445

TECHNICAL UNIVERSITY OF CLUJ-NAPOCA

ACTA TECHNICA NAPOCENSIS

Series: Applied Mathematics, Mechanics, and Engineerin
Vol. 60, Issue IV, November, 2017

STUDY OF GRAVITATIONAL DISPLACEMENTS OF A MOBILE LOAD

ON ROPEWAY CABLE

Mircea ALAMOREANU, Andrei VASILESCU

Abstract: There are few publications which bring up the subject of the ropeway cable under moving in-
service load. Our main goal is to establish the so-called differential equation of a moving load on the
ropeway cable of a zip line entertainment facility. The unknown is its movement speed as a function of time,
but the direct integration of this equation is not possible. This impediment is bypassed by changing the
variable “time”, with the variable “angle” swept by the radius vector.
However, the new first order constant coefficient differential nonlinear equation can be easily solved. The
solution obtained was applied in a real case study and a comparative study is presented plotting speed
variation and acceleration of mobile load.
Key words: mobile load, steel wier rope, wind action, nonlinear differential equation, study case

1. INTRODUCTION approximates a parabola. This model will be

used and refined in this work.
The "catenary" is the curve assumed of a The purpose of the paper is to provide
flexible inextensible wire or chain with uniform designers an advanced model for design work.
density hanging freely from two fix points, acted Cable transport systems are usually in rugged
on by gravity. Finding out the equation of this mountain areas in the form of funiculars for
"chain-curve" is related to the beginning of transporting materials, cableways and cable
calculus. This problem has been launched by cranes. In contrast, for recreation, there are used
Jacob Bernoulli in 1690, first to Gottfried installations commonly called "zip-line" or
Leibniz, then to the scientific community. The "Tyrolean traverse" where the moving load
equation was obtained by Leibniz, Christiaan moves gravitationally based on the level
Huygens and Johann Bernoulli in 1691, in Acta difference between the departure and arrival
Eruditorum [1]. stations. The zip lines openings are usually
Nowadays, the emergence of high-strength lower than the ones mentioned above, rarely
materials, along with the expansion of cable exceeding one kilometer.
transport solutions, required increased need Zip-line particular problem is posed by
precision for design and exploitation, aimed at controlling and limiting the input speed of the
ensuring a high level of security. Geometric and mobile load in the downstream station
material nonlinearity, dynamic behavior and (destination). If this speed exceeds a certain
environmental conditions in operation value, a braking system is required whose price,
(temperature, wind) are permanent and ongoing compared to the price of the whole plant, is more
topics for researchers. An example is a recent than significant. On the contrary, if the
book that uses FEM in dynamic modeling, difference in level between the two stations is
starting from the constitutive equations and small, or if the cable is not stretched enough, the
taking into account the compressibility of the mobile load may not reach the arrival station,
chains or cables [2]. It is well known that a stopping on the way. The wind having the
stretched cable has an equilibrium shape that opposite travel direction increases this danger.
446

An approximate solution to the problem is is the aerodynamic drag coefficient; the rolling
considered the displacement of the load of the resistance, W= w·(Mg·cosα+Fc), w is the rolling
chord line corresponding to the carrier cable, to resistance coefficient; the active weight of
be identical to the movement on the incline mobile load, M·g·sinα; the inertial force (or
plane. Taking into account the aerodynamic drag dynamic resistance), Fi=M·a.
resistance, the problem is mathematically The equilibrium equation of forces in the
formalized by a Riccati differential equation, direction of the tangent to the trajectory, after the
whose analytical solution could be found [3]. forces are replaced by their expressions takes the
In relation to the inclined plane displacement form
having a constant base angle, the displacement M ⋅ v2
on the curve of the carrier rope (approximated M ⋅ v& + ka ⋅ v 2 + w ⋅ =
ρ (2)
by a parabola) has a variable slope. This is the
difficulty of the problem whose approach and = M ⋅ g ⋅ (sin α − w ⋅ cos α )
solution are presented in this paper. If we divide (2) by M and denote
ka w
k= + (3)
2. DIFFERENTIAL EQUATION OF M ρ
MOTION then we get
v& + k ⋅ v 2 = ( sin α − w ⋅ cos α ) g (4)
The differential equation of motion results
The difficulty of approaching this equation is
from the dynamic equilibrium condition of the
that it contains two unknown functions of time,
moving load on an infinitesimal element of its
namely v (load velocity), and α (angle of the
trajectory curve ds (Fig. 1). This is an equation
tangent to the trajectory). It is possible to
of a parabola [4]:
overcome this difficulty taking as the
y ( x ) = f x − x ⋅ tg β =
independent variable the radius vector angle φ to
x (l − x )  q 2Q  (1) the horizontal, as shown in Figure 2.
=  +  − x ⋅ tg β
2 H  cos β l  The two angles α and φ are complementary
where: q is the distributed load from the weight α = 0,5π − ϕ (5)
of the carrier cable; Q is the mobile load, H - the In what concerns the expression of the velocity
horizontal tension component of the cable, and depending on the angle φ, it is based on
fx it is his sag; the other notations result from the relationship
figure. dv dv dϕ dv
Forces in dynamic equilibrium are: the load due v& = = ⋅ = ⋅ω =
dt dϕ dt dϕ
to the mobile payload, G=Mg in which: M is the (6)
1 d (v )
2
mass of the load, and g is the gravitational dv v
= ⋅ = ⋅
acceleration; the centrifugal force, FC=M·v2/ρ dϕ ρ 2 ρ d ϕ
where: v is the instantenous speed of the where ω represents instantaneous angular
displacement, and ρ - the radius of curvature of velocity. Thus (1) becomes
the trajectory at the considered point; the nor-

