IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, VOL. PAS-88, NO.

12,

DECEMBER 1969

1741

Mathematical Analysis

of

Transmission

Line

Vibration
A
-

RODOLFO CLAREN,

MEMBER, IEEE, AND

GIORGIO DIANA

Abstract-The response of stranded cables to exciting forces produced by wind is studied here, and details of an analytical and experimental study of cable self-damping are presented. In Section I, laws governing cable response to the exciting forces are determined, whereupon cable strand strains due to vibrations are investigated and the results correlated with field measurements. In Section II the response of a damper to harmonic displacement of its attachment clamp is analyzed to provide information needed for computing cable response, and to show the influence of the various damper parameters on its response. The hysteresis loop test method described makes possible accurate measurements of cable stiffness and the energy dissipated per cycle. Section III considers the response of systems composed of a taut cable on which one or more Stockbridge dampers have been installed, demonstrating the mathematical treatment of the problem. Comparison of computed cable deformations with measured experimental values proves that the method is sufficiently accurate to permit its use in place of extensive laboratory tests. Section IV reveals the results of a computer program, based on the preceding research, designed to investigate the influence of damper parameters on damper efficiency.

cable and ignore damping, the equation of motion is: 2u d 4u d 2u X2 = m t2 xc Ox4

Al.O\' 1 ) If we assume a constant flexural rigidityfld tension alon'g the

'1 14w@Cts3> i b rSXt f P>nk

(1)

If we assume
U(x,t) = so(x);(t)

(2)
1 d21'(t)

(1) may be written

(3) mso(x) t(t) dt2 Since one term of (3) is a function of x and the other term is a function of t, both terms must be equal to a constant. Assuming such a constant to be W2, we have d2 d4 EcJc sP(x) S (p(x) = cio2m so(x) (4) dx2 dx4
-

LE J

d4(p(x)

- S d2,(x) dx4 dX2

d ;(t)

--

C2b(t).

(5)

I. TRANSVERSE VIBRATION OF STRANDED CABLES

Introduction THE effect of wind in producing vibrations in stranded cables has been known for many years, and the number of laboratory and field investigations and of reports on the subject has continuously increased as a consequence of general interest in the matter. The urgent necessity of finding some practical solutions for the ever-increasing number of transmission lines has often led to confusion between the causes and the consequences of the vibrations. The wind is the cause of cable vibrations and cable vibrations are the cause of strand strains that might lead to strand fatigue failures. For sound research in this field it is essential to assess in the first instance the laws governing the cable response to the exciting forces. With this knowledge it is then possible to investigate cable strand strains due to vibrations and, in the field, to correlate vibration measurements with the parameters measured under wind conditions. This paper is a contribution to the study of the response of stranded cables to exciting forces, and relates an analytical and experimental study of cable self-damping.

A solution of (5) is given by

40 sin (wt + ,B). (6) If we assume for (4) a solution so(x) = Dezx and pivoted extremities where ,o(x) = 0 and [d2S((x)]/dx2 = 0 for x = 0 and x = 1, then (4) yields:

;(t)

2 = (

[I

(I)2

S]

(7)

where cr are the resonance frequencies of the system; that is, the frequencies corresponding to the principal modes of vibration of the cable. Calculations of the flexural rigidity E>J, of a cable are unreliable, because in the bent part of the cable individual strands may move on the tension side while strands under pressure may glide or buckle. It is however essential for computer work to have an expression giving the exact resonance frequencies based on data obtained from a few experimental tests. It is known that the resonance frequencies of a taut strand are given by
COor
=

VS/r.

(8)
(9)

Principal Modes The analysis of the taut strand has been done by many authors [1] but generally the system was simplified with flexural rigidity and damping was ignored.
Paper 31 C 83, recommended and approved by the Tranrsmission and Distribution Committee of the IEEE Power Group for presentation at the IEEE Summer Power Meeting, Portland, Ore., July 9-14, 1967. Manuscript submitted April 7, 1967; made available for printing May 11, 1967. This work was supported by the Consigio Nazionale delle Ricerche of Italy. R. Claren is with A. Salvi and Company, S.p.A., Milan, Italy. G. Diana is with the Polytechnic University of Milan, Milan, Italy.

If we assume
0

EcJ. M7C E=
S12
4

or
a'
=

E~jc EJ X2

(10)

(7) can be written in the following forms:

=r wor(l + ar2)1/2
=

(11)
(12)

COr

WOr(l + a'X-2)1/2.

1742
1,08
-~2

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS,

DECEMBER 1969

1.04

-- -i-.1-.----\

total kinetic energy during a motion -is the sum of the separate energies due to each of the modes that are present; potential energy is determined similarly. The kinetic energy of a cable uni-~~~~~~~~~~~~~~~~~ der tension can therefore be expressed by
(18) 4 If we consider the transversal and the bending forces of a vibrating cable, the potential energy can be expressed by
V
=

1.00

Mp2(t) mlT=

0.96

0.92

rS

Pr2(t)l (r)2 (I
4

EAJC 7r2r2)

(19)
(20)
(21)

0.88

10

12 14 16 18 VIBRATION MOCE r

20

22

24

26

28

30

and, referring to (11) and (12):

V
=

Fig. 1. COr/wor ratio for 46.53-meter span of 31.5-mm outer diameter ACSR. Curve 1-tests at 3000-kg tensile load; curve 2-tests at 4900-kg tensile load.

ErS Pr (t)l I rr\

\l
2(t)l (rr E)Pr Zr

2(

+ r2)

(1 + aIX2).

Tests performed on several cables at frequencies ranging from 1 to 50 Hz showed that (11) and (12) were correct for vibration modes higher than the ninth. It was therefore possible to assess experimentally a few resonance frequencies of any given cable and then to calculate a or a'. Fig. 1 shows the &2r/wOr ratio for one of the cables tested. It is probable that (11) and (12) were no more valid for vibration modes lower than the ninth for the 50-meter test span used because of the influence of the clamping devices of the cable on the flexural rigidity EC/JC of the extremities. The lower the vibration mode, the greater the influence of the extremities over the behavior of the whole span. This problem is still under investigation. Reverting to the equation of motion of the cable, it can be shown that if the cable is given a static deflection in its rth principal mode, the deformation is given by

Srr(X) = Cr sin - x.

(13)

Similarly, during vibrations with frequency Wr in this principal mode, the deformation at any instant is
Ur(X,t) = Cr sin
x sin (Wrt +

Or)

(14)

It is then possible to select a principal coordinate pr(t), the value of which will specify the magnitude of the deformation in this particular mode. Equation (14) can therefore be written as follows:

Ur(X,t) = Pr(t) sin

(15)

and assuming Dr(X) = sin (r7r/l)x Ur(X,t) = Pr(t) I6r(X)

(16)

Since motion may occur in any number of principal modes simultaneously, a more general expression for the deflection is (17) U(X,t) = Er Pr(t)'Ir (X) Kinetic Energy and Potential Energy The orthogonal property of the principal modes for finite- and infinite-freedom undamped systems has been explained by several authors [1]. Possession of such a property means that the

Cable Self-Damping The mechanical system just discussed has the property of being able to vibrate freely with constant amplitude for an indefinite period because no dissipation of energy has been assumed. The dissipation or damping effect prevents the vibration amplitudes of a forced system from becoming infinite at resonance. It was well known that stranded cables under tension had some internal damping. Field observations showed that the amplitudes of vibration decreased with increasing frequency of vibration and with decreasing conductor tension. It was also noticed that the frequency band where severe vibrations occurred shifted toward the lowest frequencies with increasing conductor diameters. Farquharson and McHugh [6] assessed the maximum energy input from the wind on stranded cables under tension with wind tunnel tests. Once accurate information on the self-damping capacity of the cables was obtained, it became possible to relate all these data and to assess a method of estimating the maximum vibration amplitudes that could occur on a line. Experimental and analytical research was then required to accomplish the following things: 1) assess an accurate method of measuring the energy dissipated by a vibrating stranded cable; 2) check the influence of damping on the resonance frequencies and on the deformation of the cable expressed by (7) and (14); 3) assess a damping function, expressed in principal coordinates, that could be used in conjunction with the kinetic and potential energy functions in a Lagrange equation in order to calculate with sufficient approximation the cable deformation due to any harmonic exciting force. Point 3) was particularly important since it involved determining whether the coupling terms in the damping function were small enough to be ignored and the orthogonal property of the principal modes of an undamped system could be extended to this particular damped one.

General Testing Methods Several methods have been used to investigate the energy dissipated by vibrating cables. These methods can be divided in two main groups: decay method and forced vibration method. The decay method has been illustrated by Hard [4]. In this test the cable is brought into resonance at a given frequency and then allowed to decay in free vibration with the drive unit

CLAREN AND DIANA: MATHEMATICAL ANALYSIS OF TRANSMISSION LINE VIBRATION

1743

disconnected. The energy dissipated by the cable must therefore be equal to the decrease in its kinetic energy. The major difficulty in this test arises from the system used for disconnecting the drive unit. The conductor must be vibrating in one of its principal modes, so even the slightest transient excitation must be avoided when the drive unit is disconnected; otherwise other modes, in particular the lowest ones, will also be excited. The major advantage of such a method is that a single test gives data on a wide range of conductor amplitudes. The forced vibration method consists in the measurement of the power required to drive the test span at various frequencies and amplitudes. In steady-state conditions, such power is obviously equal to the energy dissipated by the cable. The major difficulty in this test arises from the necessity of keeping the vibrations at steady-state conditions while making measurements; otherwise the energy required to modify the kinetic energy of the span will be measured together with the energy dissipated by the cable. The advantage of this method, however, lies in its greater simplicity. Irrespective of the method followed, the following three problems must be solved with precision during the tests. 1) The system under test must not be substantially modified by the drive unit. When the unit is rigidly connected to the cable, the moving mass of the unit becomes part of the system and resonance frequencies and deformation of the cable can be considerably modified. 2) The frequency control of the drive unit must be as accurate as possible with as little drift as possible. At low frequencies, in fact, the damping is very small and a slight frequency error will cause a considerable error in the vibration amplitude measurements. 3) With the small damping involved, powers to be measured in the 5- to 50-Hz band will be in the range of 1 to 10-$ watts on a 50-meter span. Instrumentation must therefore be suitably chosen.
Elastic Coupling and Hysteresis Loop Measurements In order to solve most of these problems a special coupling device was used (Fig. 2). The connection between the drive unit and the cable was obtained by means of a constant flexibility spring in the form of a beam, the extremities of which were rigidly fixed to the unit, while the cable was connected to the center of the beam. Under operation, the difference between the displacement of the cable at the attachment point and the displacement of the vibrating mass of the drive unit resulted in a force applied to the cable. With suitable strain gages applied to the flexible beam, a signal proportional to such a force could be visualized on a dualbeam oscilloscope simultaneously with the conductor displacement signal obtained with an inductive pickup connected to the cable attachment point. It was then possible to follow on the oscilloscope the displacement of the conductor at the driving point, the force applied to it, and the phase relation between

Fig. 2. Elastic coupling of cable to drive unit. Since the forces required to excite the tested cables on the 50meter span with antinode vibration amplitudes up to 10 mm were in the range of 1 to 10 newtons, the beams were very flexible and the system was virtually unmodified by the driving unit. With this special coupling, if the displacement signal is fed into one axis of an oscilloscope and the force signal into the other axis, the resulting hysteresis loop gives the energy per cycle fed into the cable and, at steady-state conditions, the energy dissipated per cycle by the vibrating cable. The coupling system used also permits the performance of decay tests without disconnecting the cable, if desired. The energy dissipated by the connecting flexible beam is negligible; therefore, when the power and the drive unit fields are disconnected, interchange of energy between the cable and the drive unit is no longer possible. The elastic force at 180 degrees with the displacement vector, due to the flexible beam, is so small that it cannot interfere with the kinetic energy decrement or with the cable vibration. Energy measurements were done with decay and forced vibration methods, and the results were absolutely identical. Test Results In order to keep test conditions of the cables as close as possible to those generally found in the field, the cables were tested under tensile loads ranging from 10 to 40 percent of their ultimate tensile strengths, frequencies were chosen between 5 and 50 Hz, antinode vibration amplitudes were 10-2 to 10 mm, and, more generally, energy input for the 50-meter span was chosen within the values given in [6]. The cable deformation at resonance given by (13) and (14) was checked throughout all the tests by means of inductive pickups or crystal-type accelerometers placed along the cables as shown in Fig. 3. For such a span length, nodal displacements are very small, about 1 to 2 percent of antinodal displacements, and cable deformation can correctly be expressed by fp(x) = Cr sin (r7r/l)x.

them. Resonance conditions could therefore be accurately obtained by adjusting the exciting frequency until a 90-degree phase lag was reached between the force and the displacement signals. Steady-state conditions could furthermore be maintained with slight adjustments to the unit mass vibration amplitude. The flexibility of the beam had of course to be suitably chosen in order to transmit the required force with the resulting differential displacement.

1744

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, DECEMBER 1969

10
E

E
D

.0
02

1
6

WAVE_ LENGTHm CURVES TENSION FREQUENCY

W.
0

0.1

I
O.OOOt8

0 000 1 000
4 000

12

2000

6
7

1 000
000

0.01

1.0001

0.001

2000

0.01
span

0.1

3.30 49.5 2,36l 10 1 E >? Kg. m'

3550

30 25.2

21,6

1s

13

5.42

5.42 5.42 3.30

Fig. 4. EX3 of 46.43-meter

of 27-mm outer diameter ACSR.

.0

Fig. 3. Crystal-type accelerometers placed along cable.

2i

Decay tests showed furthermore that neither the frequency of the cable vibrations nor the cable deformation was modified when the driving force was disconnected. Since such results were found for all the cables tested and also at high frequencies, when the cable damping becomes considerable, it was clear that the damping function could be assumed to contain no coupling terms. If the damping function had considerable coupling terms, the deformation of the cable vibrating in the rth mode would have been expressed not only by C, sin (rir/l)x but also by several C, sin (s7r/l)x terms with s F4- r. [It must be made clear that, even with no damping coupling terms, when a cable is forced to vibrate in the rth mode, the deformation is not strictly given by Cr sin (r7r/l)x but, because all modes are simultaneously excited, deformations C, sin (s7r/l)x could also be found. However, since damping is very small and resonance frequencies are sufficiently spaced, the amplification factors of the sth modes with s 7# r are extremely small in comparison with the rth-mode amplification factor.] Figs. 4-6 show the value of ErX,; that is, the energy dissipated per cycle of three cables, multiplied by the third power of the wavelength, as a function of the antinode half-peak vibration amplitude. The cables were tested under different tensile loads and at various resonance frequencies. Table I gives the main cable parameters. It would appear that under these test conditions the energy dissipated per cycle can be considered independent of the frequency and of the cable tensile load, and can be expressed by

.0

0.0001

Fig. 5. EX3 of 46.53-meter span of 31.5-mm outer diameter ACSR.

1

L
0.1

01CUR0ES.T0ENS 30NFR
0.01

0.0001

I.. o,oo1

o,J1

- 1l 3 5000

415 2
cx

i l1N

og.-

1.

Fig. 6. EX' of 46.59-meter span of 56.25-mm outer diameter ACSR.

E,

Cunx,3

(22)

where u is the antinode half-peak vibration amplitude. It will be noted that only curves 8 and 9 of Fig. 5 do not fall in line with the other tests. This anomaly will be discussed later. It would also appear from these tests that the exponent n of the antinode halfpeak vibration amplitude is very close to 2. Although these test results did not give any information on the real damping forces acting on the system, which are the object of further investigations, (22) was sufficient to attempt a mathematical treatment of the damping effects.

