Engineering Structures, Vol. 20, No. 8, pp.

692-705, 1998
© 1998 Elsevier Science Lid
All rights reserved. Printed in Great Britain
PIh S0141-0296(97)00100-4 0141-0296/98 $19.00 + 0.00
ELSEVIER

Forced vibration studies of sagged

cables with oil damper using a
hybrid method
Y. L. Xu, Z. Yu and J. M. Ko
Department of Civil and Structural Engineering, The Hong Kong Polytechnic University,
Hung Horn, Kowloon, Hong Kong
(Received January 1997; revised version accepted April 1997)

This paper presents forced vibration studies of sagged cables with

discrete oil dampers under harmonic excitation using an
analytical/numerical hybrid method. The suggested hybrid method
can take account of cable sag, cable internal damping, damper stiff-
ness, damper mass, and others. The results show that an oil
damper with appropriate parameters selected can effectively sup-
press the vibration of a cable under harmonic excitation. The cable
sag, damper stiffness, cable internal damping, and others do affect
damper performance. In particular, if a cable has symmetric modes
of vibration near the frequency crossover points excited by har-
monic loading, the damper may lose its function to suppress these
modes of vibration. The possible reasons behind this and the mea-
sures to overcome the frequency crossover problem are explored
and some preliminary results are presented. © 1998 Elsevier
Science Ltd.

Keywords:sagged cable, vibration mitigation, damper, hybrid

method, frequency crossover

1. Introduction extensive parameter studies and proposed their own design

Cables are the most important structural components in
cable-supported long span bridges, providing an extremely
economic design and an aesthetic view. However, long and
flexible cables of low intemal structural damping are vul-
nerable to wind-induced vibrations of large amplitudes,
such as vortex shedding vibration, wake galloping, and
wind-rain vibration. Large cable vibrations easily lead to
fatigue damage of the cable, wear out the corrosion protec-
tion tube, and eventually affect the safety of the entire
bridge. To overcome the problem, oil dampers can be
arranged on the cable near the cable anchorage. This has
been done in the Brotonne bridge in France ~, the Sunshine
Skyway bridge in USA 2, the Aratus bridge in Japan 3, and
others.
The effectiveness of an oil damper attached to a cable
has been studied by other researchers both analytically and
experimentally. Kovacs 4 was probably the first to investi-
gate forced vibration of a taut cable implemented by an oil
damper under harmonic excitation. He found that an opti-
mum damper damping coefficient existed, to provide the
maximum possible damping ratio in the first mode vibration
of a taut cable. Later on, Yoneda and Maeda 5, Uno et al. 6
and Pacheco et al, 7 extended Kovacs' work and carried out
equations or universal design curves for estimating opti-
mum damper damping coefficients and corresponding
maximum modal damping ratios in a cable-damper system
for the first few modes of vibration. A simple cable-damper
model was also tested in laboratory by Sulekh, as stated in
Reference 7, to try to verify the design equations and uni-
versal design curves. However, the experimental results of
modal damping ratio in the first mode of vibration of the
cable were significantly less than predicted modal damping
ratios. Premachandran and Wieland 8 recently carried out a
forced vibration study of a taut cable with multi-oil dam-
pers under harmonic excitation using mode superposition
method. They considered intemal structural damping in the
cable, but they did not consider cable sag, damper stiffness,
and other factors though they pointed out that these factors
may affect damper performance.
Recently, the writers developed an analytical/numerical
hybrid method to estimate modal damping ratios of cable-
damper systems taking account of cable sag, cable internal
damping, damper stiffness, and damper direction 9. The
research results indicated that the sag of a cable may sig-
nificantly reduce the modal damping ratios predicted by
using a taut cable model, particularly for the in-plane sym-
metric modes of vibration near the frequency crossover

692
Forced vibration studies of sagged cables: Y. L. Xu et al. 693

points. In this paper, the hybrid method is further developed L ,.~

X¢ Y
to determine forced vibration response of a sagged cable
with an oil damper of a certain amount of mass and stiff- H x . . . . . . . .

ness under harmonic excitation which may simulate wind-

induced vortex excitation on the cable. The performance of ~ , t ) ........ m , E , A ~ ' -
oil damper to suppress in-plane symmetric mode of
vibration of a cable near the frequency crossover point is
further investigated in terms of both dynamic characteristic
,y
analysis and dynamic response analysis. The measures to
overcome the frequency crossover problem have been (a) Cable-Damper System Model
explored, but a very satisfactory solution has not yet
been found.
L .~
Notation XC v

A cross-sectional area
P cable internal daraping
c damper size
E Young's modulus
C horizontal component of harmonic excitation
vertical component of harmonic excitation
H horizontal component of static cable tension at YY (b) Discretion of Cable into N Segments
left support Figure I Modelling of forced vibration of sagged cable with
L cable span damper: (a) cable-damper system model; (b) discretion of cable
Le arc length of cable in static tension into N segments
m cable mass per unit length
M additional mass
T total static tension of cable w(O,t) = w(L,t) = 0 (4)
V vertical component of static cable tension at left
support where u and w are the longitudinal and vertical displace-
W cable weight ment components, respectively, measured from the position
3, sag parameter of static equilibrium of the cable; y(x) is the static equilib-
rium position of the cable; y, is the first derivative of y with
respect to x; H is the horizontal component of the static
2. Modeling of forced cable vibration cable tension; h is the horizontal component of the dynamic
cable tension; xc is the horizontal location of the damper
2.1. Equations o f motion in time domain from the left support of the cable; L is the cable span, 8 is
This study concerns in-plane vibration of a horizontal the Dirac's delta function; m is the mass of the cable per
sagged cable with a damper. The reason a horizontal cable unit length; g is the acceleration due to gravity; ~ is the
is being studied, rather than an inclined cable, is to facilitate internal damping coefficient of the cable; t is the time; F,
the comparison with previous studies in which a horizontal and Fy are the external dynamic loading per length in the
taut cable was commonly used. Nevertheless, the extension x- and y-directions, respectively; f, and fy are the forces
of the present study to a three-dimensional inclined cable exerted by the damper on the cable in the x- and y-direc-
will be carried out at a later stage. tions, respectively.
The in-plane vibration of a sagged cable with a damper The inertial force of the concentrated mass at the location
of a certain amount of mass and stiffness (Figure la) at an of the damper, representing the damper mass or an
arbitrary position under dynamic loading in the x- and y- additional mass, is included in f, and fv, which will be
directions can be expressed by the following differential described in the next section.
equations: Being consistent with the above two basic equations, the
relationship between the horizontal dynamic tension and
the dynamic displacement of the first-order is considered:
"41+ y~ ax ~, + h + Fx(x,t) + fx(t)~(X - Xc)
(1)
EA
02u Ou h - (1 + y2)3/2 (ux + Wxyx) (5)
= m otT + -C Ot
where E is the modulus of the elasticity and A is the cross-
l O (HOW ) (2) sectional area of the cable.
41 + y~ Ox Oxx + hy. + Fy(X,t)
02w Ow
+ ~,(t)6(x - x~) = m -Ot
~ + -COt 2.2. Static equilibrium profile of the cable
Since an additional mass on the cable at the location of
the damper is considered, the static equilibrium profile is
The boundary conditions of the cable are different to a single catenary curve. Following the dis-
cussion by Irvine and Sinclair m and Irvine 1~ and consider-
u(O,t) = u(L,t) = 0 (3) ing point loads in both the x- and y-directions, the static
694 Forced vibration studies of sagged cables: Y. L. Xu et al.