Fig. 1. The forces acting on the mobile load

mal reaction of the carrier cable, N; the Fig. 2. The geometric scheme of the carrier cable
aerodynamic drag resistance force, Fa=ka·v2, ka
 447

1 d 2 By making appropriate calculations and

⋅
2 ρ dϕ
( )
v + k ⋅ v 2 = ( cos ϕ − w ⋅ sin ϕ ) ⋅ g grouping terms is obtained
  n (ϕ0 −ϕ )
sin ϕ0  + 
If we use the notation 2 ρ g (1 − nw ) sin ϕ − e  
2ρ ⋅ k = n (7) u (ϕ ) = 2  
n + 1 + ( n + w ) cos ϕ − e 0 cos ϕ  
n ( ϕ −ϕ )
we get the final form of the motion equation   0 
whose unknown is v(α) and
d v (ϕ ) = u (ϕ ) (13)
dα
( v 2 ) + n ⋅ v 2 = 2 ρ g ⋅ ( cos ϕ − w ⋅ sin ϕ ) (8)
The expression of acceleration results from the
derivation of u(φ). Indeed:
3. SOLUTION OF THE EQUATION OF dv dv dϕ dv
MOTION a(t ) = = ⋅ = ⋅ω =
dt dϕ dt dϕ
(14)
Based on the following substitution dv v 1 d (v 2 ) 1 du
= ⋅ = ⋅ = ⋅
u = v2 (9) dϕ ρ 2 ρ dϕ 2 ρ dϕ
Equation (8) is transformed into a first-order Thus
nonhomogeneous differential equation   n (ϕ0 −ϕ )
sin ϕ0  − 
du g (1 − nw ) ⋅ cos ϕ + ne 
+ n ⋅ u = 2 ρ g ( cos ϕ − w ⋅ sin ϕ ) (10) a(ϕ ) = 2  
dϕ n + 1 − ( n + w ) sin ϕ − ne n (ϕ0 −ϕ )
cos ϕ  
  0  
An analytical solution to this equation is The distance covered is obtained in the form
probably impossible, or at least very difficult to s = R (ϕ1 − ϕ0 ) (15)
find solution because the radius of curvature of
the trajectory that is not constant, appears both and it corresponds to the length of the circle arch
in the expression of n (implicitly), and explicit that approximates the parabola. The real
in the right-hand member. Therefore, an distance is the length of the parabolic arc, and it
approximate solution is proposed, assuming can be calculated by knowing the expression (1)
of the trajectory of the moving load.
ρ (α ) ct = R (11)
Finally, the time for which the trajectory is
This equates to the approximation of the traveled by the mobile load can be determined as
parabolic trajectory of the load with a circular follows:
one. This approximation results in a lower error ds ρ ⋅ dϕ ρ ⋅ dϕ
as the carrier cable is stretched and therefore has v(t ) = = ⇒ dt = (16)
dt dt v
a greater radius of curvature, which corresponds ϕ1
ρ ⋅ dϕ
to the usual installations. The case study in the tp = ∫ (17)
following paragraph offers more clarification on ϕ0 v (ϕ )
this point.
The general solution of equation (10) is the 4. EFFECTS OF WIND ACTION
sum of the general solution of the homogeneous
equation and the particular solution of the whole Wind action in the direction of movement
nonhomogeneous equation. increases the speed of the mobile load and
u (ϕ ) = uo (ϕ ) + u p (ϕ ) = reduces it, if it acts in the opposite direction. In
2ρ g this way it produces a transport movement at
Ce − nϕ + (1 − nw ) sin ϕ − ( n + w ) cos ϕ  speed ±vv.
n2 + 1 
At the same time, the aerodynamic drag
The constant C is now determined by applying
resistance force is proportional to the square of
initial conditions: at the time t = 0, the initial
the relative velocity, namely v±vv and the
velocity v(0) = 0 and the angle φ = φ0. Based on
centrifugal force is proportional to the square of
(9), results
the absolute velocity v.
u (0) = 0 Finally, if the wind speed vv is assumed to be
 (12)
 ϕ = ϕ0 constant, the acceleration is
448