Damping Function It is known [1 ] that the energy dissipated per cycle by a single degree of freedom system, having hysteretic damping and excited by a harmonic varying force, is expressed by

(23) u2hxr where u is the antinode half-peak amplitude and h the hysteretic damping coefficient. The damping forces of such a system are given by
E
=

(24)

CLAREN AND DIANA: MATHEMATICAL ANALYSIS OF TRANSMISSION LINE VIBRAT10N

TABLE I PARAMETERS OF CONDUCTORS TESTED
26.97 Overall diameter, mm Aluminum wire no. 54 Aluminum wire 3.00 diameter, mm Steel wire no. 7 Steel wire diameter, mm 3.00 Aluminum cross section, mm2 381 49.42 Steel cross section, mm2 Aluminum cross section/steel cross sec7.75 tion Ultimate tensile load, kg 11900 Weight, kg/m 1.460 a 0.15X010 1000 H, kg.m

1745

31.5 54
3.50 19

If we consider now curves 8 and 9 of Fig. 5, it can be seen that (30) is no more valid for these vibration frequencies. In fact the anomaly is somehow similar to the one found when we discussed resonance frequencies. This is again a field for further investigations: the problem is probably linked to the influence of terminal clamps on conductor deformation when the cable is vibrating at
2.68
1656.7 2(98.7

2.10 519.5 65.8

very low modes.

7.96 16570 1.981

1500

7.94
500(

0.12X.10-3 0.E 8X 1O-3

70(00

6.308

Forced Vibrations After having found a damping function that can represent analytically the damping effects on the cable, it became possible to obtain conductor displacement due to a harmonically varying exciting force by means of Lagrange's equations. The equation of motion may be set up as follows:
d AT T+ V + AD dt 3j3r (3Pr a P (31)

It can be seen that (23) is similar to (22) with n = 2. The only difference lies in the fact that there is a different damping coefficient for each vibration mode. Other tests performed on different span lengths have shown that the energy dissipated is directly proportional to the cable length; thus it is possible to assume a hysteretic damping coefficient for unit cable length. This hysteretic damping coefficient will therefore depend only on the cable structure and the vibration mode; that is, on the wavelength X. It is therefore possible to assume that the energy dissipated by the conductor, vibrating in the rth mode, is due to unit damping forces distributed along the conductor and expressed by dF
=

where lrr is the Lagrangian component of the exciting force. In order to compare computed displacements with those measured during an experimental test, we will assume a single localized exciting force. If we introduce (18), (20), and (27) into (31), we obtain 2 mlpr + 2r S(1 + ar2)pT + hr lPr = 7r.2 21
Assuming
rr
=

(32)

Hre

Pr

Pre

(33)

we obtain

hr pr(t) sin -

xdx.

(25)

Fml T?2r (1 21 = hr.r( +S21 2-Q22+ihrl r i r ,u + a)] Pr [If we assume

P

(34)

Since it was found that coupling terms of the damping function could be ignored, it was not surprising that the unit forces would then produce energy only for conductor displacements given by p,(t) sin (r7r/l)x; therefore, the energy dissipated when the conductor vibrates in the rth mode is given by
2dr = fB r p2(t) sin2
-

ar2 1 VS/rn N/I +

(35)

and remember (7), we can write

wOr
=

xdx.

(26)
If we assume
p )r=

Pr.

(36)
(37)

As a consequence of the orthogonal property of the principal modes, which is justified by the absence of coupling terms, it can be stated that the total energy dissipated during the conductor motion is the sum of the separate energies dissipated by each of the modes present; therefore, the damping energy or function of the cable can be expressed by
2D =

hrl2
S

and remembering that

2= = H -A

Eir

Pr2(t)l

(27)
we can again write
= p 8r

812

(38)

The energy dissipated per cycle by a cable vibrating in the rth mode is given by

Er

2U2.

(28)

I Hr 1 r Sir 21S 1 + aEr2

(39)

If we assume

If we compare (28) with (22), we obtain

H
=

7rl/2Xr3 = H C/(Xl/2) we have and, assuming hr = HXr-3.

hr =

(29)
(30)

8,r2Sl
1

(40)
(41)

we can write
P

r1 + ar2'

1746

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, DECEMBER 1969

Equation (34)

can

therefore be expressed as
1
E

21 S?r2-r2(l + aor2) (1
or

02/COr) 2 + ipr

(42)
a-

-1

Pr =Q Ml lIr
iN

(43)

E
ci
a-

-3
-r

where
Q=
M=
N =
21

-r

__I___I1 5

A XtX
1

1
-

W
1

Sir2r2(1 + aer2)

30 25 DISTANCE ALONG THE SPAN

35
meters

40

45

50

1-W7r2
Pr.

1-

vr/

Fig. 7. Deformation of 46.43-meter span of 27-mm outer diameter ACSR, 2250-kg tension, forced at 4.64 meter with 5 N, 116rad/s resonance frequency corresponding to fourteenth mode of
vibration.

If we consider a driving force f = Foeiut applied distance xi from left-hand termination:

on

the

span

at

E E
0
uJ

II,

Fo4D(xi)

Fo sin

xi.

(44)

2
z

If we introduce (44) into (43), we will obtain P, and therefore u(x,t), which will be expressed by the following equation, which can be used to compute conductor displacement at any point along the span:

LLI

J-i

u(x,t)

TrP7e Qt sin

x.

(45)

10

15 DISTANCE

20 25 30 ALONG THE -SPAN

35
-

40

45

50

meters

It is not necessary in the computation to introduce too great a number of terms into (45). In fact P, tends to be very small for values of r greater or smaller than the value corresponding to the frequency Q of the exciting force. In practice, sufficient accuracy is obtained when u(x,t) is computed considering all the vibration modes having wr 3Q. Figs. 7-9 show the deformation of one cable for two different resonance frequencies and one intermediate frequency. The continuous line in each case represents the computed displacement values, and the circles the displacements measured experimentally. It is quite significant that computed values were confirmed by experimental tests not only at resonance frequencies but also at intermediate frequencies with about 5-percent accuracy. Out of resonance, each mode contributes substantially to the cable deformation; therefore, we have assumed the validity of the damping function, and all its properties are confirmed.
Conclusion

Fig. 8. Defonnation of 46.43-meter span of 27-mm outer diameter ACSR, 2250-kg tension, forced at 4.64 meters with 5 N, 124.9rad/s resonance frequency corresponding to fifteenth mode of vibration.

E E
L

0.1

05 Id
0.2
025
0.05
-0 .1 0.2

A A1t 1
10
30 25 ls5 20 DISTANCE ALONG THE SPAN
-

uz O

0.15

0.2

0.3

35 meters

40

45

50

The knowledge of conductor response to any localized or distributed harmonic varying force is the first step toward further investigations in many fields. If the above analysis based on harmonically forced motion can be further developed for nonharmonic vibration, it could be possible to correlate wind speed measurements with simultaneously recorded conductor response in the field, and to compare wind tunnel investigations or models with those performed on real transmission line spans. Another field of investigation concerns the response of cables on which dampers have been installed. This problem is being analyzed and is discussed in Section II. A further field of investigation is the cable strand strains due to cable vibrations. It would certainly be of great interest to assess a correlation between these strains and conductor response, and between bending amplitude measurements with antinode dis-

Fig. 9. Deformation of 46.43-meter span of 27-mm outer diameter ACSR, 2250-kg tension, forced at 4.64 meters with 5 N, 120.8rad/s resonance frequency.

placement measurements. Some immediate practical use, however, can be achieved from the results of this paper. The wind tunnel investigations of conductor vibration [6] established that the maximum power gain from the wind for a conductor of any size vibrating at any frequency can be computed from an equation which, simplified, could be expressed
W2
=

CumD2f3l

(46)

where

half-peak antinode vibration amplitude D conductor diameter f frequency

u

span

length.

CLAREN AND DIANA: MATHEMATICAL ANALYSIS OF TRANSMISSlON LINE VIBRATION

.e w
IP.-

1747

Ia4

0 .d

Lii

t-L

(r)

:2
2
z LLJ O D
-il--

3
2
0

a.

(D z LM z w

1-

co

10

15

FREQUENCY Hz

Fig. 10. Amplitude versus frequency for single 2.4-in diameter ACSR. Curve A-values measured in field; curve B-computed values.

The exponential n of the vibration amplitude is very close to 2 for u < 0.04D and decreases slowly below 2 for u > 0.04D. According to (28) and (30), the power that can be dissipated by a cable vibrating at resonance in the rth mode is

List of Symbols D cable damping or dissipation function E energy dissipated per cycle by a cable E, cable Young's modulus F amplitude of harmonic applied force h, hysteretic damping coefficient of cable for rth vibration mode H hysteretic damping constanit of cable Jh second moment of area of cable cross section about its neutral axis 1 length of a taut cable m mass of cable unit length r vibration mode of taut cable S tensile load applied to cable T cable kinetic energy u lateral deflection of taut cable V cable potential energy x distance along cable X cable full-wave length C'r cable rth natural or resonance frequency, rad/s Q frequency of harmonic applied force, rad/s.
II. STOCKBRIDGE DAMPER ANALYSIS

Wr

-rHXV3l

(47)

If we ignore, in order to simplify the equations, the influence of the rigidity and assume (8) to represent the resonance frequencies of a cable, (47) can be written

Wr-

rIJu m1, 5S1, 51f4

2

(48)

fluence of frequency and tensile load is quite clear. If we compute the ratio D2/H for the cables listed in Table I, it will be seen how this ratio decreases with increasing conductor diameters. For cables having similar geometries, this fact could well explain why the frequency band where vibrations are likely to occur is shifted toward lower frequencies for large cables. On the basis of this assumption we have compared a few vibration measurements made in the field with computed displacement data. Fig. 10 shows one of these comparisons. The field measurements are those shown in Bonneville Report 900 for a 2.4-inch-diameter 4.072-keinil ACSR 120/19, on a 1083-foot span at 21.3 percent E.D.S. load at 60F. The computed nodal angles of bending [71, based on an assumed H = 8200, have been transformed geometrically in bending amplitudes, although this relationship is not strictly proved. Although nobody could expect to find perfect correlation between field measurements and computations based on laboratory tests and the Farquharson equation, above 7.5 Hz the two curves are close enough for practical use. Below 7.5 Hz, that is, for wavelengths greater than 15.44 meters, the discrepancy could be due to the real relationship between angles of bending and bending amplitude and to the very small amount of energies involved, which could enhance the influence of other sources of dissipation. The frequency beyond which severe vibrations will not occur is anyhow clearly assessed by the computed data, and this is valuable information when supplementary damping is required as will be shown in Section II.

A comparison of (46) and (48) can give a clear view of the influence of the various parameters on the maximum vibration amplitudes that can be expected on a line. In particular the in-

Introduction The method most commlonly used for preventing fatigue failures in cables, resulting from aeolian vibrations, is to absorb the mechanical energy that is transferred by the wind to the cable by means of suitable dynamic dampers. There are several dynamic dampers available and their efficiency has been essentially evaluated from field vibration measurements performed on stranded conductors on which the dampers were installed. These field vibration measurements can provide reliable information if they are performed during a length of time sufficient to cover all the possible wind conditions and the influence of temperature variations on the cable tensile load. Vibration measurements should be done simultaneously on a damped cable and on an undamped cable, installed under similar conditions, in order to evaluate the benefits arising from the use of the damper. Nevertheless, the data collected would be of no use in evaluating the influence of the damper location. However, vibration measurements performed on a single place along the cable, or even at the two extremities of a span, may be misleading in the absence of knowledge of the response of the whole system to the exciting forces. The possibility of computing the response of a cable with one or more dampers installed is exposed in Section III. The purpose of this section is to analyze the response of a damper to a harmonic displacement of its attachment clamp, since such information is essential for computing cable response. The analysis of a damper will furthermore illustrate the influence of the various damper parameters on its response. A Stockbridge damper with two degrees of freedom has been chosen for the study, because it is the type most commonly used.
Free Vibration Without Damping The Stockbridge damper conisists of two weights rigidly attached to the ends of a double cantilever of steel wire cable, which in turn is rigidly attached to the conductor cable by means of a clamp. If we assume the two halves of the damper opposite to the clamp to be identical, we can limit the study to a single

1748

IEEE TRANSACTIONS ON POWER APPARATUS AND

SYSTEMS,
t Xa

DECEMBER

1969

cantilever system. Because the mass of the steel wire cable is very small in respect to the mass of the weight, it can be ignored and the system can be considered to have two degrees of freedom. With reference to Figs. 11-13, if we assume that the damper cable is ideally elastic and uniform without any damping, the equations of free motion of the system are
-MTTa + GMOa

