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b) An approach where information gathered during Two approaches of accelerated convergence are
calculations of the series coefficients is used proposed, to improve the quality of the approximations:
to improve the convergence rate. (a) An approach where a scalar multiplier, used for
Numerical examples illustrate the efficiency and scaling of the initial design, is chosen prior
the quality of the proposed approximations. A special to the solution as the accelerating parameter.
attention is focused on reanalyses along a line, a Several algorithms for selecting the value of
problem typical to many optimal design procedures. The this multiplier are proposed and their merit is
computational effort in this case is considerably demonstrated.
reduced, since only a single independent variable is (b) An approach where the accelerated parameters are
nvnlv~d . e nteiato frnn rPqntqlt obt;,ined dulrino the
i
, solution process. Information gathered dur'ing
In most optimal design procedures the behavior of Some numerical examples illustrate applications
the structure must be evaluated many times for succes- of the proposed procedures. A special attention is
sive modifications in the design variables. This focused on reanalyses along a given line in the design
operation, which involves much computational effort, space, a problem common to many optimal design pro-
is one of the main obstacles i applying optimization cedux s. The efficiency and the quality of the pro-
methods to large structural items. Reanalysis posed approximations are demcnstrated.
methods, intended to analyze efficiently new designs
using information obtained from previous ones, can
broadly be classified as [1]: 2. Problem Statement
(a) Direct methods, giving exact solutions and appli- The displacement analysis equations for a given design
cable to situations where a relatively small pro- variables vector ft are
portion of the structure is modified (for example,
only a small number of elements are changed). [] } = {R} (1)
(3)
In this study reanalysis methods for optimum
of K] = [[K] [AK]
structural design, based on explicit approximations
the structural behavior in terms of the independent where [AK] = the matrix of changes in the stiffness
design variables, are oresented, once the explicil matre to the ar f e
model has been introduced, it can be used for multiple
reanalyses of designs obtained by successive changes
in the variables. Te presented algorithms are based The object in this study is to present explicit models
for efficient calculation of the displacements }VI
on a series of expansion which is shown to be equiva-
7-17
corresponding to designs {x} , obtained by changing Eq. (13) becomes
the value of the design variables. It is as.;umed that
the displacemen, s G)} are known from analysis of the ir) - [B(1J B+ _[ .12 )- (1)
initial design. Also, [t) is given in the decomposed
form (he coefficients of this series can readily tie cal-
1
S ) culated. Defining
K] [U]jl (4)
where [U1 is an upper triangular matrix. {r11 - - ]' i (,)
Approximations aleng a given line in the design space {2} - 1 ({171
are often required in optimal design procedures. This etc., the series of Eq. (iS) becomes
problem is common to many mathematical programming
methods such as flasible directions or penalty function (.: = i Ir 1 + {r 2'8) ...
A set of lines (or direction vectors) in the design I[or the given triangularization of Lq. (4), the cal-
space are determined successively by the optimization culation of the coefficient vectors {r },tr2},...
method used, In each of the given directions it is
usually necessary to evaluate the constraint functions, requires only forward and back sub:,titutions. The cal-
or to repeat the analysis, many times. A line in the culation of {U}I for example, is carried out as
design space can be defined in terms of a single folows, Substituting Eq, (12) into Eq. (lo) and re-
independent variable Y by arranging gives
ix) intia
where {X} is the given initial
s desgn,{dX)is given
design, j1} is a givn e first solve for (P1 by a torword substitution
direction vector in the design space, and the variable
Y determines the step size. Approxinations along a [0] (P1 =
line require much less computations since only a single (20)
variable is involved, {1I is then calculated by the backward substitution
In truss structures where (X) are the cross-sectional It is instructive to note that the series of E'q. (15)
areas or in beam elements where the moments of inertia is equivalent to the simple iteration procedure [7,8]
a.e chosen as dcsign vari hlee. the elements of the .
stiffness matrix are jineaL functions of N ant Lq. o) ('r (Ij - (22)
becomes5
[K] = [K] + 4here k denotes the iteration cycle and
Is the elements of [K] are functions of aZ (Z. being 7>(o) 1 = (23)
the naturally chosen design variables and a,b are given In the case of approximations along the line defined
ccstants) we may use the transformation by Eq. (5), the expression of Eq. (15) will become
Xi = aZ (8) explicit function of irn in terms of Y. Assuming the
and obtain the linear relationship (7).The expicesiun of relationship (6), we obtain
Eq.jg)is suitable for example,for standard joists [9]. {r- = (jil2 f(Y) fa(YI[I2 -
B ... (24)
Tn cases where such transformations are not possible
(tor example, in frame elements where the stiffness
matrix is a function of both moments of inertia and if theslin d ce7x
cross-sectional areas), still linear approximations
may be used for the nonlinear terms of the stiffness
(r ll-_ (B_-_ )
U r_(
matrix [10].
or (see Eq. (18))
3. Exylicit Behavior Modt s. srJ (i r uI} xrux . (26s
The analysis equations, at {} are This equation can readily be used for mul iple re-
(K] jr) = [Rj (9) analyses along a line. Also, it can be shown that
Based on Eq. (3), Eq. (26) and taylor series expansion of the displace-
ments are equivalent [7,81. Other approximate methods
([K] + (AK]Jlri = 410)
(RI can be used [7,8], however, these usually involve
1
Premultiplying by K]j- and substituting matrix inversion.
