -0.0091

20 0.0179 0.0217 -0.0009

24 0.0178 0.0002 0.0006

-

hanger immediately underneath the concentrated REFERENCES

load goes slack.
CONCLUSIONS
The dynamic relaxation technique is shown to be
a very powerful method for solving various types of
discrete cable structures, with the solutions being
obtained within a maximum of 650 iterations. The
examples presented in this paper significantly
broaden the scope of the technique to cover any form
of cable structure of zero, single and double curva-
ture.
Current successful applications of dynamic relax-
ation to the analysis of continuous structures such as
shells, and to the solution of “bare” cable networks,
indicate that the technique has the potential for
solving more complex problems such as the cladding-
network interaction in pretensioned cable roofs, [ 121,
a feature that up to now has been ignored in current
design. The solution of the cladding-network inter-
action can be based on an energy approach, as
described in this paper. The behaviour of the cladding
may be idealised as that of a thin elastic shell
undergoing large deformations consistent with the
underlying cable network, or as that of an equivalent
framework. The solution of the static response of
pretensioned cable roofs, including cladding axial
and shear stiffnesses, can be achieved by min-
imization of the total potential energy of the cables
and cladding combined in an iterative process of
dynamic relaxation.
FUTURE WORK
A paper presenting an algorithm of cladding-
network interaction and several numerical examples
of composite behaviour of such structures is under
preparation. The effects of cladding stiffness upon the
behaviour of various pretensioned cable roof models
have been investigated, and will be.presented for both
fully and partially clad structures and for varied axial
and shear stiffness of the cladding.
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