Ua

kxxxa + kxz,P(a = 0 -J0ap + GMXa - k('p(a + kspxXa = 0

-

~~~L

Fig. 11. Half Stockbridge damper.

(49)
1Ua
d

and O O' M

center of gravity of counterweight attachment point of cable to counterweight counterweight mass Ja moment of inertia of counterweight about point O' Jo moment of inertia of counterweight about point 0 L cable length G distance between 0 and 0' Xa vertical displacement of point O' (>a angular rotation of counterweight kxx force applied at O' along xa axis to obtain unit vertical displacement xa with 'pa = 0 applied to obtain unit vertical displacement xa torque kvx with 'p,, = 0 kxyp force applied at O' along xa axis to obtain unit rotation Sa with xa = 0 kv. torque applied to obtain unit rotation sp,a with xa = 0.

)Kpx
Kxx

Fig. 12. Force and torque arising from displacement xa = 1 and rotation 'pa = 0.
t Ua

K p x)K

Fig. 13. Force and torque arising from rotation P. = 1 and displacement 'P. = 0.

Although the steel wire cable cannot be considered a homogeneous beam, laboratory tests have proved that within a range of flexural deformations it is possible to assume a cable stiffness given by
k

t Xa
0

=3EmJm
L3

(50)

where

Fig. 14. Cantilever with mass concentrated at extremity.

Em cable Young's modulus Jm apparent second moment of area cross section of beam about its neutral axis.
Laboratory tests to be discussed later have proved the following relationships:

kx= 4k,

kxP =

2kL,

4 kL~ = kPX= 2kL, kSo=

(51)

If we assume that
Xa
=

Xeiwt

'pa -= DeS"t
then (49) yields
(1/3) L2M + Ja - LGM F

(52)

corresponds to a vertical displacement of the center of gravity of the weight with very small rotations, whereas the higher mode corresponds to the rotation of the damper weight about its center of gravity with almost no vertical displacements. It is therefore possible to achieve a good degree of accuracy in analyzing the damper, assuming it to be a cantilever with the mass concentrated in the center of gravity in the lower mode of vibration, and, in the second mode of vibration, a cantilever having at its extremity a disk that can only rotate around an axis passing through the center of gravity and having the same moment of inertia as the counterweight. With these assumptions the system with two degrees of freedom can be replaced by two systems with one degree of freedom. It is then simpler to consider the effect of damping and forced vibration.
(53)

+ Ja -LGM]2- (1/3)L2(MJa -G2M2) V/[(1/3)L2M MJa M2G2

-

Equation (53) gives the two natural frequencies of the system. It has been found experimentally that these two natural frequencies on Stockbridge dampers are such that the ratio W2/co1 lies between 3 and 5, and furthermore the lower mode of vibration

We will introduce in the equation hysteretic damping forces; that is, forces that are harmonic and in quadrature with the displacement, their magnitude being proportional to the displacement. The choice of this form of damping is discussed later.

CLAREN AND DIANA: MATHEMATICAL ANALYSIS OF TRANSMISSION LINE VIBRATION

1749
iUa

Lower Mode of Vibration With reference to Fig. 14, if we assume a harmonic displacemerit of the damper clamp Ua Ua sin Qt, the equation of forced motion of the system is
h M. + kx + x = Ua V/k2 + h2 sin (Qt + A)

(54)

Fig. 15. Cantilever with disk rotating at 0.

where to the notations previously made are added h hysteretic damping coefficient Ua vertical displacement of damper clamp x vertical displacement of point 0 tan : = h/k = ji dimensionless damping constant.
It is known [1 ] that the natural frequency of this single-degree system is given by

101= Vk/M.
The solution of (54) yields
x = X sin (Qt +
- l)

(55)
(56)

where
tan i, = 1 - a12

(57)

and
al=

10

-.

(58)
WI

The amplitude X of the harmonic displacement of point 0 is given by

X
-

Fig. 16. Pl/hcDiUa2 as function of Q/cwi and ,u.

UaV(1~_\ 2) 2 + IA2

The power dissipated by the damper therefore is PI

=

The force that such a simplified damper (both halves) would transmit to a supporting cable through its connecting clamp subjected to a displacement u,a = Ua sin Qt is

Ua2hwi {a1 [I +

(i- a12)2
-2
COS

Ful = 2Q2MUa
where we have assumed

-) aV2) 2A2sin (Q-t

(60)

-\A2 + (1-a,2)2 Fig. 16 shows the value of Pi/hcojUa2; that is, the term within the braces as a function of a, and ,u.

al

(63)

ai = 0 -*

0.

(61)

From all the equations mentioned, the influence of the damper parameters and of the exciting frequency on the response of the damper to the clamp displacement can be seen. With very small values of damping, the force will depend on the ratio 1/(1 - a12) and will become very high at resonance, whereas the phase lag between displacement ua and force Fu1 will be very close to 0 degrees below resonance, 90 degrees at resonance, and very close to 180 degrees above resonance. With increasing values of damping, the force response curve will tend to flatten down, and phase angles for frequencies below and above-resonance will tend toward 90 degrees. The energy dissipated per cycle in the damper is given by

Higher Mode of Vibration Laboratory tests have shown that within a range of flexural deformations the hysteretic damping coefficient can be expressed by
h n=L3

(64)

where C is a constant depending on the cable structure. It has furthermore been proved that the damping forces resulting from displacements and angular rotations have the same relations shown by (51) for cable stiffness, precisely: hxx= 4h, h VX= 2hL,

hx,

2hL, h

4hL2

(65)

Li = 2 fh (x I,) 2dt.
-

(62)

With reference to Fig. 15, if we assume a harmonic displacement of the damper ua = Ua sin Qt, the equation of forced mo-

1750

IEEE TRANSACTIONS ON POWER APPARATUS AND

SYSTEMS, DECEMBER 1969

tion of this system is

JOPa +

'up Pa + k(P(P
=

YPa

-VUa -a 2L 2L ick Irv 2+ h (PI 2 sin

(Qt + B)

(66)

where
tan [B
=

_s =

= ,u dimensionless damping constant.

14

XL 3

It is known [1 ] that the natural frequency of this single-degree system is given by C02 =

/Vkvl/Jo.

(67)
(68)
A

The solution of (66) yields 'P,a = 4 sin (Qt + A -2)

where
tan~2= -1-1
and
a2
=-.

a22

(69)
Fig. 17. P2/hco2Ua2 as function of U/wo2 and ,u.

(02

(70)

10

The amplitude O' is

of the harmonic rotation of the disk at point

2L

\/V2 +

(1 -a22)2

(71)
Er

The force that both halves of such a simplified damper would transmit to a supporting cable through its connecting clamp, subjected to a displacement u0, = Ua sin Qt, is

Qt

FU2

-2k Ua

V/I
3

+ ,u2 [4 -\/I +

sin (Qt

+ 13)
sin (Qt a2 + 3)
-

\/,v2

+ (1 -a22)2

(72)
1

where
a2 = t2
3.

20 FREQUENCY Hz

30

40

(73)

Fig. 18. Computed and measured values of power dissipated by damper as function of
frequency.

Here again the influence of damper parameters on the response can be seen. For example, if an increase of force is required with the same type of cable and without modification to the resonance frequency, the cable should be shortened as shown by (50) and JO increased as shown by (67). The energy dissipated per cycle in the damper is given by

282261

24-

COMPUTED FORCE X MEASURED FORCE '---COMPUTED PHASE ANGLE

.
MEASURED PHASE

'I

.r150, 1405
130'
120'

2222
cm

L2T=

rT

UaFd2dt

(74)

:cK

The power dissipated is therefore

P2
=

1i0 116 1 112 20_ 1In --

j6m9Ba~~~~~
ANGLE.-

70-

U)

a.

UahW2

{a2

[4-3
,\/g2

V/I
3
/A

+ +(1

cos

a2

-4-2-0-

a22)2
ina2.

+
braces

/1 + M2

(75)

0 10

20

30

40

50

60

70

80

90

105

110

120 130

140 150

160 170 180

V\W2 +

(1

a22)2

FREQUENCY

rad/5

Fig. 17 shows the value of P2/ha42Ua 2; that is, the term within
as a

function of a2 and IA.

Fig. 19. Computed and measured values of force and phase angle of damper as function of frequency.

CLAREN AND DIANA: MATHEMATICAL ANALYSIS OF TRANSMISSION LINE VIBRATION

1751

Damper with Two Degrees of Freedom The separate analysis of the two natural modes of vibration of a real damper gives the possibility of understanding easily the influence of the damper parameters and construction details on the response of each mode. The power absorbed by a real damper, computing separately the power absorbed by the two modes, is sufficiently close to reality as shown in Fig. 18. Sufficient accuracy, however, cannot be reached when it is necessary to compute the force transmitted by a real damper to a cable at frequencies considerably different from the two natural ones of the damper. With reference to the previous notations and figures, the equations of forced motion of a real damper are
ill.a + kxx.a + xxa-MG(Ja kP (pa

- k.xu +

Fig. 20. Connection to shaker on special device used to obtain harmonic rotation of cable end with no vertical displacement.
Ua

Jalpa k,PIa + h,

MGa

kPX a-

-kPz Ua hZua- (76)

-

It can be shown that the force transmitted by the damper to a cable when its clamp is subjected to a displacement ua = Ua sin Qt, ignoring the inertia force due to the clamp's own mass, can be expressed by

Ft
where

2MUaQ2

+ iB

(77)
Fig. 21. Connection to rigid structure on device used to obtain harmonic rotation of cable end with no vertical displacement.

A = - K.y2M'Q6 + y*(l + ,i2)K.,c + (1 - I2)e]M2Q4- e(l + ,u2)(c + yKX.)MQ2 + (1 + M2)2e2 B = -MpjQ2[KzXy2M2&24 - 2eyMJ22 + e(l + M2)(C - Kx.-y)] C = y2M-E8 2'yM'cQ' + [(1 + p2)c2 + (1- j2)2ey]M2U4 - 2ec(1 + )A2)MU2 + (1 + M)2e2
ly
c
e
=

Ja J.-

G2

kxx
-

Kxx

=
=

Kxx(l + y) + Ks,,.
Kf-

2KoX, kx,/G

Kxf

KXXKPx2,

k,/G2 = K,.

Fig. 19 shows the computed force- and phase-response curves of one damper, and the measured experimental values. The accuracy of (77) is very high if we consider the nonlinearity of the cable stiffness and damping, as will be explained further on. This equation gives the possibility of computing forces, phase angles, and power of any Stockbridge-type damper when all its basic parameters are known; furthermore, it provides the possibility of computing the response of a cable under tension, with one or more dampers applied to it, to any harmonic exciting force, as will be shown in Section III.
Experimental Tests The mathematical treatment given here was based on the results of experimental tests performed in the Salvi Vibration Research Laboratory, Milan, Italy. The instruments used are the

usual required for vibration research; that is, an electromagnetic shaker giving sinusoidal displacement with virtually no harmonics down to 5 Hz, inductive displacement pickups for accurate measurements, crystal-type accelerometers for monitoring disturbing induced vibrations on particular structures,and straingauge dynamometers. Signals were either recorded on an oscillograph or visualized on a dual-beam oscilloscope. A special device shown in Figs. 20 and 21 was designed to simulate the higher mode of damper vibration. With this device the motion of the shaker mass is transformed into a rotation of one end of the cable, the other end being clamped to a rigid structure. Suitable ball bearings were used to minimize the system losses, which were of the order of the instrument's noise level. The use of aluminum alloy for the moving components reduced the influence of forces due to the kinetic energy of the masses involved. For high frequencies, however, these forces were measured and taken care of in the analysis of the data recorded. With this device the parameters k,, and h9f were measured. Natural Frequencies: The influence of the damper components on the two natural resonance frequencies, given by (53) as well as the relationship between cable stiffness and cable length given by (50) and (51) were checked by means of several special dampers shown in Fig. 22. On these dampers, cable length, masses, moment of inertia, and the center of gravity could be modified as requested. Within a range of flexural deformations of the cable, the validity of (50), (51), and (53) was proved beyond doubt. However, it was obvious that cable stiffness was not

1752

IEEE TRANSACTIONS ON POWER

APPARATUS

AND

SYSTEMS,

DECEMBER

1969

Fig. 22. Special test damper.

linear and was affected by the degree of cable deformation; with 19-strand steel cables, this effect was considerable. Stiffness and Damping Coefficient: The first method for measuring cable stiffness and damping coefficient was based on direct measurements of force, displacement, and phase angle as done previously by other laboratories [2]. In order to minimize the effect of strand friction, stiffness measurements were made superimposing high-frequency low-amplitude vibrations on the static deflection. After cable stiffness had been assessed attempts were made to assess damping forces by means of vector diagrams. If all the forces could be considered harmonic and if the resulting force was measured together with its phase angle with respect to the displacement vector, then this resulting force should close a vector diagram composed of the elastic force in phase with displacement and the damping force at 90 degrees with displacement. This method proved to be unreliable for two main reasons: in the first place, stiffness measurements as previously described were still affected by too great an error; second, phase-angle measurements thus could not be done with the required accuracy. Nevertheless, when tests were performed with considerable cable deformation, the resulting force was far from being harmonic and vector diagrams therefore made no more sense. It was then decided to investigate the hysteresis loops that would be obtained by connecting the displacement signal to one axis of an oscilloscope and the force signal to the other axis. Hysteresis loops were recorded for several cables, changing cable lengths, cable deformation, that is, the torque applied to the cable extremity, and frequency. Fig. 23 shows four hysteresis loops obtained at 16 Hz on a 19-strand cable with four different values of torque. The elaboration of the data collected gave the following results. 1) The energy dissipated per cycle is almost independent of frequency. All other conditions being equal, a slightly greater dissipation can be found at low frequencies. This might be the result of a variation of the friction coefficient as a function of the frequency. 2) The energy dissipated per cycle is not proportional to the square of the rotation (or displacement) of the end of the cable as it would have been in the case of hysteretic damping (E = h,P,427r or E = hx27r) [1], nor directly proportional to rotation (or displacement) as it would have been in the case of Coulomb damping. The energy dissipated lies in between the two theoretical curves as shown in Fig. 24. The relations shown by (65) are, however, correct.

Fig. 23. Hysteresis loops obtained at 16 Hz on 19-strand cable with four different values of shaker vibration amplitude.

20

COULOMBIAN

YTEI

VIBRATION AMPLITUDE mm

Fig. 24. Energy dissipated per cycle as function of amplitude of 19-strand cable in Fig. 23.
3) The correct values of cable stiffness can be taken from the hysteresis loops by tracing from the center of the x,y axis the parallel to the two central lines of the hysteresis loop. The stiffness decreases with increasing amplitude of rotation (or displacement) and tends to a constant. An interesting profit, however, can be made of cable stiffness nonlinearity. As a result of a decrease in stiffness, with increasing cable deformation due to increased vibration amplitudes the resonance frequencies of the damper will move toward lower frequencies. If the frequency at which the damper is excited is below the lower resonance, then such a resonance frequency shift will increase the damper response and at least partially compensatoK the causes of increased vibration amplitude.

CLAREN AND DIANA:

MATHEMATICAL

ANALYSIS OF TRANSMISSION LINE

VIBRATION

1753

Conclusions The hysteresis loop test method we have described gives the possibility of accurate measurements of cable stiffness and of the energy dissipated per cycle. Although the real dampinig forces are not known and are worth further investigations, a mathematical assumption of hysteretic damping leads to analytical results sufficiently close to reality for practical use as shown in Figs. 18 and 19. It is of course necessary in the choice of the linearized cable stiffness and damping coefficient to use the values obtained from cable deformation tests not too different from those that will occur on the real damper under normal working conditions. This condition is more easily fulfilled when cables showing substantial damping are chosen as required in order to obtain the best efficiency. The analysis of the damper response described gives all the necessary information for the evaluation of its efficiency. (See Section IV.)
III. TRANSVERSE VIBRATION OF STRANDED CABLES WITH DAMPERS Introduction The response of taut stranded cables to harmonic exciting forces and the response of Stockbridge dampers to harmonic displacement of their attachment clamp have been analyzed in Sections I and II. This section deals with the response of systems composed of a taut cable on which one or more Stockbridge dampers have been installed. It shows the mathematical treatment of the problem and compares computed cable deformations with measured experimental values. The validity of this method has led to extensive computer work on the optimization of dampers. The results of this work are shown in Section IV.