S- RI (( While the methods discussed so far are based on
} K {R1 (1 single exact analysis at it),it should be recognized
[KlA*]
-' (12'j results of two
that better exact analyses
approxvmations (at be(1}obtaine?
could and (X if were
7-18
r (B-)Y +(31 r) 3r * 2i - fzJ}y)Z t displacements at lXc. is
+ (2Ar,
"2r1 \
- 2+r)
ar
[-4 (7))Y) (28)
r )
r (39)
1=
r({X I) r
he derivatives {-i c:n readily be computed by several This result indicates that the error in the approxima-
methods [11. One possibility is to differentiate Etl at depends only on the ratio r/r (and
withl respect to Y, the result is tions at( dped myor h ator(l
3r
{'(}= - [7trt (29)
not on a , the distance between and {xc}). The
combination of approximate behavior models and scaling
(Xf
in which both tr}, and [NK in the decomposed form of can be used to introduce efficient optimal design pro-
Fq. (4), are known from the analysis. Thus, solution cedures 1101. It will be shown in the next section
for how selection of the scaling multiplier C may improve
for i Y involves only calculation of the right hand the approximate behavior models.
side vector of Eq. (29) and forward and backward sub-
stitutions. 5. Improved Approximations by Scaling
Scaling of the initial design {X} to obtain a modified = . AX) = } + (La} (40)
3) K A) = I
design {X is given by
Ix } {}and
W the corresponding stiffness matrices are (Eq.(31))
and the displacements of the modified design are Substituting JAK I from Eq. (41) into Eq. (42) gives
Ihq. ';.) 0
*r (r (32) ([1] i- [
+( [[] ) (43)
Defining
The significance of this relation is that a given
design {f) can easily be scaled by modifying C so [B 1-a -l * = I-a 1
that any desired displacement be equal to a predeter- a [-: K [K
[L -, [i [j] (44[
mined value, an operation called scaling of the design. bitt into Eq. (4') and expanding ([11+(8])1
(The line a(Xi is called a d g l . w_ obtain the following series for Crr in terms of OL
7-19
or, after rearranging large k values.
{a j{} D_-namic acceleration
S. (48)
(48)
In cases of slow convergence rate dynamic acceleration
and the corresponding step smethods, which make use of previous terms in the series,
car, be employed. If the iterative process has a
slow
IAx = (JX z2 a1Xj1) (49) convergence rate, successive errors will generally
exhibit an exponential decay in the later stages of the
iteration (see Fig. 3). Aitken's 6' process [13]
Another parameter which represents the step size for a is one approach to predict the asymptotic limit to
given direction is the angle (, where which the predictions for each displacement rj is
tending. Assume the extrapolation exp-ession
cos 0 } (50) -bkc
XI I . a + be (60)
Evidently, for any given direction UX } a better con- where a, b, c are constants and k is the iteration
vergence will be obtained for smaller e values, number (or number of terms in thv series). The final
Thn-bar truss. The truss sho i in Fig. 4 is subjected Approximate behavior models for efficient reanalysis
to a single loading c,,ndition (all dimension are in have been presented. The algorithms are based on a
kips and inches) and the initial design is (XI - {6.01. series expansion which is equivalent to a simple itera-
The following three cases of changes in the design were tion procedure. A single exact 2-..ysis is sufficient
solved: to introduce the ser.es coefficients and matrix inver-
Case 1: {AXIT = {4.0,4.0,4.0,4.0,6.O,6.0, sion is not required throughout. The proposed appruxi-
1.2,1.2,1.2,1.2) rations might be sufficient only for a limited region,
in the neighborhood of the initial design.
Case 2: {&.8 = {-3.0,-3.0,-3.0,-3.0,9.0,9.0,9.0, Two approaches have been proposed to improve the quality
9.0,9.0,9.01 of the approximations:
Case 3: {AXIT = 118.0,18.0,18.0,18.0,18.0,18.0, a) An approach wh're a scalar multiplier, used for
36.0,36.0,36.0,36.0} scaling of the initial design, is chosen prior to
the solution as the accelerating parameter.