equilibrium profile of the cable can be expressed in terms gives the equations of motion in the frequency domain as
of arc length coordinate s as follows: follows:

i f 0 -< S~St
(11)
x(s) = +.g(og)~(x - x,.) = (-o92m - loxY)u
EA+~ -
(6)
~ ax H ax (12)
- + ~ 1+ (7) +~,(t.O)a(X --Xc) = (--o92m + l o ~ ) w
-[l+(v- sUl
y(s) = EA 2Lo
The boundary conditions accordingly become

u(O,og) = u(L, og) = 0 (13)

Ifs~ <--s<~Lo
w(O,og) = w(L, og) = 0 (14)
Hs q.,(sl - s)
and the horizontal component of the cable dynamic tension
x( s ) = EA + EA
is rewritten as
( H - qx)Lo [ V- - Ws,/Lo
+ W [sinh-t qY -~_ EA
H - q~ (1 + y~)3n (u~ + W~Y~) (15)
_ sinh_l V - qy -- Ws/Lo] (8)
where h, u, w, 73, Fy, Z, Z, are the Fourier transforms of h,
u, w, f~, F , f , an d__f, respectively; o9 is the circlar-
HLo [ V V - Ws,/Lo] frequency; and I = G-1 .
+ W~ sinh-I H - sinh-I H
The forcesf~ and f,. produced by the damper due to damp-
ing force, spring force and inertia force in the frequency
domain can be expressed as
y(s) = EA - + EA + W
o--
f~ = - G cosc~ + Mw'u(xow) (16)
{~l+(V-q~-_W-~st/L°) 2
(9) )?, - G sina + Mw2w(&,w) (17)

where

G = (k + lwc)U~ (18)
Uc = U(XoW) cosa - W(XoW) sina (19)

in which a is the damper direction; G is the resultant force

where st is the arc length of the cable corresponding to the
location of the damper Xc, i.e. x(s~ ) = x~; Lo is the arc length
of the cable under free load condition; W = mgLo, the total
weight of the cable; H and V are the horizontal and vertical
components of the static tension of the cable at the left
support, respectively; q~ and qy are the point loads at the
location of the damper in the x- and y-directions, respect-
ively. In this study, qx = 0 and qy = Mg.
The first derivative of the displacement y with respect to
x is, therefore, calculated by the equation:
dy dy/ds
Yx - d x - d x / d s (10)
This calculation involves an iteration procedure incorporat-
ing the Newton's method and the dimensionless technique
suggested by Irvine and SinclaiP °. A quick convergence
can be achieved and, hence, a little computational effort
is needed.
2.3. Equations of motion in frequency domain
Since the studied problem is almost linear and the con-
sidered external excitation is harmonic, it is convenient to
carry out the study in the frequency domain. The appli-
cation of the Fourier transform to equations (1) and (2)
from the damper in the damper direction; U~ is the displace-
ment of the damper in the damper direction; k and c are
the stiffness and damping coefficients of the damper,
respectively; and M is the additional mass on the cable at
the location of the damper.
3. Hybrid method for forced cable vibration
3.1. Discretization of the cable
For the sake of clarification, the uniformly distributed har-
monic loads along the cable in both x- and y-directions are
considered in the following derivation, but the non-uni-
formly distributed harmonic loads acting on part of the
cable can be also handled in a similar way. The sagged
cable is firstly divided into N segments and the attached
damper is located at one of the nodes, such as the nth node
shown in Figure lb. For each small segment, Yx can be
assumed tO be a constant. The substitution of equation (15)
into equations (11 ) and (12) gives the equations of motion
for the ith segment between the ith and i + lth nodes with
the coordinates xi and xi+~ in a frequency domain.
ki ) kiYi,~ -- -
fI, + ~ ui.~x+ ~ wi.~x+ Fx (20)
Forced vibration studies of sagged cables: Y. L. X u et al. 695

= (-mto z + ho~)ui knYn,x m

+ u..Xx.,to)
(21)
+ 1 + Y].x} wi ~ +
The boundary conditions can be rewritten as
= (-mto 2 + lo~)wi
u,(x,,to) = Uu(Xu+,,to) = 0 (31)
in which
w , ( x , , t o ) = wN(xu+ ,to) = 0 (32)
H
/4~ - ~/1 + y 2 (22) 3.2. Orthogonal transformation and local solution
Equations (20) and (21) for the in-plane forced vibration
EA of the ith cable segment are two coupled partial differential
lq = (23) equations with two unknown displacements u~ and wi with
1 + Yi.r
2

respect to two variables x and to. An orthogonal transform-

yx(xi) + y~(xi+, ) ation is now introduced to decouple these two equations.
Yi,x = 2 (24)
[ui(x, to) [ai(x, to) ]
where x ~ [xi,x~+,]. The subscript i indicates the ith segment (33)
w~(x,to) ] = [y)x Yi"]kff~,(x,
• --t to)J
except for the x-coordinate in which the subject i indicates
the ith node. The subscripts x and xx mean the first and the
second derivatives with respect to x, respectively. Equations (20) and (21) then become
The connective conditions at each node between two seg-
ments are the continuity of displacement and the equilib-
rium of force. They are expressed differently according to
(ISli + ki)ai.~x+ (mto 2 - lo~)ai +fix+ yiaffy
1 +YL - 0 (34)
whether the node is supported by the damper or not.
If the ith node is not equal to the nth node where the tTliwi~ + (mto2 - h°c)wi + Y i 1~ L+- yF~Y = 0 (35)
damper is installed, the connective conditions are