and
co

Ua

[Fo(xo) + Fa(Xa)]Q

iN ~~~M 2
-

+N

r(a) (80)

where Ua, in general, is a complex number for Fo, which is assumed to be real. Referring to (77) and considering also the effect of the damper clamp mass M12 the force transmitted by the damper is given by

Fa=2Maj2
where

Ua + M2o&2Ua =

(81) Bz A+iBU C

A'= A

+2 C
2Ma (82)

Bz

2MaQ2.(

If we introduce (81) into (80), we obtain

Ua

,r

[FOtr(Xo)

+ Bz A'IF iB

Uatr(Xa)]
Q
M
-

iN +N

(Xa) (83)

which gives the damper clamp displacement in complex form. The displacement of any point along the cable is given by
-iN U(x) = ,r [Fot>r(xo) + Fa4'r(xa)]Q~~M al A 4'r(x). (84)
co

Damper as Exciting Force It has been shown how (45) can be ~used to compute the displacement at any point along the span of a cable forced to vibrate by a harmonic force. It has also been shown how (77) gives the force transmitted by the damper to a cable when its clamp is subjected to a harmonic displacement. We will now consider a taut cable excited by a driving force fo applied at point xo along the cable, and a damper force fa applied at point x,. [Although only one driving force is assumed here, in order to reproduce more easily the case in a laboratory, the method can be extended to any number of localized or distributed driving forces.] The damper force f,, is a function of cable displacement u0 at point xa along the cable where the damper is placed. It is therefore necessary to assess first the equation of such a displacement, and then the general function u(x,t). The Lagrangian component (see Section I) H, of the forces, for the rth vibration mode, will in this case be
Hr
where
4'7(xo)
'r
=
=

For computer work it is preferable to express the complex numbers with their real and imaginary parts:

Ua
U(X)

UaRe + iUarm
URe(X) + iUIm(X)

Fa
If we assume
z1
=

FaRe + iFaIm.
~ ~ A

(85)

Zr4)r(Xo)tr(Xa)Q MI + N2

co~

Z2
Z3
Z4

Ert)r(xo)t?r(xa)Q
Zr4r2(Xa)Q

Er'r2(Xa)Q

co

Hor

Har

Fobr(Xo) + FA0r(Xa)

(78)

Z5= Bz

A'Z3 C + BZ4 _ 1
BZ,3-A'Z4
C CZ
M

sin

r-rx
.

Z6 = Bz
Z7
=

(X a)

Er4r(X)W)r(xO)FoQ M2 + N2
Zrto(x)(xo)FoQ
c

co-

= sin

Referring to (43)-(45),
,ua(Xa,t)
=

Uaett =

ErPr1br(Xa)e

(79)

Z9 i=

ErZr(X)r(Xa)FaQ

M +

1754

IEEE TRANSACTIONS ON POWER APPARATUS AND

SYSTEMS, DECEMBER 1969

X2

Zio

FajImN Err(X)r(Xa)Q ~~FaRneM M2 + A2

00

xi

Zl= ZErr(X)r(Xa)Q
1

- FaRneN ~~FaImMi +

M2

N2

(86)

13- o

-X

it can be shown that

U0R. = Fo

Fig. 25. Taut cable with one damper.

-Z1Z5++ Z2z6
Z52

Z62

Ualm
and

Fo ZlZ6 + Z2Z5 Z52 + Z62

(A'UaRe - BUaIm)

(87)

FaRe =
Farm =
and
URe(X)

(A'Uaim + BUaRe)
Z7 + Z1o

(88)

(89) UIm(X) = zl- Z8. The absolute values of Ua, Fa, and U(x), and their phase relations in respect to Fo, which has been assumed to be real, can Principal Modes easily be obtained from the above equations. The power abIt was seen in Section I that cable flexural rigidity does not sorbed by the damper is greatly affect the response of a taut cable. In this particular case,
W
a

whole frequency band would take up considerable computer operation time. It was seen in Section I how, on a cable without external damping, the maximum vibration amplitudes will occur at resonance frequencies; that is, at frequencies corresponding to the principal vibration modes. Maximum vibration amplitudes will also occur at the resonance frequencies of a system composed of a taut cable and one or more dampers. These resonance frequencies are obviously different from those of the taut cable only. It is therefore necessary to develop an analytical method from which the resonance frequencies of this system will be obtained. Following the method used in Section I, we will assess the principal vibration modes of the system; we will then introduce the principal coordinates and express kinetic, potential, and dissipated energies as functions of these coordinates and obtain cable displacement due to a harmonically varying exciting force by means of Lagrange's equations.

FaUaQ2 sin 8a

(90)

where 8a is the phase angle between Fa and Ua. It can be shown that

in order to simplify the analysis, we will consider the system shown in Fig. 25, assuming the cable to have no flexural rigidity nor damping, and assuming it to be subjected to a constant tension along the span. The equation of motion for subspans P-0 and N-O are

VV

Bz B 20C

Ua2Q

(91)

,3X2

= m

at2

(95)

The power transferred to the cable by the driving force is

_ FoUog sin 60 2

(92)

where 80 is the phase angle between Fo and UO. It can be shown that
Wo
= -

where, as usual S cable tension m cable mass per unit length u(x,t) cable displacement along span. It is known that a solution of (95) is given by

u(x,t)

FoQ U0im FoUi

2

(93) (94)

The power absorbed by the cable will therefore be Wc = Wo Wa.

-

Damper as Part of Dynamic System Equation (84) gives the displacement of any point along the span of a cable with a Stockbridge-type damper forced to vibrate by a harmonic force. For practical use, it is necessary to know, for a given force, the maximum vibration amplitudes that can occur in the frequency band usually found on a transmission line. Such information cannot be obtained by just varying in a digital computer the frequency Q of the exciting force, because the frequency can be increased only by steps, and there is a possibility that maximum vibration amplitude would occur at a frequency comprised within the value of the increment. The reduction of the frequency step increments to very small values for the

cos (cot + <p) (A cos coVm/S x + B sin woVn/S x). (96) We will use index 1 for the parameters concerning subspan P-0 and index 2 for those concerning subspan N-O. If we assume u, = Oforxi = 0, U2 =Oforx2 = 0 (97)
=

(96) becomes

Ul,2(Xl,2,t)

Cos (wt +

4o)B, 2 sin wco/'m/S Xi 2.

=

(98)

It is obvious that

ul(yl,t)
and therefore

U2(12,t)

(99)
(100)

B, sin wc/m/S 1, = B2 sin co/m/S 12.

Furthermore, at point 0 the force fa transmitted by the damper to the cable must be balanced by the reaction of the cable.

CLAREN AND DIANA: MATHEMATICAL ANALYSTS OF TRANSMISSION LINE VIBRATION

1755

Therefore
u\

where now
f

-)

=)

(d)u2
+

(101)

c17(xi)
Hr

= sin co,Vr/m/S xi

and therefore

)r(X2) = Hr sin WrVrn/S X2

=

S(B1coVm/S cos wrn/mS 11 + B2wVrn/S COS c/rn/S 12) = Fa. (102)

It was seen in Section II that the force transmitted by the Stockbridge damper, ignoring the damping component, is

B72 Brl

(110)

Fa + Ua

4 + C2oI2) (BA

The amplitude of vibration in the rth mode Uar of point 0 of attachment of the damper to the cable can be obtained from (110) assuming xi = 1i or X2 = 12. The displacement of point 0 can therefore be expressed by
Ua
=

(103)

Equation (102) therefore becomes

ErUarpr(t). 1

co

(111)

S(BicoVrn/S cos cVr/S 11 + B2co\/Vr/S cos co-/r/S 12)

= B1 sin

W2M2) coVr/m/S 11 (B2 C+

(104)

If we consider now the system composed of (100) and (104), it can be seen that, besides the obvious solution B2 = B2 = 0, any other solution of the system requires that

ScoV/WS sin wV/m/S 1 - sin co/m/S 1

sin coA,rnS 12

In Section II we saw the relation between the absolute value of clamp displacement Ua, the absolute values of vertical displacement X of the Stockbridge damper attachment point of the cable to the counterweight, and the absolute values 'I' of angular rotation of counterweight. If we call X, and Fb, the absolute values of displacement and angular rotations of counterweight that will occur for unit magnitude of distortion in the rth mode of subspan N-0, then t
c

Xa

=ErXrPr (t)
co

* (Bz C + C02M2) = O (105) this being the matrix of the system. Equation (105) will be satisfied for infinite values of co, which are precisely the resonance frequencies w, of the system. Although a discussion of the methods used to solve (105) would not be pertinent, it can be said that accurate solutions are obtained with a numerical computer by the interpolation method.

f a=

Abrpr(t).

(112)

Kinetic Energy
The kinetic energy T of the whole system can now be expressed with the principal coordinates. If we assume TC cable kinetic energy Ta Stockbridge damper kinetic energy TM Stockbridge damper attachment clamp kinetic energy then T = TC + Ta + TM. (113) The kinetic energy of the cable is given by

Principal Coordinates For each value of co the system composed of (100) and (104) yields one set of values of B71 and B72. It can be shown that for a static deflection in the rth mode, the deformation of the two subspans P-O and N-O is given by

-Iir(xi) = Br, sin cornOW/S Xi

47(x2) = Br2 sin c,Vrn@/S X2.
During vibrations with frequency cw in this principal mod deformations are

(106)

Tc

2 f Mr2dx

l r1

2 f m [Err(xl,2)Pr(t) dX1,2. (114)

-O
co

u,(xi,t)
ur(x2,t)

=
=

B,1 sin X7rn/S XsSin (w,t + /3)

B12 sin w,-\rn/S X2 sin (,Wt + 3r)-

For the orthogonal property of the principal vibration modes of infinite freedom in undamped systems (see Section I), the total kinetic energy T, during a motion is simply the sum of the separate energies T, due to each of the modes present. The kinetic energy T, of the rth mode is given by

If we select a principal coordinate pr(t), the value of whic specify the magnitude of deformation in the rth mode of span N-0, then (107) can be written

2)dxl 2. Ter = 2 r -r2(t)r2(x)

o

(115)

u7(xl,t)
ur(x2,t)
or

p(t) sin c,\Vrn/S xl

pr(t)

Brl
=

sin cor

Vr//S X2

(108)

If we introduce (110), the integral over the whole span length gives [ 1 VS/r 1 T 4- Z77() +H21 2cor
.sin 2c

-\/Vm/S 11 + Hr2 sin 2CorVAm/S 12)].

(116)

Ur(xl,t)
ur(x2,t)

Pr(t)4)r(Xl)
P((t)br(X2)

(109)

The kinetic energy of the Stockbridge damper is given by Ta = M(a - G a)2 + Ja'Pa2 (117)

1756

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, DECEMBER 1969

where (as in Section II)

xa - Gsoa displacement of counterweight center of gravity M counterweight mass distance between center of gravity of counterG weight and its attachment point to steel cable (assumed positive when center of gravity is located between damper clamp and attachment point of counterweight) moment of inertia of counterweight about center Ja of gravity.

The potential energy of the cable is dx. The potential energy of the cable's rth vibration mode is expressed by
=

2c

(8

(127)

2,0 (O 9dX2,2. Introducing (110), the integral over the whole span length gives
= V 1r 4SPr F11 + Hr212 + 2- VS/rm (sin 2corVrn/S 1i

(128)

For the orthogonal property of the principal vibration modes, we can write

Ta

ZrTar
1

co

(118)

+ H72 sin 2cw

For the orthogonal property, we can write
r Vcr. E 1

rn/S 12)

(129)

where Tar is the kinetic energy of the damper for the rth vibration mode of the cable; that is, for a displacement of the damper attachment point to the cable expressed by

VC

(130)

Ur(li,t) = Pr sin cx\/'r/S 1l.

e -MDoWr 2

(119)

The potential energy of the Stockbridge damper, with reference to the notation of Section II, is given by

With reference to the notations of Section II, we can write

a yM2W,4- MCrc + e

Va = kxx(xa - a) 2

2klpx(Xa - Ua>a a+ kP0Sa2. (131)

Pr\sn TnImS 1,
P sin

(120)

and soar = and therefore

Tar = 1

The potential energy of the damper for the cable's rth vibration mode is expressed by \2 ( e - MDow,2 - 1) Var = Pr2 sin2 OrVrm/S 11 {kxx

G[yM2r4 - Mwr2C + e]

MCOr2TO

-yMI2,4 -Mwcr2c +

wrVrnM/S li (121)

2k0x (+

G[-yM2'wr4-4-Mwr2C + e])
2

[e - MDOCro2 + MCr2To\2 yL yM2Cr4- Mcor2c + e /

(

MCOrTo

>2

Ja ] . 2

(e - MDocor2 - 1) *yM2wCr4 -lwr2C+e + k (MTOwr2

and therefore
co

^vrM2cor4 - MC)2c + eJ MG2]

\P( G[,yM'cwr4- Mw,2c + e]

Va =--

(132)

write

(122) rx\/m/S 11. For the kinetic energy of the damper attachment clamp we can
* sin2

ErVar,

(133)

TM= 21a(lI,t) 2

(123)

and

TM = ZrTMr
1

(124)

where sin2 (OrVr/l.(15 Tr Tmr M2Pr2(t) 2

(125)

Potential Energy The potential energy V of the whole system is given by

V
where
=

Vc + Va

(126)

V, cable potential energy Va Stockbridge damper potential energy.

Dissipated Energies It was seen in Section I that the cable damping function could be assumed to contain no coupling terms and therefore that the orthogonal property of the principal vibration modes could also be extended to the energy dissipated by the cable. In other words, it was possible to assume that the total energy dissipated during cable motion is the sum of the separate energies dissipated by each of the modes present. For a system composed of a taut cable and dampers, such an assumption could not be accepted without suitable tests. Numerous decay tests were therefore performed on various cables with dampers installed, and it was found that if the cables were forced to vibrate at the resonance frequencies of the composite system, and the driving force were disconnected, the frequency of the free vibrations and the cable deformation remained unchanged while, of course, the amplitude decayed at a much faster rate. On the basis of these tests, it was decided to extend the orthogonal property of the damping function to this composite system also. As will be mentioned later on, the validity of this assumption was confirmed when the cable deformation measured during experimental tests was compared with the deformation

CLAREN AND DIANA: MATHEMATICAL ANALYSIS OF TRANSMISSION LINE VIBRATION

1757

computed with this method and with the method described pre- (140) can be written viously, which considered the damper an exciting force and therefore did not ignore possible coupling terms. The total power (142) + prkr* = 7r, Prmr* + Pr dissipated by the composite system D can be expressed by D = Dc + Da (134) where 7rr is the Lagrangian component of the exciting force. Assuming where (143) Pr = P7e 2t ITrr = fIret DC power dissipated by cable we obtain Da power dissipated by damper. - Mr*Q2 - jhr* For the orthogonal property pr r Hr kr* (144) + hr*2'
D= ZrDcr
1
co

(* kr

mr*Q2)2

(135)

And assuming again

(kr*
-

where
F 1 hr 1 + Hr2l2 - -VS/m (sin 2c,r Vm/S 11 I11 02wr Dcr = - Pr2 L

kr* - mr*Q2 mr*Q2)2 + hr*2

Im= we can write

+ HJ2 sin 2Wr V\m/S 12)] (136)

is the power dissipated by the cable when it vibrates in the rth mode. The power dissipated by the Stockbridge damper (see Section IL) is given by 1 a a)2 - h (xa - aa)Oa + h,p Oa2]. (137) Da = [h xx(taFor the orthogonal property
00

(kr* -mr*r72)2 + hr*2

=

hr*

(145)

Pr

llr(Re - iIm).

(146)

If we consider a driving force F = Foeif applied on the span at distance xo from the left-hand termination, then
Ilr
=

Fo(br (Xo)

(147)

If we introduce (147) into (146), we will obtain Pr and therefore will have

Da- ErDar
1

(138)

U(x)

(Re - iIm). ErIr(x)FoI'r(xo) 1

co

(148)

and therefore referring to (112),

/

The real and imaginary parts of U(x) will therefore be

e-MDowr
(cyM2Wr4
-

M,r2C + e

URe =
Ui.
=

Er41r(x)Fo'Ir(xo)Re 1
CO

co

oh

\ ~~~MTocor2 w vfx < G[,yM2COr4 MWr2C + el -MDocor2 1)I yMI2Cr4 MWr2C + e 2 h( MToOr2 / _
-

Erbr(x)Fo4'r(Xo)Im.
1

(149)

h". kGh/yM2Wr4

The absolute values of displacements and their phase relations with the exciting force Fo, which has been assumed to be real, can easily be obtained from the above equations.
(139)

Mccr2C +

e]

Forced Vibrations It is now possible to compute cable displacement due to any harmonic exciting force by means of Lagrange's equations. In order to compare computed displacements with those measured during an experimental test, we will assume a single localized exciting force. The equation of motion, as usual, is set up as d aT dV dD dt OPr OPr OPr
If we
assume
*

mr

=JPr2

2(Tcr +

Tar +

TMr)

hr*

2(Dcr + Dar)

r*

2(Vcr + Var)
Pr2

(141)

Experimental Tests Equations (89) and (149), which are the results of two different methods of analysis, give the displacement of any point along the span of a taut cable with a Stockbridge damper forced to vibrate by a localized harmonic exciting force. Cable displacements computed with both methods have been compared and checked with the displacements measured during the experimental tests. The methods wherein the damper was considered 1) an exciting force and 2) part of the dynamic system will be called the first and second methods, respectively. Fig. 26 shows some typical distortion diagrams: the continuous line represents cable displacement computed with the second method; the crosses show the values obtained with the first method; the small circles represent experimental measurements. After having performed many displacement computations and tests with different cables and dampers at various cable tensile loads and vibration frequencies, it was found that 1) there was almost no difference between the displacement values obtained with the two methods;

1758
08---

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, DECEMBER

1969

