Truss Topology Optimization - An Alternative View

Mathias Stolpe
February 19, 2007

Abstract
In these notes we consider a single load minimum compliance truss
topology design problem stated in both design and displacement variables. This problem is reformulated as a linear program stated in
displacement variables only. The reformulated problem is related to
minimum volume problems with stress constraints. These problems
are shown to be equivalent up to a scaling.

Introduction and problem statement

We have so far considered minimum volume problems with stress constraints.
This problem can be reformulated as the linear program
minimize
n
n

gIR ,hIR

subject to

n
X
j=1

lj (

hj
gj

R(g h) = f,
g 0, h 0,

(1)

where g IRn and h IRn correspond to bar forces in tension and compression, respectively. The linear programming dual of (1) is given by
maximize
yIRd

fT y

subject to 1

y free.

rjT y
1, j = 1, . . . , n,
lj

(2)

In these notes we consider the minimum compliance problem with a volume

constraint
minimize

aIRn ,uIRd

fT u

(Compliance)

subject to K(a)u = f, (Elastic equilibrium)

n
X
lj aj = V, (Volume)

(3)

j=1

a 0,
where V > 0 is a given bound on the volume. Minimizing the compliance
f T u is equivalent to maximizing the global stiffness of the structure under
the external load f IRd . The stiffness matrix K(a) IRdd is given by
K(a) =

n
X

aj Kj =

j=1

n
X
j=1

aj

E T
rj rj .
lj

The objectives of these notes are to reformulate the nonlinear problem (3)
as a linear program and relate the reformulated problem to the minimum
volume problem (1) and the dual problem (2).

Reformulation of the minimum compliance problem

The potential energy for a given design a IRn is given by
1
(a, u) = uT K(a)u f T u.
2
For a given vector a the displacement vector u should be a minimizer of the
potential energy, i.e.
u arg min (a, u).
u

The first order optimality conditions for this unconstrained optimization

problem are given by
u (a, u) = K(a)u f = 0,
which are equivalent to the equilibrium equations already stated in (3).
These conditions are both necessary and sufficient since the potential energy
is a convex function in u. Inserting a u satisfying K(a)u f = 0 into
(a, u) we obtain
1 T
1
1
(u ) K(a)u f T u = f T u f T u = f T u .
2
2
2
2

Hence, the minimum compliance problem (3) can be reformulated as the

max-min problem


1 T
T
max min
u K(a)u f u .
(4)
2
a0,lT a=V u
The max and min in (4) may be interchanged


1 T
T
u K(a)u f u .
min max
u a0,lT a=V
2

(5)

The inner maximization problem in (5) is a linear program in a (u is fixed

in the inner problem). For a 0 and lT a = V we have
n
X

aj u Kj u V max

j=1,...,n

j=1


1 T
u Kj u .
lj

These inequalities are satisfied with equality if exactly one aj > 0. Hence,
the problem (5) becomes


V T
T
min max
u Kj u f u .
u j=1,...,n 2lj
This is an unconstrained but non-smooth problem. A common trick in
optimization is to replace the max term by an additional continuous variable
and reformulate the problem as a smooth constrained problem
minimize

fT u

subject to

V T
u Kj u , j = 1, . . . , n.
2lj

IR,uIRd

(6)

Up to a scaling problem (6) is equivalent to

minimize

f T u

subject to

V T
u Kj u 1, j = 1, . . . , n.
2lj

uIRd

(7)

Problem (7) is a constrained nonlinear problem with quadratic, and hence

smooth, inequality constraints. So far we have not used that we are designing a truss structure. For the next phase of the reformulation we use the

mathematical properties of the element stiffness matrices Kj . Since Kj is a

rank-1 matrix the quadratic terms
1 T
E
u Kj u = uT ( 2 rj rjT )u =
lj
lj
The constrains

rjT u
E
lj

!2
.

V T
u Kj u 1
2lj

can thus be rewritten

rjT u
E
lj

!2
1 iff 1

rjT u
1.
E
lj

The constrained problem (7) and hence the minimum compliance problem
(3) can thus be reformulated as the linear program
maximize
uIRd

fT u
r

subject to 1

V E rjT u
1, j = 1, . . . , n,
2 lj

(8)

y free.
This implies that (3) is equivalent (up to a scaling) to the dual problem (2)!
Hence, the problems (1) and (3) are also equivalent up to a scaling!

Exercises
1. Show that the potential energy
1
(a, u) = uT K(a)u f T u.
2
is a convex function in u.
2. Show that the compliance f T u is constant for all u satisfying the equilibrium equations K(a)u = f .
3. Show the precise correspondence between the nonlinear problem (3)
and the linear problem (1).