Ui_l(Xi,to ) = Ui(Xi, to ) (25) The local solutions for the above equations for the ith
cable segment are
-Wi--I(Xi' to) = Wi(Xi' (.O) (26)
ki-i I ]¢i-lYi-i~
IZIi-' + 1 + y~_,.J ui-I"x(xi'°)) -I- 1 + y~_,.~ to) /~i(X,O.)) =

1
Dlie(Qi +lr2i)x + D2i e-(ru+lr2i)x
E+Yi.xFy
(36)

mto 2 - I t o ~ 1 + y2
( [ci ) ui..(xi, to) + wi,.(xi, to) (27) "~i(X, to) = D3ie(r31+lr4iIx + D4ie-(r3i+lr4i)x (37)
1 Yi,xffx -- fly
171i-'+ iki-'Y2i-"~ I ki-lYi-i~ -~i_,,x(xi,to )
+~i-i~) wi_,~,(xi, to) + 1 + y 2 moo2 - I o ~ 1 + y2

f~iY]'x I kiyi. - where Dli, D2i, D3i and D4i (i = 1,2 . . . . . N) = the four com-
= t-li "It"~ / -~12i'r(Xi'to) dr" ~1 + Yi,x Ui'x(Xi'O')) (28) plex constants associated with ith cable segment. The para-
meter ri,(j = 1,2,3,4) can be expressed as
If the ith node is equal to the nth node, the continuity
2 + N/m2to 4 + ff20,)2
conditions of the displacement, i.e. equations (25) and (26),
remain the same, but the equilibrium conditions of force at
the nth node should be
rti = •/-mto 2(/4i +/~i)
~/mto z + ~ m Z t o 4 +
'
ff2t,02

r2i = 2(/4i + ki)

( H._j + 1 + Y.-t~]
1 / - m t o 2 + qm2to4 + c2w2
r3i = 2t7ii , (38)
f~n-iY~-t~ --
+ 1 + y~_,.~ w,_,a(x,,to) /mto2,+'~m2to'+&to 2
r4i = ~[ 2Hi
( /~" )u,~(x,,to) (29)
3.3. Transfer matrix and global solution
The local solutions can then be expressed in a transfer
+ w..Xx..to) matrix form in terms of the four complex constants: D~i,
D2i, O3i and Dai ( i = 1,2, . . . , N ) . That is, substitute
(IZI._l + k._ly._|.~
- ] k._|y.-,.~
~ + y2~_t~] w._,..(.%,to) + 1 + y 2
equations (36) and (37) into the orthogonal transformation,
equation(33), and then into the connective conditions,
which yields the following relationship of the four complex
( I
Un-l"x(Xn'OJ) --?Y(to) = ~ln "4- 1 + y]a) w..(x.,to) (30)
constants between the two neighboring segments in a
matrix form.
696 Forced vibration studies of sagged cables: Y. L. Xu e t a I.

O]i Repeated use of equation (39) for all segments results in

ID2i i
---- [ T]4×4(xi)
2i-I

3i--1

LO4i- i

The matrix [T] is known as a 4 x 4 transfer matrix, and

the matrix [ T ] ~ ( x i ) transfers the four complex constants
(39)

[ R]4Nx4(XN+, )

I
DiN
D2N
O3n
O4u
---- [8]4×4
Dll
D2~
D31
D4~
(41)

of the i - l t h segment to those of the ith segment. The ith where

transfer matrix [ T ] ~ ( x i ) is equal to

[T]~×4(xi) = [R]~×4(xi) [ R l ~ 4 ( x s ) (40) [B]4×4 = [R]4Nx4(XN+I ) [T]4N×4(XN) ... (42)

[T]4kx4(Xk) [T]nx4(Xk-i)
k-I ... [T]42x4(X2)
where [R]~×4(xi)= the inverse matrix of [R]~×4(xi);
[R]~-~(xs) and [R]~×4(x~) = 4 x 4 complex matrices for the Satisfaction of the displacement boundary conditions of
i - l t h and ith segments at node i, respectively, of which the the cable gives the following equation for the global sol-
elements are given in Appendix 1. ution.

l x 1 0 "1 l x 1 0 -~

lxlff 2
lx10-2 ' 5

/
E
E,E l x l 0 . a lx10 ~
'1o

<
E
®
lx1°

lx10-s .
Y i E
<:
=
lx10 4

l x 1 0 -s
/
c E
0e~ 0

¢©
lx10 ~

lx10 4
~ log~ = 2 . 7 e~
lx10 ~

l x 1 0 -7
c 10 8 N Sec/m
Y
lxl0-a , , ~ , , ~ , , J , , I ~ , ~, , ~ , , ~ , , ~ , , l x 1 0 "e = I , , I , , I , , I , , , , i = i i i I i

0.5 0.8 1.1 1.4 1.7 2 2.3 2.6 2.9 3.2 0.5 0.8 1.1 1.4 1.7 2 2.3 2.6 2.9 3.2
Excitation Frequency ~ rad/s Excitation Frequency ~ r a d / s

(a) Without Damper and Internal Cable Damping (b) Internal Cable Damping Only

l x 1 0 -1

lxlff 2

lx10 ~

lx10 4
E
,<
U)
l x 1 0 -s
t-

R
lx10 ~ . . . . . . . ! " ' I

t
Log,~2=2.7, ~= 10.8 N Sec/m
lxlff 7 c=6.68x10 ~ N Sec/m, k=0

lxlff e , , I , , i , , J , , i , , I , , i i i P i i i i i

0.5 0.8 1.1 1.4 1.7 2 2.3 2.6 2.9 3.2

Excitation Frequency ~ r a d / s

(c) With Damper and Internal Cable Damping

Figure2 Frequency response curves of a sagged cable at midspan: (a) without damper and internal cable damping; (b) internal
cable damping only; (c) with damper and internal cable damping
Forced vibration studies of sagged cables: Y. L. Xu et al. 697