~~~~~~~~~~~~~w= 38,84

having a 90-degree phase shift, in respect to the antinode displacecorresponding to the exciting frequency is nil. The same conclusions can also be drawn for the cable deformation on subspan P-O. If there were no damping in the system, at resonance, deformations would be perfectly sinusoidal on both subspans and the ratio between antinode displacements on subspan N-O and antinode displacements on subspan P-O would be Hr. Reverting now to the comparison between computed and experimental values, some tests showed a difference of about 30 percent between computed and measured values. It was easily
ment vector, at the nodes where the contribution of the mode

+
02-

/5

0,40,40, a,

1Nw=1,
_S

0,4j

0,8

12

16

20

0o_
0 8

0--

found that such results were obtained when dampers having 19strand steel cables were used. As mentioned in Section II, these cables show a substantial nonlinearity that could not be intro24 28 32 36 40 44 48 Xm duced in the damper transfer function. The effect of such a non(a) linearity was particularly felt and resulted in the mentioned 30percent difference between computed and measured displacements when the exciting force frequency was very close to the (64 ~ ~~~~~~~~~~~~~~~~~~ ~~ ~ 54 69,W] damper resonance frequencies. Although a 30-percent error might seem rather high, it must be considered that it affects computed vibration amplitudes which are, in the 60-meter test span, 20-40 times smaller than those that are obtained with the same exciting force and frequency on the same cable without the damper. From a practical point of view, for example in the evaluation 2 8 32 3 0 4 8J of the reduction of vibration amplitudes on a transmission line resulting from the use of one or more dampers, such an error would not even be noticed.
-

FORCE
0 4
8

12

16

20

24

28

32

36

40

I *DAMPER 44 48 Xm

Fig. 26. Cable deformation of 44.7-mete: r span of 56.25-mm outer diameter ACSR; m = 0.652 kg s2. m-2, S = 10400kg,F = lkgat 4.43 m. Damper applied at 44.7 mete,rs. Damper parameters: M = 0.780kg.s2.m-17Ja = 0.231 X 10- I kg-m-.s2,G= - 0.36 X 10 1 m, kpp = 304 kg * m * rad'-, hpp = 2 I,* --Fn L = 0.29m.
-

(b)

Two Dampers The analysis that has been presented can be used for a system AWX A A _1 /' : C;A=1 0d7\ taut composecd ot one cable ancd two cdampers (v lg. 2Y). For each subspan 1l, 12, and 13, the equations of motion are the same as (95) and (96), where x is replaced by x1, X2, and X3; u(x,t) is replaced by ul(xi,t), u2(x2,t), and u3(x3,t); and A and B are replaced by A1 and B1, A2 and B2, and A3 and B3. If we impose
-r__

--

...

