- Basic Concept -

OPTIMUM STRUCTURAL DESGIN

Prof. Bo-Suk Yang

Intelligent Mechanics Lab.
Pukyong National University

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 Contents

• Introduction
• General Formulation of Optimal Design
• Approaches to Structural Design and
Optimization

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 Introduction
 Design
g Process

1. Formulation of Functional Requirements

2. Conceptual Design Stage
• Critical part of the design process
3. Optimization
• Select the optimal design that satisfy the
functional requirements by trial-and-error
4 Detailing
4. D ili

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  Available Method of Optimization

1. Analytical Method
y Mathematical theoryy of calculus,, variational
methods
y Suit for such fundamental studies of single
structural components
2 Numerical Method
2.
y Programming method
y Optimal design is automatically generated in
an iterative manner.

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 General Formulation of Optimal
p Design
g

1 Design Variables
1.
y Design Variables
(1) The mechanical or physical properties of the material
(2) The topology of the structure
(ex. pattern connection of members)
(3) The
Th configuration
fi ti or geometric
t i layout
l t off the
th structure
t t
(4) The cross-sectional dimensions or the member sizes

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2 Constrains
2. C t i
y Design
es g Co
Constrains
st a s
(1) Specified limitations on a design variable
(2) Relationship which fixes the relative value
of a group of design variables
ex) minimum slope of a roof structure,
structure maximum height
of a shell structure
y Behavior Constrains
(1) Constraints that derive from behavior requirements
ex) maximum stresses,
stresses displacements
displacements, buckling strength

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 y Static Behavior Constraints

[ K ]e {r }e = { R}e (1)
where
[ K ]e : element stiffness coefficients
{r}e : corresponding displacements
{ R}}e : element nodal forces

[ K ]{r } = { R} ((2))
where
[K ] : global stiffness matrix
{r } : vector of displacements
{R} : vector of externally applied forces
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y Consider Constraints on the Displacements {r }
{ r } − { r U } ≤ { 0} (3)

where
{ r U } : vector of upper bound

y Substituting from Eq
Eq. (3)

[ K ]−1 { R} − {r U } ≤ {0} (4)

[ K ]−1 : nonlinear function of design variable

[ K ]{r } = { R}

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y Consider the Stress Constraints

{σ } − {σ U } ≤ {0} (5)

Where
{σ } : vector of stresses
{σ U } : vector of specified allowed stress

{σ } = [ S ]{r } = [ S ][ K ] { R}
−1
(6)

[ S ][ K ]−1 { R} − {σ U } ≤ {0} (7)

−1
Because of the dependence on the inverse, [ K ] ,
the stresses are a nonlinear and implicit function
of the design variables
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 “ Example : 3 Bar Truss Structure
• Applied
pp loads : P1 = 20 P2 = 20
• Allowable stresses:
Tension (upper bound)
σ U = 20
Compression (lower bound)
σ L = −15 XL =0
• Lower bound on cross-
sectional areas (> 0)
y Design Variables : X1 , X 2

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 1. Design Constraints
g1 ≡ − X 1 ≤ 0
(8)
g2 ≡ − X 2 ≤ 0

2 Behavior (stress) Constraints

2.
g 3 ≡ σ 1 − 20 ≤ 0
g4 ≡ −σ 1 − 15 ≤ 0
g5 ≡ σ 2 − 20
0≤0
g6 ≡ −σ 2 − 15 ≤ 0 (9)

g7 ≡ σ 3 − 20 ≤ 0
g8 ≡ −σ 3 − 15 ≤ 0

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 The stresses are computed by Eq
Eq. (6)

⎧σ 1 ⎫ ⎡ 0.5 0.5⎤
⎪ ⎪ E ⎢ ⎥ ⎧ r1 ⎫
⎨σ 2 ⎬ = ⎢
0 1 ⎨ ⎬
⎥ ⎩ r2 ⎭ (10)
⎪σ ⎪ 100
⎩ 3⎭ ⎢⎣ − 0.5 0.5⎥⎦
{σ } [S] {r }