1 0 0 [Dt] 4. Results and discussion

0 , 1 /D2, 1 ?v
me)2 - 16oc 4.1. Effects of damper on forced cable vibration
Bll Bi2 BI3 BI4 ]D31
A horizontal cable in the main span of an actual long sus-
LB2, B22 B23 B24 LD4I pension bridge during construction was chosen as an
(43) example to show the effectiveness of discrete damper on
forced vibration mitigation and to highlight some interest-
in which B~i(i= 1,2; j = 1,2,3,4) = the elements of matrix ing findings. The same cable was used in free vibration
[B]4x4. analysis of cable-damper system9 to find modal damping
Once the first four constants at the first node are determ- ratios provided by the damper. The properties of the
ined from the above equation, all the other complex con- example cable are: E = 2 x l 0 ~ N / m 2, A = 0 . 7 5 9 m 2,
stants D~i(i = 1,2,3,4; j = 2 ...... N) can be computed using H = 1.226 x 108 N, m = 5832.0 kg/m and L = 1369.56 m.
equation (39). Consequent',Ly, the dynamic response of the The sag parameter, log A2= (mgL/H) 2 LEA/(L~H) intro-
sagged cable with a damper is finally determined through duced by Irvine tz, is about 2.7. Here, L~ can be approxi-
equations (36), (37) and (:33). mately regarded as the length of the cable under the hori-

lx104 lx10 4

E lx10 2

10
lx10.3 ~ lx10 ~
E
< lx104 lx10 4
t- t-
O o
~ lx10 "s ~ lx10 "s

iog~2=2.7
~ lx10 6 lx10 ~ Iog),a=2.7
E_ (~=1&8 N Sec/m
X X
lx10 7 ~. l x 1 0 "7

lxl0-e .... i .... i,.,,,, , , J , . lx10 ~ i ~ I i I i i I ~ , I , , I i I = i I . . . .

0.5 0.8 1.1 1.4 1.7 2 2.3 2.6 2.9 3.2 0.5 0.8 1.1 1.4 1.7 2 2.3 2.6 2.9 3.2
Exci:Iation Frequency ~ rad/s Excitation Frequency ~0rad/s
(a) Without Damper and Internal Damping (b) Internal Cable Damping Only
lx10 4

E lx10 -a
lo
-- lx10 -3

el.
E
<
q) lx10 ~
t-
O
~ lx10 "s
(D
er
E lxlO-S 10gX2=2,7,~= 10;8 N Sec/m
.EX c=6.68x10~ N ~c/ml k=0
lx10 7

lx10 -s , = I , , , , I , , I ~ , I , ~ I , . I . . . .

0.5 0.8 1.1 1.4 1.7 2 2.3 2.6 2.9 3.2

Excitation Frequency w rad/s

(c) With Damper and Internal Cable Damping

Figure 3 M a x i m u m f r e q u e n c y response curves of a sagged cable: (a) w i t h o u t d a m p e r and internal cable d a m p i n g ; (b) internal cable
d a m p i n g only; (c) with d a m p e r and internal cable d a m p i n g
698 Forced vibration studies of sagged cables: Y. L. Xu et al.

zontal static cable tension H. In the case of studying effects lx10°

of cable sag, the sag parameter log A2 of the example cable
was changed in terms of the horizontal static cable tension -Mode 1
H only. The other parameters remained unchanged. To
lx10 ~ ~ ~Mode2
guarantee the accuracy of the solutions presented in this
paper, a convergence study was carried out before an exten-
sive parameter study. It was found that a large number of
segments, N = 400, were needed when determining the
modal damping ratio and dynamic response of the cable lx10.2
near the frequency crossover points. Away from the cross- o

over points, the required number of segments were much

nr"
smaller. This is because the change in the slope of modal
shape of the cable at the crossover point was much larger. .~ 1x10s
To obtain the frequency response curve for the middle
point of the cable, the frequency of excitation was changed
and the response amplitude of the cable at the middle point
was computed. Figure 2a shows the frequency response
curve within a certain frequency range for the vertical dis- lx104
placement at the middle point of the cable without any dis- 0 0.02 0.04 0.136 0.08 0.1
crete damper and internal cable damping. The intensity of Normalized Damper Position x--~c
harmonic loading is assumed to be 1 N/m. It is seen that L
there are a number of peaks of very high amplitudes, which Figure 5 Effects of damper position Xc
correspond to natural frequencies of the cable and represent
resonance responses. Since the considered cable and exci- l x 1 0 -1
tation are symmetric with respect to the middle point of the
cable, the peaks displayed in the response curve reflect the
symmetric modes of vibration and the associated natural lx10 ~
frequencies of the cable only, and the antisymmetric modes ,', i :
of vibration and their natural frequencies are not able to lx10~ ,' s

be excited. 10
A small internal cable damping coefficient of
lx104
10.8 N.s/m 2 was then considered. This damping coefficient
E
corresponds to an approximately 0.1% damping ratio of <
q) lxlff s
critical in the first symmetric mode of vibration, as esti-
C
mated by the modal damping analysis 9. A 0.1% damping 0
CL
ratio of a cable in cable supported bridges has been reported o~
lx10 ~
by many researchers through field measurements ~3.~4. Com- CE c=8.0,10'
pared with the resonance peaks in figure 2a, the resonance
peaks are now reduced significantly for all concerned sym- l x 1 0 -r
metric modes of vibration, as shown in Figure 2b. Hence,
a reasonable estimation of internal cable damping is very l x 1 0~ , . . . . . , I . . . . I . . . . I . . . . I . . . .

0.85 1.35 1.85 2.35 2.85 3.35 3.85

lx10 ° Excitation Frequency = rad/s
Figure6 Comparison of frequency response curves of a
v
E sagged cable with and without a damper near the first fre-
Xc=0.02L quency crossover point
10 lx10-1
2
important for the prediction of dynamic response of the
E cable. To demonstrate the effectiveness of an oil damper
for cable vibration mitigation and consider the restraint in
0
= lx10 "2 practice for the installation of a damper, an oil damper was
arranged almost normal to the cable at a position of 2%
cable span from the left support of the cable. The damper
E damping coefficient was 6.68 × 106 N.s/m and the damper
.E lx10~ stiffness was not considered. Figure 2c shows the response
X amplitudes of the cable with the damper, covering the first
five symmetric modes of vibration. Compared with the res-
onance peaks shown in Figure 2b, it is seen that the 1st,
lx10 ~ 2nd and 5th resonance peaks are tremendously attenuated
0.04 0.08 0.12 0.16 0.2 while the 3rd and 4th resonance peaks are significantly
reduced. The free vibration analysis of the same cable-
Normalized Damper S~-e 2c i xc damper system9 showed that the damping ratios of the first
mLco o L
five symmetric vibrational modes of the cable provided by
Figure4 Effects of damper damping coefficient C the damper were 1.00, 0.78, 0.27, 0.19 and 0.46% respect-
Forced vibration studies of sagged cables: Y. L. Xu et al. 699