. "-

2) the difference between computed displaceinents and measured ones was never greater than 10 percent, except under some particular circumstances, to be mentioned later. An analysis of all the distortion diagrams obtained showed that cable distortion on subspan N-O could be considered essentially sinusoidal with wavelength antinode displacements having nearly constant values with usual internal damping or slightly decreasing values (from N to 0) with greater internal damping. It was also found that displacements decreased periodically to minimum values at points we will still call "nodes" but that, at nodes, displacement vectors had almost a 90-degree phase shift in respect to antinode displacement vectors. The nodal displacements of considerable value, if compared with the extremely small displacements mentioned in Section I for a taut cable without external damping (for a 60meter span), are justified by the substantial increase of the system damping due to the presence of the Stockbridge damper. As mentioned in Section I, an increase of damping results in a more important contribution, in the summation giving a cable displacement, of the vibration modes slightly higher or lower than the one corresponding to the exciting force frequency. Because these modes are excited at a frequency lower or higher than their own natural one, the response will result in a displacement vector

ul(x1,t) = 0 for xi = 0, U3(X3,t) = 0 for x3 = 0 we obtain A1 = A3 = 0. Furthermore, for x1 = 1, and X2 = 0 we have

(150)

UI(Xl,t)
S (-

U2(X2,t)
49X2 o
U3(xS,t)
(
=

8X 2

-S

Fal.

(151)

ForX2

12 andX3 = 13we have

U2(x2,t)
(
=

_) 12 aIX2

X3

13

Fa2

(152)

where Fai and Fa2 are the forces, transmitted from the two dampers to the cable, which can be obtained from (103). If we make the matrix of the system composed of (151) and (152) equal to 0, we obtain infinite values of co which are the resonance frequencies co, of the system, and for each value of w, we will obtain one set of values A2,, B17, B27, B37. If we follow the same method described for a system having only one damper, after having chosen the principal coordinate it is possible to express the kinetic, potential, and dissipated energy functions and to compute the displacement of any point of the conductor along the span by means of the Lagrange equation.

CLAREN AND DIANA: MATHEMATICAL ANALYSJS OF TRANSMISSION LINE VIBRATION

1759

+3

C.Cable Displacement and Vibration Amplitude

As previously mentioned, a computer can be used to determine the maximum cable displacement at any point along the span. It has been seen 1) that, with the usual damping that can be 12 found in taut cables, the antinode vibration amplitudes decrease slightly from the exciting force application point toward the Fig. 27. Taut cable with two dgampers. damper application point, and 2) that cable maximum displacement can be considered a sinusoidal function along the span with the exception of nodes, where the vibration amplitude vector is different from 0 and has about a 90-degree phase angle in respect l: \ , 5 lto the antinode amplitude vector. The effect of the damper is the reduction of antinode vibration 7 It amplitudes along the span. For a given set of parameters (cable a size, span, cable tension, exciting force, force application point, 12 is theret -3 2 2 1-2 a-1 - ,damper attachment point, and resonance frequency) it from the fore possible to evaluate the efficiency of the damper FORCE antinode vibration amplitude on a given span wavelength. f*DAMPER The antinode vibration amplitude which will, as explained, be 36 36 40O - 44 4 DAMPER 4 8 Xm considered in order to evaluate the damper efficiency, was asFig. 28. Cable deformation of 46.7-meter spa an of 26.97-mm outer sumed to occur on the first half-wavelength after the one contain0.150 kg-s2.m-2, diameter ACSR; m damper applied at 2 meters, second at 44L.7 meters. Damper ing the damper, toward the force attachment point. This vibraparameters: M = 0.139 kg. S2 -*m-1, Ja = 0..528 X 10-3 kg *m s2, tion amplitude will hereafter be called the reference vibration G = 0.021 m, kpp = 3.2 kg-m-rad-1, hpp = 1.2 amplitude. Another vibration amplitude which will have cony = 0.375, L = 0.l lO m. siderable importance in the system response, is the one occurring at the damper attachment point; it will hereafter be called Fig. 28 shows both the computed deformation of a cable with damper vibration amplitude. two dampers, forced to vibrate by a localized sinusoidal force and he computed deformation of the same cable excited by the Parameters same force having only one damper. Because the number of parameters involved was considerable it was decided, as a first approach, to choose a set of fixed paramConclusion eters that would be as close as possible to the physical conditions This section has shown that it is possible to compute with the existing on transmission lines (cable size, tension, frequency band, required accuracy the deformation of a taut cable with one or and damper attachment point) and that would allow, if required, experimental measurements (span length, force intensity more dampers subjected to one or more localized or distributed exciting harmonic forces. It is easily understandable how the and application point, and type of damper). The half-peak value of the sinusoidal exciting force was asLagrange equation can be modified to consider several localized or sumed for all computations to be 1 kg, and the force application distributed forces. Together with Section I, which concerns cables without exter- point was assumed for most computations at 4.3 meters from nal dampers, it gives an analytical investigation tool that can re- one extremity of the span. The damper attachment point was generally assumed in such a place laboratory tests for further research work. In particular, when the influence of several parameters has to be assessed and a way that it would, for all the frequencies involved, fall on the great number of vibration conditions are to be considered, labora- first wavelength at the extremity of the span, opposite the excittory tests could not even be projected because of the time they ing force. Other parameter values are shown in the captions of the figures. Particular sets of parameters were assumed later would require. A particular application of this method is given in Section IV, when closer investigation of some phenomena was required. which shows the results of a large computer program concerning Reference Vibration Amplitudes Compared to the optimization of Stockbridge dampers. Damper Response IV. EFFICIENCY OF DAMPERS ON TAUT CABLES Fig. 29 shows four typical maximum displacement curves of a Introduction taut cable with a Stockbridge damper. From a great number of In Sections I-III, the response to harmonic exciting forces of these curves, the reference vibration amplitudes were measured taut cables, without and with external dampers, has been and displayed on a diagram as a function of resonance frequency. Fig. 30(a) compares the reference vibration amplitudes and analyzed. Since experimental tests proved the validity and accuracy of the mathematical method used to compute cable dis- the resonance frequency resulting from the application of three placement, it was possible to investigate the influence of damper Stockbridge dampers A, B, and C at 44.7 meters, on a 46.7-meter parameters on damper efficiency by means of a large computer span of a 56.25-mm OD cable. All the dampers have the same program. parameters with the exception of the damping constants ,u, which The results of this work are discussed here. It would have are 0.158, 0.316, and 0.632, respectively. Fig. 30(b) shows the force response of the three Stockbridge been impossible to achieve the same results-that is, the amount of data obtained-with experimental tests because of the time dampers for 1-mm half-peak vibration amplitude, and Fig. 30(c) that would have been required to perform these tests and the shows the phase response curve of the three dampers. (The inevitable measuring errors that would have occurred during damper force response per unit [1 mm] clamp displacement F will be called force response hereafter.) such a large-scale research program.
t

I 11

ONE

DAPIPER

<~

kg-m-rad1.

1760
5

IEEE TRANSACTIONS ON

POWER APPARATUS AND SYSTEMS, DECEMBER 1969

32.65 ~~~~~~~~~~~~w=

1.6
-2

O
m

=
=

-3 -4
-

1.4
1.2

X =

STOCKBRIOGE C

STOCKBRIOGE B

STOCKBRIDGE A
0

_-I __I

0.

1.5
0. 5

1.0

-~~~~

-0,2
-

0.68
011
5 0 1 2

CL

c
-t

25

30

35

40

45

50

DISTANCE ALONG THE SPAN ~meters

0.1
02 -

0
0
C

0
]

a.

(a)
01
-02

a~~~~a
9

I74 l

10

20

30

40

50

70 60 FREQUENCy

80

00

100

110

120

130

140

rad/S

(a)
32~r
2R -STOCKBRIDGE B -STOCKBRIDGE C
0--.

....STOCKBRIDGE

__
__

00[

IE
ElL
20
1-.

6~
25

~~

________

10

20

30

~~~~~35

410

45

Z5
11-

(b) Fig. 29. Cable displacement of 56.25-mm outer diameter ACSR; 10 400 kg with Stockbridge damper A. m = 0.652 kg * s2* m-2, S Damper parameters: kpp = 304 kg * m * rad -1, hp = 48 kg m rad-1, M = 0.780 kg-s2lm-', Ja = 0.231 X 10-2 kg*m*s2, G 0.36 X 10-1 m.
=
=

z D tr w a.

ul

cr

10

20

30

40

50

-....

00

70

FREQUENCy

rad/A (b)

s0

90

100

110

120

130

140

Fig. 31 (a) compares the reference vibration amplitudes and the frequency of the same cable, resulting from the application at the same point of three Stockbridge dampers D, B, and E, having the same resonance frequency and the same damping constant [4 = 0.316], but different force response. Fig. 31(b) and (c) shows the force and phase responses of the three Stockbridge dampers D, B, and E. When considering Figs. 30(a) and 31(a) it is necessary to remember that the point of application of the exciting force was the same for all the resonance frequencies, irrespective of the change of wavelength. The Lagrangian component (Sections I and III) of the force was therefore different for each resonance frequency; in particular, at 90 rad/s it was extremely small, the point of application being almost a node. The reference vibration amplitudes are therefore related to the value of the Lagrangian component of the force, and Figs. 30(a) and 31 (a) must not be used to compare reference vibration amplitudes at different resonance frequencies, but to compare the reference vibration amplitudes occurring at about the same frequency with the three different types of dampers used. In Fig. 30(a) it can be seen that an increase of damper constant ,u, all other conditions unchanged, reduces the vibration amplitudes.
resonance

FREQUENCY

radA0

(c)

Fig. 30. Application of Stockbridge dampers A, B, C. (a) Reference vibration amplitudes versus resonance frequency of 56.25-mm outer diameter ACSR. (b) Force response curves. (c) Phase
response curves.

CLAREN AND DIANA: MATHEMATICAL ANALYSIS OF TRANSMISSION LINE VIBRATION

1761

,o

STOCKBRIDGE D
7

1,o
2

X =

O = STOCKBRIDGE B

SIOCKBRIDGE F

STOCKBRIDGE

E |

LL D

= STOCKBRIDGE o = STOCKBRIOGE H

a-

00 ~ 30~~0 1.0~
20 4

I.-

z ~

1,23 _A
10

B 400

e___

30

0'-0
0 50

0:

~~~FRQEC

0 009

10

10

12

o/

______|

'________

0~~~~~~~~o
110 120
130

10

20

30

40

50

60

70

FREQUENCy
02 SIOCKORIDOE 0~~
n

80 rad /5

90

100

1400

(a)
'E
E --....
Ch
Y. z w

14

---STOCKBRIDGE H

E G -STOCKBRIDGE ___| 8~~~~~~~~~~~~~~~~~~~~~~~~~~~

STOCKBRIDGE F

-I-603

s_c_RsG

0...

x
w u
acn 0
-j

20

30

40

50

00 70 FREQUENCy

80

90

100

110

120

130

140

rad/A

(b)
160 140
..

a-

m
-j

STOCKBRIDGE E
STOCKBRIDGE B STOCKBRIDGE 0D

u
l--

z D cr w aui u cr0

---

0
200

L.

12~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~2 10 30 50 60 20 70 90 90 100 40 110 120 130 140

--

FREQUENCY

rad/5

(b)
|-- TOCKBRIDGE F| 120 L- STOCKBRIOOE G
10
z
L

_____

20

30

40

50

60

70

80

90

100

110

120

130

140

FREQUENCY

rad/s

A'

r
60 70 FRE QUENCY

STOCKBRIDGE
I

F(c
6
I \

1F
6

--

(
0 80
9

4.~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~.
0o
rad /

40

20

3-

50

110

120

13 0

14

90

100

110

120

130

140

(c)

Fig. 31. Application of Stockbridge dampers B, D, E. (a) Reference vibration amplitudes versus resonance frequency of 56.25-mm outer diameter ACSR. (b) Force response curves. (c) Phase
response curves.

Fig.

of Stockbridge dampers F, G, H. (a) Referamplitudes versus resonance frequency of 26.97-mm outer diameter ACSR; m = 0.150 kg. S2. in-2, S = 2180 kg. (b) Force response curves. (c) Phase response curves.

32.

ence vibration

Application

1762

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, DECEMBER

1969

E
0,s8
-i

gi
-

rC18.6
w=1

-0o8\
1,2

z
cs

+--~~~~~~--i ~~
s

w=~ ~ ~8,3 ~1
30

10

15

20

25

35

40

45

so

DISTANCE ALONG THE SPAN

u LO

- meters

(a)
3,2
2.

15c=10 118.7

tll

t1T
E E

0352

SA

____

20

5
-0.6
9 W

15

15

20

25

30
-

SPAN DISTANCE ALONG THE < J

40 35 meters X P

45
R
E

55

meters and dampers were installed at 44.7 meters. The two resonance frequencies of the dampers in this case fall within the frequency band of investigation, as can be seen from force and phase response curves in Fig. 32(b) and (c). Here again the influence of damper force and phase response is the same as noticed for the 56.25-mm OD cable. In order to trace the reason for the irregular effect of danmiper force response, all the cable maximum displacement curves of the type shown in Fig. 29, from which Figs. 30(a) and 31 (a) were obtained, were investigated, and the following facts became evident. 1) All other conditions being equal, if an increase of damper force response caused an increase of reference vibration amplitude, the cable maximum displacement curve showed a marked deformation from the sinusoidal shape around the zone where the damper was installed. This is clearly shown in Fig. 33 where the curves A, B, and C were obtained with damper force responses having, respectively, a ratio 1:2:4 in respect to the force used for curve A. 2) All other conditions being equal, if an increase of damper force caused a decrease of reference vibration amplitude, the cable maximum displacement curve showed no marked deformation from the sinusoidal shape around the zone where the damper is installed. This is evident from curves D and E of Fig. 33. The damper used for curve D had a force response four times as large as the force response of the damper used for curve E. 3) From the preceding points it was evident that the deformation of the cable had a considerable influence on the damper efficiency and therefore on the reference vibration amplitudes.

E E

52v1\

f \~/C

F7?

Yf

I
C

0OS
I.