E ⎡ X1 0 ⎤ ⎧ r1 ⎫ ⎧ 20⎫ 1
⎨ ⎬=⎨ ⎬
100 2 ⎢⎣ 0 ⎥
X 1 + 2 X 2 ⎦ ⎩ r2 ⎭ ⎩ 20⎭ 2 (11)
[K ] { r } { R}

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 From Eq. (11)
⎡ 1 ⎤
⎧ r1 ⎫ 20 × 100 ⎢ X1 ⎥
⎨ ⎬ = (12)
⎩ r2 ⎭ E ⎢ 1 ⎥
⎣⎢ ( X 1 + 2 X 2 )⎥⎦

Substituting Eq. (10) into Eq. (12)

X2 + 2 2X
X1
σ 1 = 20
2 X 1 X 2 + 2 X 12
2X1
σ 2 = 20 (13)
2 X 1 X 2 + 2 X 12
X2
σ 3 = −20
2 X 1 X 2 + 2 X 12

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y σ 1 and σ 2 will always be positive, and σ 3 negative.

y Substituting Eq. (9) into Eq. (13)

20( X 2 + 2 X 1 )
σ 1 − 20 = − 20 ≤ 0
2X1 X 2 + 2X1 2

20 2 X 1 (14)
σ 2 − 20 = − 20 ≤ 0
2X1 X 2 + 2X1
2

20 X 2
− σ 3 − 15 = − 15 ≤ 0
2X1 X 2 + 2X1
2

Behavior Constraints

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 y Graphical Representation of Constraints

Design space and objective function contours

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 3. Objective Function

y There usually exists an infinite number of feasible

designs.
y The purpose to use objective function is to find
the best feasible design
design.
y The selection of an objective function can be one of
th mostt iimportant
the t td decisions
i i i the
in th whole
h l optimal
ti l
design process.

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 y Graphic of Constraints & Objective Function

X 1 = 0.788
X 2 = 0.410
min Z = 263.9

Design space and objective function contours

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 4. Mathematical Formulation
(1) Formulation in the Design Variables Space
y The general problem of optimal structural design can be
stated as one of choosing design and corresponding
behavior variables and the objective function is minimized.
minimized
y If the behavior of the structure can readily be computed,
the analysis equations can be excluded from the mathematical
formulation

g j ({ X }) ≤ 0 j = 1, 2K, m ( 5)
(15)
Z = F ({ X }) → min (16)

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 (2) The Integrated Problem Formulation

y We can formulate design problems so that the solution of

the analysis and the determination of the optimal design
occur at the same time.

g j ({ X }) ≤ 0 j = 1, 2K, m (17)
hj ({ X }) = 0 j = 1, 2K, k (18)
Z = F ({ X }) → min (19)

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(3) Formulation in the Behavior Variables Space
y We define the independent variables of the optimization
problem
bl as those
th which
hi h can be
b chosen
h independently
i d d tl
without violating the analysis equality constraints.
y IIn example
l we have
h t
two d
design
i variablesi bl ( X 1 , X 2) and
d five
fi
behavior variables( r1 , r2 ,σ 1 ,σ 2 , σ 3 ) and choose r1 and r2 as
independent variables,
variables then the remaining variables can
be determined for any given displacements.

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 100 1
Design X 1 = 20 (20)
E r1
variables 20 100 1 1
X2 = ( − ) (21)
2 E r2 r1
100 1
g1 ≡ −20 ≤0
E r1
20 100 1 1
g2 ≡ − ( − )≤0
2 E r2 r1
Constraints
E
g3 ≡ (0.5r1 + 0.5r2 ) − 20 ≤ 0
100 (22)
E
g4 ≡ r2 − 20 ≤ 0
100
E
g5 ≡ (0.5r1 − 0.5r2 ) − 15 ≤ 0
100
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 100 1 20 100 1 1
Z = 282.8 × 20 + 100 ( − ) → min (23)
E r1 2 E r2 r1

Di l
Displacement
t variables
i bl space
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