1.5
1.5
or.....` -==1 AntisymmetricMode AntisymmetricMode
_ 4).~=| . .J

Q.
O.
c-
03 0.5 4:::
0.5
O0
Q
0 "(3
0
"10 "O 0
N ID
N
-0.5 -0.5
E
O O
z Z
-1 -1
SymmetricMode SymmetricMode
-1.5 -1.5
0 0.2 0.4 0.6 0.8 0 0.2 0.4 0.6 0.8 1
X X
L L

(a) At the First Frequency Crossover Point (b) At the Second Frequency Crossover Point
1.5 . _ _

Antis,~nmetricMode
1

c-
OO 0.5
(D
10
0
~ 0
"10
ID
N

E -0.s
O
z
-1
SymmetricMode
-1.5
0 0.2 0.4 0.6 0.8 1
X
L
(c) At the Third Frequency Crossover Point
Figure 7 In-plane s y m m e t r i c and a n t i s y m m e t r i c m o d e s h a p e s at f r e q u e n c y c r o s s o v e r p o i n t s : (a) at t h e first f r e q u e n c y c r o s s o v e r
point; (b) at the s e c o n d f r e q u e n c y c r o s s o v e r point; (c) at t h e t h i r d f r e q u e n c y c r o s s o v e r p o i n t

ively. The relatively low damping ratios and, hence, the
relatively lesser effectiveness of the damper in the 3rd and
4th symmetric modes of vibration are due to the fact that
they are close to the third and fourth frequency crossover
points at log A2 = 2.55 and 2.80.
For higher modes of vibration of the cable, the maximum
vertical displacement response amplitude may not always
occur at the midspan. This may be also true when the exci-
tation frequency is away from the natural frequencies of
the cable. To demonstrate the overall effectiveness of the
oil damper, Figure 3a-c provides the maximum frequency
response curves for the cases without oil damper and
internal damping, with th,e internal damping only, and with
both oil damper and internal damping, respectively. It is
clear that the existence of internal damping makes the
maximum resonance peaks limited. The installation of an
oil damper can significantly suppress the maximum reson-
ance peaks.
Figure 4 shows variations of the maximum resonance
response amplitude of the cable with the normalized
damper damping coefficient, c, for the first three symmetric
modes of vibration. Here, i represents the number of
vibrational mode (1, 2 or 3) and too is the natural frequency
for the first symmetric vibrational mode. It is clear that
there is an optimum damper size, c, to achieve the
maximum reduction of the resonance response, which is
consistent with previous studies on modal damping ratios.
The optimum damper size c is different for each mode of
700 Forced vibration studies of sagged cables: Y. L. Xu et al.

vibration so that a compromise has to be made for the of this vibrational mode. For the studied cable, the third
damper size to achieve the maximum vibration reduction symmetric mode has a modal node at the position of
of a cable in a global sense. More clearly than Figures 2 0.092 L measured from the left support of the cable. As a
and 3, Figure 4 shows again that the oil damper has less result, if the damper is arranged around this position, the
effect on mitigating cable vibration in the third symmetric maximum modal response amplitude cannot be reduced
mode than the first and second symmetric modes of effectively, as shown in Figure 5. Once again, Figure 5
vibration. shows that the damper has less effectiveness in suppressing
Figure 5 shows variations of the maximum resonance the maximum response amplitudes in the third symmetric
response amplitude of the cable with the damper position, mode of vibration than the first two symmetric modes of
xc/L, for the first three symmetric modes. It is seen that vibration.
the effectiveness of the oil damper depends on the damper
position very much within the range until 0.02 L for the 4.2. Damper performance near frequency crossover
first two symmetric modes and 0.01 L for the third sym- points
metric mode. After that, the effectiveness of the damper The frequency crossover phenomenon was first noted by
seems not to be affected by damper position. However, if Irvine t2 from the free vibration analysis of a small sagged
the damper is positioned at the node of a vibrational mode, horizontal cable. It happens when the frequency of the in-
it will lose its function to reduce the response amplitude plane symmetric mode is equal to that of the in-plane anti-

0.14 0.3 [
AntisymmetricMode
0.12 AntisymmetricMode
-8 0.25
~. 0.1
< ! 0.2 SymmetrMode
ic
o.os
Symmetric 0.15
0.06

.N 0.04 i 0.1
b
z 0.02 0.05

0 .... ' .... ~ .... ' .... ~ .... ~'' 0 .... I .... ',,,,i . . . .
-1.2 -0.7 -0.2 0.3 0.8 1.3 1.8 2.3 -0.7 -0.2 0.3 0.8 1.3 1.8 2.3 2.8
Sag Parameter Iog,~~ Sag Parameter Iog,~2
(a) First Symmetric and Antisymmetric Modes (b) Second Symmetric and Antisymmetric Modes
0.45
0.4
AntisymmetrMode
ic
.• 0.35
~
m
" 0.3
SymmetricMode

0.25

"o
0.2
._~
~= 0.15
t.,.

o 0.1
Z
0.05
i i i P = i , , ~ . . . . L . . . . I . . . . I , , ,

-0.3 0.2 0.7 1.2 1.7 2.2 2.7 3.2

Sag Parameter Iog,~2
(c) Third Symmetric and Antisymmetric Modes
Figure 8 V a r i a t i o n o f m o d a l a m p l i t u d e a t d a m p e r l o c a t i o n w i t h sag parameter: (a) first s y m m e t r i c and antisymmetric m o d e s ; (b)
second symmetric and antisymmetric modes; (c) t h i r d s y m m e t r i c a n d a n t i s y m m e t r i c modes
Forced vibration studies of sagged cables: Y. L. Xu et al. 701

0.14 0.015

0.12 E
0.o12

~
-I
0.1
(3_

0.08
0.009
ID

C
0
o 0.06 e~

h- if,

E 0.04 E
~E 0.003
0.02
J J
r r i I i i i L I J , , , I , , , , ~ , , J , I , , , ,
0 0
-0.5 0 0.5 1 1.5 2 2.5 0.5 1 1.5 2 2.5 3 3.5
Sag Parameter Iog,~2 Sag Parameter Iog,~2