__

W=i127,05~

a
-.06
tFORCE

___0__

__9_

DAMPER

10

15

20

25

30
-

35
meters

40

45

50

DISTANCE

ALONG THE SPAN

(c)

Fig. 33. Cable displacements resulting from application of Stockbridge dampers. (a) 26.97-mm outer diameter ACSR (m 0.150 kg-s2-m-2, S = 2180 kg) after application of dampers H (curve A) and G (curve B). (b) Same cable as in (a) after application of damper F (curve C). (c) 56.25-mm outer diameter ACSR (m = 0.652 kg.S2-m-2, S 10 400 kg) after application of dampers E (curve D) and D (curve E).
=

In Fig. 31 (a) it can be seen that an increase of force response reduces vibration amplitudes in the higher resonance frequency zone, while an increase of force response increases vibration amplitudes in the low-frequency zone. At damper resonance, which for all the dampers used is around 50 rad/s, vibration amplitudes are not greatly affected by the damper parameter , or by the value of the force response. The second resonance frequency of the Stockbridge dampers A-E was situated above the upper-frequency band of investigation for the 56.25-mm OD cable. Fig. 32(a) compares the reference vibration amplitudes and the resonance frequency of a 26.97-mm OD cable with three dampers F, G, and H having about the same ,u but different force responses. The span was 46.7

Cable Distortion at Damper Installation Point and Force Response Optimization It would have been possible to obtain from the computer a great number of cable displacements in the zone of attachment of the damper, and to investigate the influence of the various parameters involved. Because this would have required considerable time, it was thought preferable to obtain some information by means of an approximate analytical method, and then to check the results with computed data. The ratio H, between the vibration amplitudes, for vibration mode r, of the two subspans P-O and N-O, depends on the component in phase or at 180 degrees from the force response F, which we will call FR. When FR is very small, the resonance frequency of the system w, is almost equal to the resonance frequency of the cable alone coo, and the ratio H, is equal to 1. cOr and H, . 1. The deformation of When FR is increased, w7 O the cable from a continuous sinusoidal shape is therefore due to FR. The energy dissipated by the system is related to the energy dissipated by the damper and therefore to the component at 90 degrees from the force response F, which we will call FD, and to the square of the damper vibration amplitude. FD and the damper vibration amplitude will also depend on the point of application of the damper. In order to analyze these relationships, we must introduce the following simplifying assumptions: 1) The cable displacement is the one resulting from the resonant vibration mode only, and is therefore a sinusoidal function in the two subspans. This assumption is acceptable for relatively small damping of the system. 2) Resonance frequency co and wavelength X are only slightly affected by the value of the damper force. This assumption is acceptable for usual forces and span lengths. Referring now to Figs. 25 and 44, assuming the subspan P-O to be smaller than X/2, let us also assume the origin of abscissa xi

CLAREN AND DIANA: MATHEMATICAL ANALYSIS OF TRANSMISSION LINE VIBRATION

1763

1,5
1 s0
E

wv=61,7
10

=20

-0,5
-1,1o
-2,0

E
w

0,5____
.5

22
z LL]
LLJ
u
__j

iL -2,5
"

D
--

5,5
m

10

1,0

15= =36111
F

a.

x
z

-2,0
1 ,5 ,0
.

4__

.5

CL LrI

-1.0

-2,0

10

15

20

25

3
-

35

DISTANCE ALONG THE SPAN

meters

'0

5 ]2

10

25 15 20 30 35 DISTANCE ALONG THE SPAN_4 -meters

40
_

45
62,

50

02,5

l_

(a)

______'

E E

-1,5 t
_

L
_ __ 4__ __ _ _
_

EL

cC
0

_~~~ ='1,
~~~~~~F
:

S
2
z
1

2,0
.0

(c)

28

62- 0

a-

E E
r,

_ L -2__0
5

10

15

20

I _ 25
(b)

30
-

DISTANCE ALONG THE SPAN

35 meter

00

L 1. 45

-1.0 -1.5
50
-2.0
S 10 15 20

~
40

0C

*DAMPER
25
30 35

05

50 I

DISTANCE ALONG THE SPAN- meters

(d)
=
=

Fig. 34. Cable displacements of 56.25-mm outer diameter ACSR (m 0.652 kg.S2-m-0, S from application of various damper forces at 162-degree phase angle.
to be the first node occurring on the cable, close to the damper, subspan N-O. Let us call this node Q. If we assume the antinode vibration amplitude on subspan N-O to have a unit value (1 mm), the value of the antinode vibration amplitudes on subspan P-O will therefore be H. Since we consider only the resonant mode, (98)-(101) can be written as follows:
on

20 800 kg) resulting

where ua is the damper vibration amplitude, which can be written

FR sin 2- xi

-(cos

xl + H

cos

-x2)

(157)

for the displacement of any point comprised between Q and 0:

Ui(xi)
for any

sin

-i xi

(153)

where Fi = 2QNiV' is the resultant of the inertia forces, per unit displacement of antinode, acting on the cable sinusoidal halfwavelength. Reverting now to the energy dissipated by the damper, it can be expressed by a function
f(xo,2)
=

point comprised between

P and 0:

Kua2FD.
we

(158)
obtain
X2)
(159)

U2(X2)

H sin

If we introduce (153), (155), and (157) into (158),

x

x2

(154)

at clamp attachment point 0:

sin
x

f(x1,2)

K1

smn -2x

(cos

-xl

+ sin

xl

cot

xi

H sin X X2
x

(155)

where
K1
=

for the equilibrium of the forces:

FRUa=S8 [(bX.)

FiK tan sp
2

(156)
(ao2)]

It is possible, for any given damper attachment point X2 to optimize (159) for any fixed value of so. The values of xi resulting

1764

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, DECEMBER 1969

Izt

'E
Y

E nh

12

2.0 40
E3

o3 40 = 1350 A tpF= 12R

X:

q p = MD_15.

p=171'

<X
Fi

W
0'

uJ
n) 0
a.

10_

:Ei

1 _

w=77, 1

6~~ ~

~~
E

csco D

FRQUNCad A

0
E

10

CL

p
50

0. 2

_F \

O_:_ E.

Fig. 35. Optimum damper forces versus resonance frequency for 56.25-mm outer diameter ACSR (S = 10 400 kg).

0.2

10

15

/\=
20

25

30

35

40

F -41
45

50

DISTANCE ALONG THE SPAN- meters

(a)
IE
x
cn

E E
M

0-3

-0.2

0.3.
J

wX
1~
0-0.3_
15 5 20

7<7.
__2_
__

4l
45 ~~~ 5 ~~~

a-

LS

-0

a. LO

0__
20 30 30

jj~~:'
40~

FREQUENCY

rad /5
0.3 0.2 0.1

(b)
_=
2__

SPAN-

Fig. 36. Optimum damper forces versus resonance frequency for 26.97-mm outer diameter ACSR (S = 2180 kg).

78

from this optimization, introduced, together with the chosen value of x2, into (157) will give the optimum FR for that particular damper location. Curve a of Fig. 42 gives the ratio |FR opt/Fi as a function of X2/X. Fig. 44 shows cable displacement along the cable portion P-Q resulting from the application of optimum forces at various damper locations. Precisely, curves A-G are those resulting from FR opt (in phase with displacement; that is, inertia forces) and curves H-P from -FR opt (at 180 degrees to displacement; that is, spring forces). Damper location distances starting from (1/16)X, for curves A and H are increased by steps of (1/16)X. Curves b and c of Fig. 42 show [f(xo,2) I/Fi as a function of X2/X for tan = 1. Curve b is to be used for -FR opt and curve for FR opt. With the same method it is possible to optimize the damper location for any given force response. Fig. 43 shows optimum damper location as a function of FR/Fl. At this point it was possible to investigate cable displacements obtained from the computer and compare the resulting influence of the various parameters from those obtained with the above simplified analysis.
c

E E

-0.2

0,3
a_

0.) I_F

14

m
J

-02 uJ
U) 0

__
__2
_w =_78.3
16 ~~~~~~~~~~~~~~~~~F

___

.F01
______
25 30 DISTANCE ALONG THE SPAN
15 20

35
-

~~~~~~~~~~~~~*OAMPER'
43
45

S5

meters

(C)

Fig. 37. Cable displacements of 56.25-mm outer diameter ACSR (S = 10 400 kg) resulting from application of various damper forces at 120-degree phase angle.

CLAREN AND D1ANA: MATHEMATICAL ANALYSIS OF TRANSMISSION LINE VIBRATION

1765

Computed Cable Displacement Analysis

In order to avoid the influence of the Stockbridge damper response to its own resonance frequencies, it was necessary to introduce in the computer a simulated damper having no resonance 0 frequencies. If we were to connect the cable to a fixed point by i-_ O,110 means of a spring having a complex stiffness k + ih, the force of the spring damper will be F = Vk2 + h2 and the response D phase angle so = 180 degrees, arctan h/k. Cable maximum displacements were then computed with this simulated spring damper with different values of k and h; that is, of force response and phase angle. CL Fig. 34 shows cable maximum displacements of the 56.25-mm a0,100 OD cable at resonance frequency of about 61 rad/s with damper force responses FR of 4, 8, 12, 16, 20, 24, and 28 kg/mm and so = 162 degrees applied at 2 meters from one extremity of the It can be seen how the minimum value of reference vibraspan. is 5 0 30 35 40 tion amplitude occurs with FR -12 kg/mm. DISTANCE ALONG THE SPAN meters After having computed, for the same cable, the maximum disfor various resonance frequencies and for phase placements Fig. 38. Cable displacements of 56.25-mm outer diameter ACSR (S = 10 400 kg) resulting from application of unit damper force of angles so = 171, 135, and 120 degrees, the force response of the 12 kg/mm and phase angle close to 90 degrees obtained with minimum vibration amplitudes, which we will second computing method (curve A) and first computing method damper causing therefore call optimum, was given in Fig. 35 as a function of (curve B). resonance frequency. Fig. 36 shows F.,t for 90, 135, and 162 degrees for a 26.97-mm OD cable. 2,0 In Figs. 35 and 36, the damper was installed at 44.7 meters on ~~~~~~~ ~~~~~~tP= 1 50 a 46.7-meter span. With reference to Figs. 42 and 43, for the freO's quency band of examination, X2 was comprised between (2.82/ E 16)X and (5.25/16)X. The influence of Fopt of damper location in E that zone was negligible, as shown also in Fig. 42. w Remembering that Fopt = FR.,t/cos so and IFR0tl1/Fi raU3 B S tios of Figs. 35 and 36 are around 0.5, which corresponds also to a. the values shown in Fig. 42. In Fig. 40 curve A shows the cable displacement for damper distance x2 = a; curve B shows the cable displaceattachment 5 0 5 20 0 3 3 0 15530 ment for x2 = a + (X/2)n. It can be seen that antinode vibration amplitudes are nearly equal and that cable distortion around the attachment point is the same for both cases. Since these results were valid also for n = 2, 3, 4, * * * on longer spans, (a) it could be assumed that the optimum force value will not be affected if the damper attachment point is shifted a few halfz wavelengths on long spans. w IP \ 1\t l 0401 Fig. 37 shows cable vibration amplitudes for a resonance frecn quency of about 78 rad/s, for a phase angle so = 120 degrees, and for various values of force response F. It can be seen how the reference vibration amplitudes decrease until F comprised 322 t < ~~~~~~~~~~~~99o between 12 and 14 kg/mm. For higher values, reference vibration amplitudes remain almost unchanged. Then FR opt was assumed as the force above which the reference vibration amplitudes remained unchanged. This assumption was applied also in fixing F00t of Fig. 36 for so = 90 degrees. The Fopt resulting from Fig. 37 was Fi. Since the phase angle f ~ , A97E was 120 degrees, the FR,opt was 0.5 Fi as would have been obtained from Fig. 42. There is, however, an important point: 10 15 s 20 25 30 35 40 45 so DISTANCE ALONG THE SPAN -meters in this case reference vibration amplitudes do not increase for values of F; that is, for F cos so = FR higher than FR opt. higher (b) At this point it is necessary to note that for phase angles close Fig. 39. Cable displacements of 56.25-mm outer diameter ACSR to 90 degrees, the assumption made in Section III that coupling (S = 10 400 kg) resulting from application of damper forces having terms in the dissipated energy function could be ignored is not FR 2 kg/mm and various phase angles; Fi 13 kg/mm. valid. In fact, coupling terms in this case have a considerable influence on cable displacement. This is shown in Fig. 38 where curve A shows cable maximum displacement computed without
0

___20

u='85.6
w

0.15

--1

10

20

25

166

cJ

>

0/;'

1766

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, DECEMBER 1969

1.

t
2

2.2

11. 6 1. 1 46

_ -

_X1.75
1.5

1.F2
1

(a)

4-

.. a
2 D x
(L 0

7.0

1-

I____

w=

78,15

b )- 1.2
1 0.75
O'S

_5

I-1
5

.1

1.
is

__
20

08 1

1.
0.6

10

10

15

\_ 25

30

35 meters

40

FORCE 45

PER

5a10

0.4
~ ~0.2
1 3
5 ~~~1 T

DISTANCE

ALONG

THE SPAN

Fig. 40. Cable displacements of 56.25-mm outer diameter ACSR (S = 10 400 kg) resulting from application of 8-kg/mm damper force; 162-degree phase angle at 44.7 meters (curve A) and 39.7 meters (curve B).