The angles 0 for the three cases (Eq. (50))are 11.3, Several algorithms for selecting the value of
30o, and 11.50, respectively, this multiplier are proposed and their potential
Results obtained for cases 1,2, by Aitken's 6' method for improving the series convergence is demonst-
(Eq. (62)) and the modified acceleration method (Eq. rated. It is shown how the scaling multiplier
(65)), assuming k = 2,3,4, are given in Table 2. affects both the direction vector in the design
While the approximations for case 1 are excellent, some space and the step size.
errors can be observed in case 2. The iteration his-
tory for the latter case, with Aitken's 62 method b) An approach where the accelerated parameters are
applied after iterations 4 and 6, is shown in Fig.5 determined from results obtained during the solu-
and 6. It can be seen that no convergence of the tion process. Information gathered during cal-
vertical displacements could be achieved without culations of the series coefficients is used to
Aitken's method. Applying scaling by the five methods introduce extrapolation expressions. The twuo
methodsco enp t 62 pressiand a
a modified
modified.
of Table I combined with Aitken's process (k=2,3,4) methods of Aitken's processr nd
r
for case 2 may improve the convergence, as shown in method of Aitken's acceleration are presented.
Table 3. The best resu s have been obtained by It is shown how these methods provide high quality
methods b and d. The ei ect of a on the spectral results in cases of poor convergence rate or diver-
radius (Eq. (59)) is illustrated in Fig. 7. The diver- gence of the series.
l value 1nce
for a=1 is explained
(iAl(=l.S). by thea=[.96,
Assuming relatively large of
the value In the typical problem of o reanalyses along a given line
enlssaogagvnln
in the design space, the methods discussed in this
L1 is reduced to ,.75, stu;d'y i.....,c m,,ch less computational effort. Multiple
reanalyses along a line can efficiently be introdmutd
The effect of scaling on the convergence is demonstra- in terms of a single independent variable.
ted in case 3 (Table 4). Applying the modified
acceleration method (k=2,3,4), no convergence could
be obtained for a=l. Assusing a=4.94 (method c, Acknowledgement
Table 1), the convergence is fast; a solution very
close to the exact one is obtained for three terms in The authors are indebted to he i"Fund or the pro-
motion of research
kt the Technion" for supportingk
the
criterions methods results
series. of Similar a,b in Table 1. reached with the
could be this work.
7-21
, , II N N l I I- - l l N A
(8) Kirsch, U., Approximate Structural Reanalysis for
Optimization along a Line, to be published,
International J. for Nume-ical Methods in Engrg.
1981.
b fAXA } perpendicul.,c to {X ) Ox 01 0 7T
T *
ri
}TB.
* T
e second term ii the series = 0 (1-a1)ri + {Bi} {r}= 0 Ui +
Eq. (62)jt 0.086 0.440 0.094 0.453 0.071 0.207 0.073 0.219
I Fq, (6S)" 0.086 0.439 0.094 0.453 0.071 0.207 0.073 0.220
Exact 0.086 0.440 0.094 0.45o 0.0/1 0.207 0.073 0.219
2
IEq. (62)4
Eq. (65)-
0.290
0.275 0.818
0.813 I0.310
0.295
0.824
0.827
0.27
0.225
0.284
.0278 0.231
0,243 0.294
0.287
Exact 0.290( 0.876 0.310
0 0.887 0.237 0303 0.243 0.313
t k = 2,3,4.
It
Table 3: Results (xI00), Ten-Bar Truss Case 2 Eq. (62),for Various a Values.
SCase% a r [ r2 _r 3 -r 4 , 5 r6 -r 7 r8
t k - 2,3,4
t See Table 1.
I
I
II 7-23 ' f
Table 4: Effect of Scaling, Ten--Bar Truss, Case 3 (xl00)
'k- 2,3,4
r. r.
Eq. (62) Eq. (65) Exact r Eq. (2) Eq. (65) Exact
i 19
20
21
7.73
-1.48
6.42
7.43
-1.SO
6.00
7.42
-1.50
5.98
7.43
-1.50
5.98
39
40
41
-2.56
0.42
-2.56
-0.20
-0.46
-0.20
-0.24
-0.46
-0.24
-0.24
-0.46
-0.24
22 -Z.29 -3.21 -3.22 -3.22 42 5.94 3.19 3.19 3.20
23 I 6.58 6.08 6.06 6.06 43 -2.56 -0.20 -0.24 -0.24
24 -0.90 -1.21 -1.21 -1.21 44 11.45 6.84 6.84 6.85
Sk -=2,3,4.
7-24
ooo r)
r 0r
O. IG.r3
Fir,,
15 FrG.
.50 ri~ 0
__ __ __ __ _ __ __ _o .0.6
0.8.
1.0.
Fi r, rI . r.
FaG. FIG 0
(X I
0.0
FIG.
2 . -a -19
7-5F
-ioo r
20
100
:5.0
2.01
I I 2 3 4
-2.CV
S/ A0 4z 7 /
85 6
1 05
0k
.,o V 4
7-26