(a) First Symmetric Mode (b) Second Symmetric Mode

0.015

E
0.012
10
__=
o_
E
0.009
¢/)
c-
O
Q.
t~
0.006
n"
E
E

0 , i . . . . . . . . i ~ ~

1.5 2 2.5 3 3.5 4 4.5

Sag Parameter Iog,~2

(c) Third Symmetric Mode

Figure9 Variation of maximum response amplitude with sag parameter: (a) first symmetric mode; (b) second symmetric mode; (c)
third symmetric mode

symmetric mode. The nth frequency crossover region is
centered about A2 = (2nTr):'-. To understand the damper per-
formance on vibrational modes near the frequency cross-
over points, the cable ,;ag parameter log A2 was first
adjusted to about 1.6 by increasing static horizontal tension
H to 2.906× 108N. Consequently, the first symmetric
mode of such a cable was near the first frequency crossover
point. The intensity of harmonic excitation was still
assumed to be 1 N/m and a very small internal damping
ratio of 0.05% for the fir,;t symmetric mode was assigned
to the cable to limit the resonance peak amplitudes. Two
frequency response curve,; for the vertical displacement of
the cable at the middle point are shown in Figure 6: one
from the cable without a damper; and the other for the cable
with a damper of damping coefficient 8.0 x 1 0 6 N.s/m. It
is clear that with the installation of an oil damper, the reson-
ance peaks in the 2nd, 3rd and 4th modes of vibration are
significantly reduced. However, the resonance peak in the
first symmetric mode almost remains unchanged. Similar
phenomenon was also observed in the higher-order fre-
quency crossover regions in this studies.
The reason behind the frequency crossover problem
related to damper performance may be attributed to the
symmetric mode shapes near the cable support where an
oil damper is located. Figure 7a-c shows both in-plane
antisymmetric and symmetric mode shapes for the vertical
displacement component near the first, second and third fre-
quency crossover points, respectively, using the proposed
hybrid method. In terms of the sag parameter log A2, the
first, second, and third frequency crossover points occur
at about 1.60, 2.20 and 2.55, respectively. Details of both
antisymmetric and symmetric mode shapes near the cable
support on the left side are also provided in the same fig-
ures. It is clear that the symmetric mode shapes at the fre-
702 Forced vibration studies of sagged cables: Y. L. Xu et al.
0.1
0.08
--2.0%
l! ~k,, -3.0%
o.oe ~:=6NSec/m
0.04
0.02
0.008 0.016 0.024 0.032 0.04
c xc
mLco o L
Figure 10 Effects of additional mass on modal damping ratio
in the symmetric mode at the first frequency crossover point
quency crossover points are tangential to the static profiles
of the cable at the cable support. In practice, a damper is
usually arranged near the cable support. Hence, for the in-
plane symmetric mode near the frequency crossover point,
the motion of the damper is very small. As a result, the
damper is not able to function properly and to provide
enough modal damping to suppress forced vibration of
these symmetric modes. Such a problem may not occur in
the in-plane antisymmetric modes near the frequency cross-
over points since the amplitudes of the antisymmetric
modes near the cable support are sufficiently large com-
pared with the symmetric mode shapes, as shown in
Figure 7a-c.
To further understand the frequency crossover problem
related to damper performance and to confirm the afore-
mentioned observation, the modal amplitude at a fixed
damper location was computed against the sag parameter
log A2. Figure 8 a - c show the modal amplitude of the cable
at the damper location of 0.02 L from the left support for
the first, second and third in-plane antisymmetric and sym-
metric modes of vibration, respectively. It is interesting to
see that when the sag parameter is increased to a certain
level, the modal amplitude at the damper location starts to
decrease. When the sag parameter is further increased to
the frequency crossover point, the modal motion of the
damper is reduced to almost zero. Further studies show that
the minimum modal amplitude at the damper location
occurs when the cable sag parameters log /~2 is equal to
1.62, 2.23 and 2.59, which are slightly larger than the first
three frequency crossover points. These minimum modal
amplitudes indicates that the damper is almost located at
the node of the symmetric modes of vibration because, as
pointed out by Irvine ~2, after a frequency crossover point
a modal node appears at the cable support and then moves
towards the midspan gradually with increase of sag para-
meter. Compared with the modal amplitudes in the sym-
metric modes, and the modal amplitudes at the damper pos-
ition in the antisymmetric modes remain almost constant
with a wide range of cable sag parameter log A2, as shown
in Figure 8a-c. Hence, the attached damper is still able to
make a contribution to reduce vibration in these antisym-
metric modes even though at the frequency crossover
points.
Forced vibration analysis was also carried out to confirm
the frequency crossover problem related to damper per-
formance. Let the intensity of uniformly-distributed har-
monic excitation be 1N/re. The damper size and cable
internal damping were taken as 6.68x 106N.s/m and
10.8 N.s/m, respectively. The maximum response ampli-
tude of the vertical displacement component of the cable
was then computed for the first, second and third symmetric
modes of vibration against different sag parameters log A2.
The results, as shown in Figure 9a-c, are very much com-
patible with the results shown in Figure8a-c. The
maximum response amplitudes are small when the cable
sag parameters are far away from the frequency crossover
points, but near the frequency crossover regions, the
response amplitudes become large even though a damper
is installed. It should be noted that the reduction of damper
performance is not limited to the frequency crossover point
but a region around the crossover point. Therefore, if the
sag parameter of a cable is close to one of the crossover
points within a certain region, the damper performance will
be affected. However, it is also noted from Figure 9a-c
that with the increase of the order of frequency crossover,
the affected region becomes narrow.
4.3. Measures to overcome frequency crossover
problem
As discussed above, the tangential property of the sym-
metric modes near the frequency crossover points at the
cable supports causes the ineffectiveness of a discrete
damper installed near the cable anchorage. It is, therefore,
natural to think that change of the static profile near the
cable support to disrupt the tangential property may over-
come the frequency crossover problem. To this end, a small
concentrated mass, which can be regarded as the damper
mass or an additional mass, was added to the cable at the
position of the damper. The static equilibrium position of
a cable with the additional mass was computed using
equations (6)-(9), and the modal damping ratio provided
by an oil damper was then calculated. Figure 10 shows the
modal damping ratio in the first in-plane symmetric mode
of the cable at the first frequency crossover point as well
as the variation of modal damping ratio with additional
mass and normalized damper size. In plotting Figure 10,
the damper size was taken as 6.68 x 106 N.s/m and the
internal cable damping as 6 N.s/m. The additional masses
as 0.5, 1, 2 and 3% of the total mass of the cable were
considered. The additional mass within 3% of the total
cable mass only slightly changed the dynamic properties
and static tension of the cable. It is seen that for the small
additional mass of 0.5% or 1% of the total cable mass, the
modal damping ratio in the first symmetric mode is still
very small, indicating that the additional mass has no sig-
nificant effects on the frequency crossover problem. Never-
theless, when the additional mass is increased to 2 or 3%
of the total cable mass, the damper starts to function, pro-
viding a certain amount of modal damping to the symmetric
mode. Table 1 lists the resonance peaks of the first four
symmetric modes of the cable at the midspan under a uni-
formly-distributed harmonic excitation of the intensity
1 N/m. Only the first symmetric mode of the cable occurs
at the first frequency crossover point. It is seen that when
a damper of damping coefficient of 1.75 x l 0 6 N.s/m is
Forced vibration studies o f sagged cables: Y. L. Xu et al. 703