1-6

Ts

T8

Ts

X2

Fig. 42.
IS
Tr

I,TI

-,--

E
E

0.5
ox
0

opt

n I w
aL

-0.5

1 3
1

7~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

5
-1

10 1 5

20

25

30

35

40 06

45

3 16

1
4

76-

0-

Fig. 43.
OISTANCE 1
ALONG THE SPAN - meters

(a)

* ~~~~~~~~~~F=6

85.53

a.

-1

2~~~~~~~~~~~~~~~OME

I
z

-2

phase angle. Fopt is again about 12.8 kg/mm, that is, the same as F1, even if FR is below the value of FR opt that would have been obtained from Fig. 42. Fig. 41 shows the cable displacement for damper attachment at (7/16)X and for so 162 degrees. It can be seen that reference vibration amplitudes decrease continuously even with an F greater than F1, which was in this case 14 kg/mm. This would correspond to a possible value of Fo,t obtainable from Fig. 42.
=

Conclusions
5 10

35 DISTANCE ALONG THE SPAN -meters

15

20

25

30

40

(b) Fig. 41. Cable displacements of 56.25-mm outer diameter ACSR (S = 10 400 kg) resulting from application at 42.4 meters of various damper forces; 162-degree phase angle.

considering the coupling terms [second method given under Experimental Tests in Section III], and curve B shows the cable maximum displacement computed considering the coupling terms [first method given under same heading]. It is obvious that when the influence of coupling terms is considerable the simplified analytical method is no longer valid. Fig. 39 shows cable vibration amplitudes for a constant FR = 2 kg/mm and various phase angles. Curves D and E were computed considering also the coupling terms. It can be seen how reference vibration amplitudes decrease until so = 99 degrees (curve D), but are no more affected by a further decrease of

From the foregoing it could be stated that: 1) the simplified analytical method yields sufficiently good information for phase angles below 60 degrees or above 120 degrees; 2) for phase angles below 60 degrees or above 120 degrees it is possible to assess an F,tl/Fi and an IFR Otlf/Fi as a function of the attachment point of the damper that can be obtained with sufficient accuracy from Fig. 42. It is also possible for any given FR/Fi to assess an optimum attachment point X2 (Fig. 43); 3) for phase angles comprised between 60 and 120 degrees, the F,tl/Fi is about 1 for any value of FR; 4) the above points also are valid, practically, for two dampers, one installed at each extremity of the span. For two dampers installed on two subsequent wavelengths, the same points are also valid provided their force responses are equal or below the optimum.

The validity of these four points can be verified from the Figs. 30-32. These conclusions should be quite useful for the design and the evaluation of the efficiency of any dynamic damper

CLAREN AND DIANA: MATHEMATICAL ANALYSTS OF TRANSMISSION LINE VIBRATION

1767

Si
I'l

Discussion

/6AP
s, /__\

WI

Si
B
-

6s

s2
0

np

s~~~
a

AP

\s \/ x / \ i X
0
// \ / \1s, ,/ \

- M p -M

contribution to the development and application of dampers for the suppression of transmission line vibration. It is stated in Section I that identical energy measurement results were obtained with the decay and forced vibration methods. Because few tests have been made experimentally relating the two measurement systems, we are interested in knowing the method employed for relating logarithmic decrement to input power. One indication of good decay testing is lack of a frequency change between the forced and free states of the test. This is only casually mentioned by the authors (in Section III, Dissipated Energies), but realization of this factor probably helps to account for the excellent

partment, Pullman, Wash.): This paper constitutes

A. R. Hard (Washington State University, Vibration Research Dean

important

00

'\S
N

\s2

S/7N
S2

0t\
0

\
P

P </X\
Ap

N
\s

a0o
/

) / \0

S2

\c

//O PS,
P2

\Si

\S2
P

Fig. 44. Cable displacements aronund damper attachment points, Solid line-cable distortion. Si = sin (2Xr/X)X1; 82 = H sin

(27r/X) X2.

and of damped taut cables. As me,ntioned earlier, greater damper efficiency leads to reduced antinode vibration amplitudes along the span. A correlation between this parameter and cable strains along the span and close to the extremities is necessary (Fig. 44) to assess the required amount of external damping for given wind input. Research is being performed on these problems.
ACKNOWLEDGMENT The authors gratefully ackniowledge the assistance of Prof. Dott. Ing. Emilio Massa of the Istituto di Meccanica Applicata of the Polytechnic University of Milan, Italy.
[1]

relates to the effect of tension on the natural vibration of conductors. The anomalies that occur in Fig. 5 would appear to be caused by the span termination effects. One possibility is that some of the energy is being lost at the terminations. Another possibility is that the analysis has not allowed for the fact that the terminal loops of a span differ from the free loops both in length and in shape. From the data presented in Fig. 5 it is apparent that wavelength has been determined as the quotient of span length and number of loops, and is therefore the average. The greatest deviation is observed in the case of the three-loop system, while the five-loop system shows a closer approach to the other curves. The primary points at issue in this relationship are whether average or specific loop lengths should be employed and whether the relationship applies equally to end loops and free loops. The difficulties experienced with the force-displacement-phaseangle measurement system of energy determination is an interesting documentation of the attention that must be given to the phase angle measurement in this procedure. The hysteresis loop method appears to be relatively time consuming. We are interested in the procedure adopted for determining the loop area. The use of analog multiplication for this application appears to have greater potential than the authors have indicated, and is attractive because it is more rapid than decay or the hysteresis loop methods.

The energy, wavelength, and displacement relationship used in the plotting of Figs. 4-6 appears to be very useful and revealing since it

correlation.

Manuscript received July 28, 1967.

[2]
[3]

[4]

[51]
[6]

[7]

REFERENCES R. E. D. Bishop and D. C. Johnson, The Mechanics of Vibration. Cambridge, England: Cambridge University Press, 1960. J. S. Tompkins, L. L. Merrill, and B. L. Jones, "Quantitative relationships in conductor damping," AIEE Trans. (Power Am paraitus and Systems), vol. 75, pp. 879-896, October 1956. C. B. Rawlins, "Recent developments in conductor vibration research," Alcoa, Tech. Paper 13. A. R. Hard and R. 0. Holben, "Application of the vibration decay test to transmission line conductors," IEEE Trans. Power Apparatus and Systems, vol. PAS-86, pp. 189-199, February 1967. E. Lampio, "Theory and measurement of damping of transverse vibration in uniform stranded cables," thesis, Institute of Technology, Helsinki, Finland. F. B. Farquharson and R. E. McHugh, Jr., "Wind tunnel investigation of conductor vibration with use of rigid models," AIEE Trans. (Power Apparatus and Systems), vol. 75, pp. 871878, October 1956. L. Haro, "Comparative tests on vibration dampers," CIGRE Study Committee 6, Paper CSC 6-65-6, 1965.

perimental evidence, however, as proof of validity. The authors have demonstrated good correlation between test results and theory for the case where a simple harmonic force is applied to the conductor at a point, and the response of the conductorboth with and without Stockbridge dampers-is obtained. The good correlation between theory and test is convincing guidance with respect to the validity of the prediction method. It is clear from the results that the prediction of transmission line vibration in a controlled laboratory experiment is well in hand. Not so clear is the prediction of transmission line vibration in the field-the so-called aeolian vibration due to wind-induced forces acting along the length of the conductor. The authors would do well to point out how the results of the present study may be applied to the prediction of aeolian vibration. In [8] a theory of aeolian vibration was offered which characterized the vibration in normal modes and further characterized the force acting on the conductor as simple harmonic in time but random
Manuscript received August 3, 1967.

A. S. Richardson, Jr. (Research Consulting Associates, Lexington, Mass.): The authors have contributed to the basic understanding of transmission line vibration through their fine presentation of the principal vibration mode concept. Principal modes, or normal modes as they are sometimes called, are a characteristic feature of all dynamic systems. Mathematical methods have to stand up to ex-

1768

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS,

DECEMBER 1969

in phase along the line. With that characterization it was possible to show that aeolian vibration amplitudes in the field may be predictable from simple die-down tests made in the laboratory. Verification of that theory depends upon the correlation between field measurements of vibration amplitude in natural winds, and laboratory measurements of conductor damping in several normal modes using the die-down test method.
REFERENCES [8] J. R. Martucelli and A. S. Richardson, Jr., "Aeolian vibration of transmission line conductors," presented at the IEEE Winter Power Meeting, New York, N.Y., February 2-7, 1964.

James C. Poffenberger (Preformed Line Products Company, Cleveland, Ohio) and Robert H. Scanlan (Princeton University, Princeton, N.J.):
Section I

The fine work of Dr. Claren and Dr. Diana joins what is becoming a rather formidable body of TRANSACTIONS literature related to Stockbridge dampers. George Stockbridge invented the damper a little more than 40 years ago, in 1925. About every decade since then, except for a period immediately after World War II, there have been particularly noteworthy papers on the subject. In 1936 there were papers by Carroll of Stanford [9], Pipes of California Institute of Technology [10], and Sturm of Alcoa [11], 1121. In 1956, in addition to the prize-winning paper by Tompkins, Merrill, and Jones [2] there was the companion paper on energy input by Farquharson and McHugh [6]. The present paper quite properly takes its place with these well-known predecessors. The work is very well done. The authors' analysis is based on classical methods. The simplifying assumptions appear valid and the solutions rigorous. The test equipment was ingeniously designed and the experimental work appears to have been carried out meticulously. Finally, experiment and theory are generally in good agreement. Certainly the authors have made a distinct contribution to the better understanding of cable mechanics and Stockbridge damper operation. We do have a number of comments and questions on their work. The first concerns cable end conditions. The authors assume pivoted ends in their mathematics, but what actual end conditions held for their tests? Fig. 3 does not show this clearly. This seems to be an important point, not so much for overall mode shapes along the span but for answering precisely the ultimate question: What stress concentrations may arise and be the cause of field failures? The boundary area near the cable end is critical in this respect, and it also influences the distortion of the vibration loop adjacent to the support. Relative to Fig. 1, the authors point out that there was a lack of agreement between theory and experiment for the lower modes. Have the authors progressed beyond the text of the paper in finding an explanation for this? Here again, departure of boundary conditions from ideal can affect cable frequencies even without necessarily affecting cable stiffness. Also, our own experience indicates that the effective cable stiffness is locally related to the types of end conditions, among other factors. The authors state that the structural damping of a taut cable was independent of tension in their particular series of tests. The authors' data show variations in the damping constant both with antinode displacement and with tension, but certainly their data show that the variation in damping is much greater with displacement than with tension. This independence of damping from the tension is quite surprising, since it is contrary to general experience. Some possibilities suggest themselves and the authors might wish to comment on them. It is possible that the dissipation of energy through the end terminations overshadows the more subtle changes due to tension. Have the authors made any studies of this? Have they made any

Manuscript received Aiigust 7, 1967.

tests with a single-wire specimen to determine termination losses? Such tests would be particularly effective with the ends clamped rigidly, and when values for hysteresis losses were determined in the same manner used by the authors for stranded damper cables. Were the authors' test conductors at "initial" or "final" tension? That is, did the authors preload the cable to a higher tension and then back off to the tension used in the test? Another possibility is concerned with ratio of antinode displacement to loop length. The data contained in Figs. 4-6 show that the ratio of antinode displacement to loop length was quite small, the maximum being a ratio of about 1 to 700. In our studies of flexural rigidity, we have noted that variations in rigidity depend upon the ratio of amplitude to loop lengths to some extent. We believe that flexural rigidity and structural damping are closely related properties of a stranded cable. Both are a function of the degree of strand slippage during vibration. That is, the greater the freedom for individual wires to slip relative to each other (at least while still in physical contact), the higher the structural damping and the lower the value of flexural rigidity. In 1966, we conducted flexural rigidity tests on a Penguin conductor at tensions ranging from 7'/2 to 30 percent of ultimate strength. We found that the flexural rigidities were relatively insensitive to tension at small ratios of antinode displacement to loop length. Possibly the same condition accounts for the authors' results in these tests. Regarding predicted field results, the authors compare field measurements of bending amplitude on the Bonneville system and predicted vibration amplitude in Fig. 10. Predicted amplitudes were based on assumed wind energy input and an assumed damping constant. Field data and theory are in reasonably good agreement. However, it is in general extremely difficult, if not impossible, to establish a quantitative energy balance between natural wind flow and cable damping in the field. Natural wind flow is extremely capricious and difficult to assess directly on a full-scale span in the field when the purpose is to obtain quantitative values of energy input. Without mentioning seasonal, diurnal, or geographical variations in wind flow, it can be remarked that wind speed and direction vary with elevation above the ground. Consequently, even with an idealized wind, a catenary will not be exposed to the same wind flow throughout its length. Even if the conductor were strung in a horizontal plane between two towers, the wind speed and direction would still change along the length, since natural wind comes across a line in gusts and pulses. Other factors such as undulations in a generally level plain, constrictions in a valley between two hills, and convective currents in plowed fields during the day or over warm water at night can produce wind flow patterns peculiar to a particular span. Then, too, air density, viscosity, and Reynolds number vary, and changes of the order of 50 percent or more may occur in these key quantities. Conductors also vibrate very severely at low temperatures, probably due to a pyramiding of factors. That is, mechanical tensions increase in the cold weather, but in ACSR, the amount of load carried by the aluminum wires increases even more rapidly. This causes the aluminum wires to bind tightly and reduces the structural damping in the cable. At the same time, air density is greater and more vibration energy is transmitted to the conductor. As an example of this, we quote from [13]: "However, recorder readings taken during the summer with two dampers per span indicate a maximum amplitude of 12 mils at a tension of 20.6 percent and a temperature of 63F. At a tension of 24.5 percent of ultimate tensile strength, temperature -15F, the maximum amplitude recorded was 30 mils" (p. 21). Dr. Claren and Dr. Diana demonstrate in Section III that neglecting bending stiffness is feasible in describing cable response. However, it clearly is not feasible in the study of stresses, since without bending stiffness there could be no bending stresses. We look upon the bending stiffness problem as essentially an important boundary region or "edge condition" phenomenon of the cable. It is clear that the cable parameters of stiffness and damping are interdependent and appear to depend upon tension and vibration amplitude. Section II We have noted above the generally excellent quality of the authors' work. There is some similarity between the authors' results on hysteresis losses and the work of Sturm [11], [12] in 1936. However, there seems to be a large difference between their energy

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losses per cycle and the corresponding values found by Sturm. In general, how do the authors' energy loss per cycle and stiffness values compare with those of Sturm? The paper provides the basic means for explaining the action of the Stockbridge damper itself, but some questions are in order. Which contributes the most to making the damper effective-the reactive force or the dissipation of energy in hysteresis? Although the reactive force is clearly ineffective in the dissipation of energy, it still can be highly important in its coupling with a self-excited system-the cable under aeolian excitation. How is the effectiveness changed by varying the levels of energy input from the wind? Is there any dependence of the damper upon the randomness of the wind for its greatest effectiveness? The authors mention that their analysis is applicable to other types of dynamic dampers. An analysis of similar but more elaborate type would also apply to the Haro damper [7], which has five resonant frequencies and two clamps which are coupled elastically. Would the authors care to express an opinion about the relative effectiveness of the Haro damper in relation to either a single Stockbridge damper or a pair of Stockbridge dampers?
REFERENCES [9] J. S. Carroll, "Laboratory studies of conductor vibration," AIEE Trans., vol. 55, pp. 543-547, May 1936. [10] L. A. Pipes, "Cable and damper vibration studies," AIEE Trans., vol. 55, pp. 600-614, June 1936. [11] R. G. Sturm, "Vibration of cables and dampers-I," AIEE Trans., vol. 55, pp. 455-465, May 1936. [12] vol. "Vibration of cables and dampers-II," AIEE Trans., 55, pp. 673-688, June 1936. [13] G. H. Weldon, Discussion of IEEE Committee Report, "Standardization of conductor vibration measurements," IEEE Trans. Power Apparatus and Systems, vol. PAS-85, p. 21, January 1966.

Robert L. Swart and Robert A. Komenda (Preformed Line Products Company, Cleveland, Ohio):
Section III The authors' general point is quite valid: A clear knowledge of overall cable action with dampers installed permits guided damper application leading to more effective damper operation and lower vibration amplitudes. Another focal point is also quite appropriate. Attention may be concentrated upon local strain-raising details, such as bending effects at suspension points, clamps, and other discontinuities. For example, matching displacement and requiring a force balance at damper location could result in unequal slopes [ ee (99)]. This is another way of pointing out the importance of bending at discontinuities. Such bending gives rise to conductor strains possibly associated with failures. In their conclusion the authors state that this computational research effort replaces laboratory work. This is correct for overall geometric considerations. But the laboratory is still needed to determine damping constants and such things as end effects where stress concentration factors are important. Such boundary effects are not included in present theory, but are precisely the most important effects in fatigue. Section IV We agree with the generally favorable comments of earlier discussions on this paper. We are interested in the area of vibration and dampers, and we read the paper with interest. How does the approximate scheme of Fig. 44, and the accompanying text, correlate with present theories and practice for damper choice and location? Experimental work by Haro 17] suggests that damper position, within limits, causes little change in damper effectiveness. Would the authors care to interpret this in light of their analytical work?

C. B. Rawlins (Aluminum Company of America, Massena, N.Y.): Section III The authors have evidently devoted a great deal of thought and effort to the analysis presented in the paper. The essential difference between their approach to analysis of the vibration of a span of conductor and previous analyses concerns the effect of external forces on the span. An external force, such as that applied by the damper, causes a discontinuity in the slope of the conductor. Previous analyses have dealt with this discontinuity by assigning different characteristic functions to the parts of the span separated by the discontinuities, and the authors have also done this in (106) and (107), giving a different characteristic function each side of the damper. However, in (148) for example, they have also used a summation of normal modes to describe the entire span with a single function, similar to the way a sawtooth wave is often expressed in terms of a Fourier series. Either method can be correct. Two major criticisms of the paper may be made. The first has to do with the authors' method of calculating damper dissipation. Damper dissipation is given in (137) in terms of the velocities of the different parts of the damper. These velocities are then taken to be equal to those that had been determined in (111) under the assumption that no dissipation was present in the damper. However, the velocities in the presence of dissipation will certainly be different from those that occur in its absence, even for the same exciting force. Serious errors in the estimates of dissipation may result from this. Also, it appears that the damper clamp velocity, a in (137), was omitted in writing (139). The other major criticism concerns the generality of the characteristic functions assumed by the authors under their second method, for example in (96), (98), (106), and (107). These functions are indeed solutions to the differential equation for a vibrating conductor, but they are not the only solutions. Equations (96), (98), (106), and (107), in fact all the characteristic functions assumed by the authors under their second method, represent pure standing waves. Yet it is well known that it is traveling waves that play the key role in transmitting mechanical power from one part of a span to another. The conductor cannot transmit power to the damper without them. This may be shown by using (98) to determine Oa the phase angle between Fa and Ua and substituting the result into (90). The result shows that the power absorbed by the damper is always 0. This is not because of characteristics assumed for the damper, but because of the assumed absence of traveling waves. Unless their presence is assumed, in writing the characteristic equations, a realistic analysis of damping action is not possible. This criticism applies to the authors' second method, described under Experimental Tests. The first method makes allowance for traveling waves by including an imaginary component in conductor amplitude. Apparently, however, the theoretical damper model proposed in SectionII is difficult to handle under the first method, so a lossy spring was substituted for the damper model in working with that method. The results obtained by the first method can also be obtained by impedance methods using a Smith chart. For example, in Fig. 39(d) so correspond to a (Section IV), the force function FR and phase angle mechanical impedance of 148 - j23.4 kg- s/m, for the circular frequency of 85.6. The ratio of this impedance to the mechanical characteristic impedance of the conductor, which is 82.4 kg.s/m, is 1.74 jO.28. The reactance ratio of the 21.6 percent of a wavelength of cable between the damper and the end of the span is found by the Smith chart to be -jO.23. This is added to the damper impedance ratio to yield, looking into the damper from the motor side, a total impedance ratio of 1.74 - jO.51. If this impedance ratio is entered on the Smith chart, and then rotated on the chart the 4.61 wavelengths that lie between the damper and the drive point, the impedance ratio looking toward the damper is 1.20 + jO.75. Looking away from the damper, the stub impedance is again -jO.23, so the total drive point impedance ratio is 1.20+ jO.52. The presence of a reactive component here indicates that the span is not in true resonance. The drive point impedance is impedance ratio times characteristic impedance, or 99 + j43 kg s/m, which has a vector magnitude of

Manuscript received August 7, 1967.

Manuscript received July 19, 1967.

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108 kg.s/m. A 1-kg force applied to this impedance results in a velocity of 9.3 mm/s. At = 85.6 rad/s, the drive point amplitude is thus 0.11 mm. The amplitudes of other points in the span may now be found by rotating the impedance ratio 1.20 + jO.75 by various fractions of the wavelength and making use of the fact that amplitude must vary as the square root of the resistive component of impedance ratio. The antinode amplitude turns out to be 0.17 mm. and the mode amplitude 0.08 mm, in substantial agreement with Fig. 39(d). Regarding (120) and (121), would the authors define the terms Do and To', which have the units of a spring constant?

Rodolfo Claren and Giorgio Diana: We thank Mr. Hard, whose experience and advice have so greatly helped us in the beginning of our research program, for his discussion and for his questions. During the decay tests we recorded antinode vibration amplitudes for a certain length of time. We then computed the kinetic energy variation between two subsequent cycles; such a decrement had to correspond to the energy dissipated by the cable plus eventual termination losses. Vibration amplitudes of the terminations-that is, of all systems and parts outside the span-were monitored with very sensitive accelerometers. Such vibration amplitudes were almost insignificant, and termination losses could, with sufficient accuracy, be estimated to be irrelevant with respect to the energy dissipated by the whole span. The lack of frequency change between the forced and free states of the tests is also mentioned under Test Results in Section I. This frequency stability is by all means of paramount importance in evaluating perfect resonance. At this point, we believe that the following should be well understood. When a taut cable is forced to vibrate with a harmonic force, all the vibration modes of the cable are excited simultaneously, with the exception of the mode for which the application of the force is a node. The vibration amplitude of each mode is related to its amplification factor, which in turn depends on the ratio between the exciting force frequency and the natural frequency of the mode, and on the damping coefficient of the mode. If the exciting force frequency corresponds exactly to one of the natural frequencies of the cable and if the damping is very small, the amplification factor of the mode having that natural frequency is very high, whereas the amplification factors of the other modes are extremely small; therefore, it can be assumed with sufficient accuracy that the distortion of the cable is due only to the contribution of the resonant mode. It can therefore be understood that this assumption is valid only if the frequency measurements are very accurate and if the damping involved is very small. Such an assumption might fall in defect when the damping is considerably increased, for example, if tests are performed at very low tensile load (below 5 percent of the cable ultimate tensile strength) or at very high frequencies (in the range of 100 Hz for average ACSR) or with a damper installed on the cable. These problems are found also when performing decay tests, because anyhow the cable has to be forced into vibration before disconnecting the driving unit. The anomalies shown in Fig. 5 might be due to several causes. However it is indeed a fact that the analysis was based on sinusoidal waveshape, and terminal loops do not have such a shape. The energy per unit length of the cables is obviously an average (which is, however, correct when the number of loops present in the span exceeds 9 or 10). We believe that the wavelength relationship expressed by (22) is quite correct, since the influence of the terminal loops is noticeable only for very low vibration modes. It would be possible to extend the analysis by introducing a particular expression for the end loops, but we do not believe it would be of any real practical use or that it would modify the results substantially. A thorough study of the end loop distortion is instead of particular interest when a correlation has to be made between vibration amplitudes of the system and the strains in the end loops. We agree that the use of analog multiplication for the measurement of the energy fed into the system is of great interest, because it is more rapid than decay and hysteresis loop measurements. Such a method is being investigated.

Manuscript received September 11, 1967.

We thank Mr. Richardson for his discussion and for having pointed out the next step of research; that is, the prediction of transmission line vibrations in the field. Obviously the best approach would be to assess the force distribution on the span due to the wind. If an expression giving such a force distribution, as a function of time and span distance, is obtained, it could be very easy to introduce it into the Lagrange equation and obtain the cable distortion. The basically sinusoidal nature of aeolian vibrations recorded on spans, and the frequency-locking effect found by several authors, tend to show that a sufficiently reliable prediction of transmission line vibration in the field might be achieved with energy balance methods. The correlation mentioned in Section I between Bonneville field measurements of 2.4-in ACSR and computations based on measured internal damping and Farquharson curves is not a pure coincidence, for such a correlation has been found on other cables. This problem, however, is being investigated on an outdoor experimental span. We thank Mr. Poffenberger, Mr. Scanlan, Mr. Swart, and Mr. Komenda for their extensive discussion of the four sections. As mentioned in the introduction to Section I, the work deals with the response of cables, dampers, and cables plus dampers to exciting forces. Without such knowledge it would be impossible to correlate the acting forces or the energy input to the strains occurring on the cable and study the necessary external damping requirements. Obviously, as mentioned under Forced Vibrations in Section I, the correlation between strand strains and cable distortion is of paramount importance and it is the object of the authors' present research program. Some of the questions and comments of this discussion relate to strain problems that were not dealt with. However, we will be pleased to give our opinions on such points. The tests were performed on pivoted and on fixed-end extremities. The influence of boundary conditions has been mentioned in remarks to Mr. Hard's discussion. We can add that boundary conditions will affect not only the waveshape, but also the stiffness of the cable in that region. Tension affects the self-damping of the cable within the range of loads used in the test, because at the same frequency the modification of tension causes a modification of loop length. It can be seen that antinode vibration amplitude and loop length are the parameters that govern essentially the energy dissipation of a given cable. The slight difference that can be seen in curves 6, 7, and 8 of Fig. 5 are within the range of measuring errors, and therefore it is not wise to give any particular interpretation. It is indeed possible that the variation of compressive load between strands due to tension variation would affect the friction forces between strands and therefore the energy dissipation; but it would seem that this effect was very small within the range of tensile load, amplitude, and type of cable used in our tests. The effect of end termination was mentioned in our reply to Mr. Hard. All tests were performed after having subjected the cables to 40 percent of their respective ultimate tensile strength for a few days. We agree that the internal damping might be related to cable rigidity. However, within the vibration amplitude range of the tests, resonance frequencies were not affected by the amplitude of the vibrations, and therefore the average flexural rigidity of the system was certainly not substantially affected either. Real slippage might occur between strands at higher vibration amplitude, as found on tests on damper messenger cable, and might cause a modification in the cable rigidity. It must be stressed, however, that energy can be dissipated without macroscopic slippage of the strands, by the deformation of microscopic interstrand asperities. As previously mentioned in responding to Mr. Hard and Mr. Richardson, the prediction of field vibration amplitudes is the object of another research program. Although there is little doubt that wind conditions and basic parameters are widely different at different places and different times, it is not certain that the wind energy input is so strictly related to these parameters. Our own experience and other authors' studies have shown that the vibration amplitude and frequency recorded on outdoor spans were in some cases almost constant, even with a wind velocity oscillating as much as 40 percent. There is no doubt that field conditions will influence the possibility of occurrence of dangerous winds, and therefore an accurate prediction of the real vibration amplitudes will not be possible without a perfect knowledge of the topography of the line.

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However we believe that in most cases it would be sufficient to predict the maximum vibration amplitudes that could occur in that particular line. In respect to the influence of low temperature, there is no doubt that an increase of tension due to a decrease of temperature will cause a substantial increase of vibration amplitude, as a consequence of the decrease of the energy dissipated by the cable. Coming now to the Stockbridge damper analysis, we have not compared Sturm values [11], [12] with those obtained in our tests. However, the shapes of hysteresis loops are very similar. It must be pointed out that the values shown in [11] and [12] refer to a 10-pound damper; that is, to a messenger steel cable considerably smaller than the one shown in our paper. Hysteresis loops-the energy dissipated per cycle-are considerably affected by messenger steel cable size. As explained in Section III, there is little doubt that the damper effectiveness; that is, its action of reducing vibration amplitudes on a cable, is due to the dissipation of energy shown in the hysteresis loops or, in other words, to the component of the damper force that is at 90 degrees to the clamp displacement vector. The force called reactive in the electrical analogy analysis, that is, the component of the damper force in phase or at 180 degrees to the clamp displacement vector, affects the deformation of the cable and therefore the amplitude of vibration of the damper attachment point, and, if such a force is too large, it reduces the energy dissipated by the damper. There is no change of damper effectiveness due to a change of energy input level from the wind because the overall damping of the system is independent of the exciting force. However it must be clear that if we suppose the wind to act as a constant force distributed along the cable, and therefore the energy input from the wind proportional to the vibration amplitude, the vibration amplitudes of the system on which a damper has been placed will be somehow reduced by the ratio of the sum of the cable plus damper damping to the value of the cable damping only. If, on the other hand, the wind force is not constant but somehow proportional to the vibration amplitude, and therefore the energy input proportional, for example, to the second power of the vibration amplitude, the vibration amplitudes of the system on which a damper has been placed will be further reduced as a consequence of the reduction of the exciting force due to the reduction of the vibration level. It has been seen in many cases that, although one damper increased the overall damping of the system 20 to 30 times, the vibration level of the whole system was reduced by more than 200 times. The analysis is applicable to other types of dynamic dampers with some small changes. We have not studied the Haro damper and could not therefore express any opinion. Coming now to the discussion of Section III, we have already answered most of the comments concerning conductor strains. In our conclusion we have stated that the work can replace laboratory tests for further research work, in the sense that, as shown in Section IV, it was possible to investigate the influence of the damper parameters on the response of the whole system by means of a computer program instead of very long and delicate laboratory tests. It is obvious that laboratory research is always necessary in order to assess the damping constant and to investigate the correlation between strain and conductor response. Coming now to the discussion of Section IV, the results of the approximate analytical method shown in Figs. 42 and 43 confirm the validity of the general actual practice for damper location. It can be seen in fact from Fig. 42 that the optimum force is not substantially affected when the damper is placed in the center third of the wavelength. This incidentally explains also the results obtained in [7]. Our work, however, shows that the present practice of choosing the damper by its brand name or by its weight is absolutely wrong, as found by many other authors. A damper design can be fundamentally more efficient than another design, but what really matters is the damper response within the frequency band on which it is supposed to operate. We thank Mr. Rawlins for his discussion and in particular for having checked the results of one particular case shown in Fig. 39(d) by using the Smith chart, and we note that the results are in substantial agreement. We regret that in our papers the passages between the equations could not be wholly shown due to lack of space, because we believe that this is the reason of some misunderstanding.

The damper dissipation given in (137) is expressed in terms of the velocities of the different parts of the damper. However it is not true that these velocities have been taken to be equal to those that have been determined under the assumption that no dissipation was present in the damper. In fact, the velocity iCe is the one occurring at the damper attachment point and obviously depends on the damping of the whole system. Such a velocity could be obtained in the computer from the Lagrange equation in the same way as the more general 4. The velocity , is related to it. by (76). However, the vectors it., x,, and <Pa in (137) giving the power dissipated by the damper have been replaced by a function of the principal coordinate pr by means of (109), (120), and (121) giving, as a result, (139). No traveling waves could be found in our work because the analysis is based on the principal modes method in which the traveling wave has neither expression nor meaning. It is known that traveling waves and standing waves are a possible representation of many vibration phenomena. However, our analysis was based on a different method, introduced a century ago by Lord Raleigh and widely used on many aeronautical problems. The motion of a taut cable having an internal damping can be visualized by means of standing and traveling waves or it can be visualized as a vectorial summation of several principal modes vibrating simultaneously. When an analysis is made by using one method, the only things that can be compared are the results, and it would appear, from Mr. Rawlins's analysis of Fig. 39(d), that the results are in substantial agreement. The basic difference between the first and second methods used is not due to the presence of traveling waves, but simply to the fact that in the second method, which is more approximate, the energy dissipated by the damper is distributed along the whole span; this assumption gives sufficiently accurate results for low damping as shown in Figs. 33-37. This assumption fails, as shown in curve A of Fig. 38, when the damping is very high. The first method, which does not have such an assumption, gives more accurate results in the presence of higher damping, as shown in curve B of Fig. 38. The theoretical damper model proposed in the Section II is not at all difficult to handle, and it was used to obtain the results shown in Figs. 30(a), 31(a), and 32(a). We substituted a lossy spring in the damper model in the second part of Section IV because it was necessary to have a damper force that was independent of the frequency in order to obtain a clear view of the effect of damper force and phase on the vibration amplitudes of the whole span. We regret the omission of the expressions of the terms Do and To, which appeared in (120) and (121). They are as follows: To = kj(1- L/G), Do = To + yk1l. With the clarification of a few points concerning some equations, it would appear that no substantial discrepancy could be found between the results obtained in our work and those obtained with the electrical analogy and the traveling wave methods. Instead, there is a major point concerning the optimum damper response. In [4] it was found that for maximum possible damping the damper should be designed to have a mechanical impedance with a resistance component equal to the characteristic impedance of the conductor, that is, Z = \/SSm, and a reactance component equal to but of opposite sign from the reactance of the stub end, which, in case of quarter-wave location, would be 0. With such an impedance and location, the damper force per unit clamp displacement would be wx/Sm. We have found that the optimum force for such a case, that is, a 90-degree phase angle, is Fi or 2wV/Sm. There is no doubt that with a force response of 0.5 Fi = coVSm and a 90-degree angle the motion of the cable can be visualized as pure traveling waves; this has also been seen in our computations from the phase relations between the various cable points. There is no doubt either that such a condition would give the maximum transfer of power from the cable to the damper, but this does not mean that such a condition would correspond to the maximum possible damping of the system. The maximum possible damping is obtained when, for a given force, the vibration amplitudes of the cable are reduced to theirminimum value. The discrepancy then could be due to the fact that in [4] the optimization was based on the maximum transfer of energy for an ideal line without losses, whereas in our work the optimization was based on minimum vibration amplitudes of the cable, taking into account also the energy losses of the cable.