lx10 °
lx10 °

l x 1 0 "1
l x 1 0 -1
E lx10 "2
l x 1 0 "2

~ lx10.3
lx10 ~
e~

E lx10-4
<~" lx10-4

~ lx10 s l x 1 0 -s
8. 8.
~: l x 1 0 "s l x 1 0 "s

l x 1 0 "r l x 1 0 "7

l x 1 0 -s . . . . I , , , , I i i ~ i I , t b , I ~ J , , I , , , ,
lx10-8 . . . . , . . . . J . . . . t . . . . , . . . . , . . . .
0.85 1.35 "1.85 2.35 2.85 3.35 3.85 0.85 1.35 1.85 2.35 2.85 3.35 3.85
Excitation Frequency ~ r a d / s Excitation Frequency = rad/s

(a)lnternal Damping Coefficient of 6.0 N S e c / m (b)lnternal Damping Coefficient of 29.7 N S e c / m

lx10 °

l x 1 0 -1

E lX10 -2
v

10

.._= l x 1 0 "3

<E lX104

t-

O
lx10 "s
O.
or)

lX10 ~s

lX10 "r

l x 1 0 "s
0.85 1.35 1.85 2.35 2.85 3.35 3.85
Excitation Frequency e rad/s

(c)lntemal Damping Coefficient of 59.4 N sec/m

Figure 11 Effects of internal damping on cable response associated with frequency crossover point: (a) internal damping coefficient
of 6.0 N.s/m; (b) internal damping coefficient of 29.7 N.s/m; (c) internal damping coefficient of 59.4 N.s/m

installed to the cable at 0.02 L from the left support of the harmonic excitation of 1 N / m intensity and with an internal
cable without additional mass, the resonance peak in the cable damping ratio of approximately 0.05, 0.25 and 0.5%
first symmetric mode is unchanged, but the resonance peaks for the first symmetric mode, respectively. The first sym-
in the other modes are reduced significantly. If 1% mass is metric mode of this cable is near the first frequency cross-
then added to the cable at the damper position, the reson- over point, as used in the study for the effectiveness of
ance peak in the first symmetric mode is reduced by 20% additional mass. It is clear that with the increase of internal
and the resonance peaks in the other modes are almost unaf- damping, all resonance peaks, including the first resonance
fected by the additional mass, compared with the cable with peak, are reduced. Therefore, unlike the attached damper,
the damper, but without the additional mass. If the there is no frequency crossover problem associated with the
additional mass is further increased, then the resonance internal damping ratio.
peak in the first symmetric mode is further reduced, but it
still cannot overcome the frequency crossover problem. 4.4. Effects of damper stiffness on forced vibration
Further studies found that the increase of internal cable In the free vibration analysis of a cable-damper system9, it
damping can avoid the frequency crossover problem though was found that the damper stiffness would reduce the
how to increase internall damping is still in question. damper effectiveness in increasing modal damping ratio. A
Figure l l a - c show the frequency response curves of a forced vibration analysis is carried out here to verify the
cable for the vertical displacement at the midspan under previous finding. Figure 12a shows the frequency response
704 Forced vibration studies of sagged cables: Y. L. Xu et al.

lx10 a lx10 "1

l x 1 0 -2 lx10 -2

E
._. lx10-3 lx10 ~
"1o
--I
~. lx10 4 lx104
E
<E <
© lx10 s lxlff s
c t-
o O
Q.
~ lx10 • lx10 ~
tr"
Log~2=2.7 . IogX2=2.7 _
lx10 -7 c,=10.8 N Sec/m; c=6.68x10 ° N Sec/m lx10 -r ?.=10.8 N Sec/m; c=6.68x10~ N Sec/m

lx10 ~ lx10 ~
0.5 O.8 1.1 1.4 1.7 2 2.3 2.6 2.9 3.2 0.5 0.8 1.1 1.4 1.7 2 2.3 2.6 2.9 3.2
Excitation Frequency ~ rad/s Excitation Frequency ~ rad/s

(a) Without Damper Stiffness (b) With Damper Stiffness of 5x106 N/m
Figure 12 Effects o f d a m p e r s t i f f n e s s o n r e s p o n s e a m p l i t u d e : (a) w i t h o u t d a m p e r stiffness; (b) w i t h d a m p e r s t i f f n e s s o f 5 × 106 N / m

Table I Effects o f a d d i t i o n a l m a s s on r e s o n a n c e p e a k s in s y m m e t r i c m o d e s

Damper damping c = 0 N.s/m c = 1 . 7 5 x 106 N . s / m

Additional mass M = 0 kg M = 0 kg M = 8 × 104 kg M = 1 . 6 × 105 kg

Mode 1 0.2180 0.2172 0.1714 0.9451 x 10 -1

Mode 2 0.4940 x 10 1 0.3862 x 10 -2 0.3846 x 10 -2 0.3800 x 10 2
Mode 3 0 . 1 6 0 4 × 10 -~ 0.5410 x 10 -3 0.5139 x 10 3 0.4691 × 10 -3
Mode 4 0.8434 x 10 2 0.1474 × 10 -3 0.1337 × 10 -3 0.1133 x 10 3

curve of a cable at the midspan without damper stiffness
(the same Figure as Figure 2c) while Figure 12b shows the
frequency response curve of the same cable at the midspan
with a damper stiffness of 5 × 1 0 6 N/m. It is seen that the
frequency response peaks are moderately increased, parti-
cularly in a low frequency region. Table 2 provides the
values of change for each resonance peaks. Therefore, in
the design of an oil damper, the stiffness of the damper
should be controlled to the lowest level.
5. Conclusions
The analytical/numerical hybrid method has been extended
to study forced vibration of sagged cables with a discrete
damper under harmonic excitation. Effects of cable sag,
cable internal damping, damper mass, damper stiffness, but
not the number of damper on forced cable vibration have
been investigated. It was found that an oil damper with
appropriate parameters selected can effectively suppress the
vibration of a cable under harmonic excitation. However,
if a cable has symmetric modes of vibration near the fre-
quency crossover point excited by harmonic loading, the
oil damper may lose its function to suppress these vibration
modes. The reasons behind this frequency crossover prob-
lem and the measures to overcome it have been explored.
The results showed that it is the tangential property of the
symmetric modes near the damper position that causes the
ineffectiveness of the damper. Increasing damper mass or
arranging an additional mass on the cable at damper
location may improve damper performance, but is not very
practicable. Increasing internal cable damping, rather than
installing a damper, can avoid the crossover problem, but
how to increase internal damping is still in question. More
practicable and efficient methods of overcoming the fre-
quency crossover problem, therefore, should be investi-
gated.
Acknowledgement
The writers are grateful for the financial support from the
Hong Kong Polytechnic University through a HKPU schol-
arship to the second author.

Table 2 Effects o f d a m p e r stiffness o n r e s o n a n c e p e a k s in s y m m e t r i c modes

k (N/m) Mode 1 Mode 2 Mode 3 Mode 4 Mode 5

0 0.1112 x 10 -2 0.7207 x 10 -3 0.6749 x 10 -2 0.1904 × 10 -2 0.6592 x 10 3

5 × 106 0.2173 x 10 -2 0.1056 x 10 2 0.8512 x 10 -2 0.2225 × 10 -2 0.7695 x 10 -3
Forced vibration studies of sagged cables: Y. L. Xu et al.
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2 Watson, S. C. and Stafford, 13. 'Cables in trouble', Civil Engng 1988,
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299-315
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Appendix
Elements of matrices [ R ]~×4(xi)
i-~ and [Rl~×~(xi)
If the ith node is not equal to the nth mode, the element
Rii (i = 1,2,3,4; j = 1,2,3,411 in the matrix [R]~-~4(x~) should
be calculated as follows:
R l l ---- e(rli_l+lr2i_l)Xi, RI2 -- e-(rli i+lr2i_l)Xi,
g 13 = Yi-I ~c e( r3i l+lr4i-I ixi, R~ 4 = Yi-~.x e-( r3i- I+Ir4i-I )xi
R2~ = Yi-~.r e(r~i-l+lr2i ~)xi, R22 = Yi-l.x e--(rli-I+tr2i-I)xi,
R23 = --e(r3i-~ +lr4i-~)xi, /~!24 = --e-(r3i-l +Ir4i ~)xl,
R31 = ([)i-i + ki-i)(rli--1 + Ir2i-i) e(qi l+tr2i ')~,
705
R32 = -(12Ii_, + f,:i-,)(r,i-t +/r~i_,) e -'~,~ '+tr~i-')xg
R33 = I2li-lYi-i .x ( r3i-i + Ir4i-i ) e (~3i-'+lr4i-I)xi,
R34 -- -I2Ii_lYi_l,x (r3i_l + Ir4i_ I ) e--(r3i-I+lr4i-I)Xi,
R4, = (IYli-I + ki-i)Yi-=.~ (r,i-i + Irai_,) e (r,i-,+l~2i-~)xi,
R42 = -(ffli-~ + ki-i)Yi-l.x (rli-~ + Ir2i-i) e-4r=i-'+~i-')xi
R43 = -ffli_=(r3i_l + Ir4i_~ ) e ~31-~+t~41-~)~i,
R44 = IZl~_~(r3i-~ + Ir4i-~ ) e -(~3i-~+/r4i-=)xl
Replacing only rti_l, r2i_l, r3i_ I and rai-~ by rig, r2~, r3i a n d
r4~ in the above elements gives the corresponding elements
in the matrix [R]~×4(xi).
If the ith node is equal to the nth node where a damper
is installed, some elements in the matrix [R]~-)a(X~) should
be changed whereas all elements in the [R]~×a(Xi) remain
t h e s a m e . T h e e l e m e n t s R31 , R32 , R33, R34 , e41 , R42, R43 a n d
R44 in the matrix [R]U4~(xi) now should be
R31 = (/'~n-I q" kn-I)(rln-I -t-/r2n_l) e (rln-I+lr2n-I)xn
- M o o 2 e~r~.-~+lr2.-~)x. + (k + Io)c) e(rln-I+/r2n I )xn
(cosa - y._~.~ sins) cosa
R32 = - ( H . _ , +/~._,)(r,._l + Ir2._,) e -¢r'.-,+I~z.-~)x.
- Mw 2 e-¢r="-~+Ir2"-~)x" + (k + lo)c)
e-(rl._l+/~2._l )x. (COSOt -- Y.-I.~ sinot) c o s a
R33 -- H . - l y . - i x ( r 3 . - i + lr4n-l) e (r3n-I+lr4"-I)xn
- Mw2y._l.~ e(r3.-1+l~4.-~>~-+ (k + hoc)
e(~3"-1+lr4"-0% (Y.,-J.x COSOt + sins) c o s ~
R34 :--~-In--lYn--l.x(r3n--I -1- IF,n_l) e-(r3n l+Ir4n ,)xn
- M w 2 y . _ l ~ e -(r3n-I+lr4n I)xn + ( k + Io)c)
e-(r3~ I+lr4n-I)Xn (Y,,-t~ cosc~ + sins) cosc~
R41 ~'~ (/~n-I + kn-l)Yn-lc~(r,.-, + lr2._,) e (q.-,*'r2.-,)x.
- Mo92y._l. e (r,.-,+lr2.-,)% -- ( k + lo~c)
e (rl.-I+lr2n I)Xn (COSOd -- Y~-t. sina) sint~
R42 = - ( / ) . - , + ]~-l)y~-l.~(rl~-, + lr2._,)
e -(qn I+lr2n--I)Xn-- M@._j~ e -(rl~ I+/r2n-I )xn
- (k + hoc) e-(r',-'+lr2~ -')x.
(cosa - y._~.~ sins) sins
R43 =--l~tn_l(r3n_l -st- lr4n_ I ) e(r3n-I+lr4n -l)xn
+ M w 2 e (r3n-I+lr4n-I)xn - (k + lo)c) e (r3n-I+lr4n-I)xn
(y._~. cosc~ + sine0 sinc~
R44 =/4._1(r3._, + I t 4 . _ , ) e -(r3.-'+lr4n-')%
+ Moil e-(r3.-~+~4.-,)~. - (k + Iwc)
e-(r3" ~+~r4"-~" (Y--u~ COSC~+ sina) sinc~