dv dt = d ( v m vv ) = v& points of the carrier cable have the coordinates

A(0,0) and B(391m, 51m).
and does not depend on the wind.
(b) The tangent to the circle at the starting point
Therefore the second term of (2) must be
of the mobile load has the same slope with the
replaced by
parabolic trajectory. We have obtained the
ka ⋅ (v m vv )2 results: R = 3966m, xC = 707,86m and yC = -
By developing the square of relative velocity, 3903m.
it appears an additional term in v, as well as In order to highlight the influence of cable
another term in vν2 . tension, it was also considered the situation H1
Appling substitution (9), the resulting ≅H/2=21050N, the other data remaining
differential equation is non-linear. The problem unchanged. The results are presented as graphs
can be solved by neglecting the effect of of variation with the angle φ of velocity and
centrifugal force because it is negligible acceleration of the mobile load.
compared to the normal component of the The following Figures 3 and 4 will be
payload Mgcosα. In this case, (8) retains its commented comparatively, considering the
shape (instead of v it will be v±vv). Also the moving of the mobile load on the rectilinear
solution (13) thereof are maintained. trajectory (on the real parabola string).
Thus: Studying the allure of the graphs in Figures 3a
and 3b, we can observe:
v m vv = u wherefrom v = u ± vv (18)
1. The speed of the mobile load increases up
which means that the wind provides the to a certain maximum value on the steeper
transport component of the absolute velocity. portion of the trajectory, then decreases on the
less steep portion.
5. CASE STUDY 2. Reducing the tension of the carrier cable
leads to an increase in its sag, and the maximum
The case study highlights the conclusions of speed value increases (Fig. 3b). This is in
using the mathematical formalism above, which agreement with the increase of the downward
led to the solution (13), compared to the solution trajectory slope, but the final speed of the mobile
deduced from the simplified model of moving load (the input speed thereof at the arrival
the mobile load on the real trajectory [3]. We station) is reduced. The reduction is from
will use the data of the planned installation to be 10,714m/s to 8,062m/s, i.e. around 20% when
installed in the Buzau locality in the tourist the horizontal component of tension in the cable
traveling zone “Vulcanii Noroioşi” (translated: is halved and its maximum sag doubles. This
“Mud Volcaneous”) in Romania, for which: the second observation also indicates the path of
opening of the carrier cable: L=391m; the drop: reducing the input speed of the mobile load at
∆h=51m; the payload: Q=125kg; the linear mass the arrival station: relaxing the initial tension of
of the cable: m=0,48kg/m; the cable sag the carrier cable.
(horizontal tension) at the ambient temperature
of θ=8°C: H=42277N; the air density at the 15
average altitude at wich the installation is 13.172
located ρH=1,182kg/m3; the travel resistance
coefficient w=0,025 N/N; the exposed aria of 10

mobile load A=1,2m2 and the aerodynamic v( φ)

coefficient of the mobile load ca=1,1. 5
The radius of the circle that approximates the
trajectory of the moving load, and the 0.643
0
coordinates of its center, were determined in the 1.4 1.45
following conditions: 1.391 φ 1.491
(a) The circle passes through the start anchor Fig. 3a: Graph of variation of mobile load speed in the
and end anchor of the carrier cable. The two link assumption H=42277N
 449

15 15
14.317 12.818

10 10
v1( φ) v( t)
5 5

0.747
0 0
1.4 1.5 0
0 20 40 60
1.342 φ 1.543
0 t 60
Fig. 3b. Graph of variation of mobile load speed in the
Fig. 5a. Graph of variation of mobile load speed in the
assumption H=21050N
simplified theory (movement of the mobile load on the
string of the real trajectory).
In the real case, the speed goes through a
maximum, but the movement is not stabilize at
this value; the speed decreases as the trajectory 1.026
1.5

slope decreases as the mobile load approaches

the arrival station (Fig. 3a). 1
In what concerns the acceleration graph (Fig. a( t )
4a), it shows a monotonic decrease in
acceleration, and also highlights where it has 0.5

been canceled and then becomes negative.

−3
9.738×10
2 0
0 10 20 30
1.509
0 t 37.74
1.5
Fig. 5b. Graph of variation of mobile load acceleration
1 in the simplified theory (movement of the mobile load on
a ( φ)
the string of the real trajectory).
0.5

0 The velocity graph in the simplified theory

− 0.185
− 0.5 (movement of the mobile load on the real
1.4 1.45
trajectory), reveals that mobile load speed
φ0 φ φ1
increases continuously with time and tends to a
Fig. 4a. Graph of variation of mobile load acceleration in limit determined by the aerodynamic drag
the assumption H=42277N (Fig. 5a). In what concerns the maximum speed
1.984
2
it is found to be higher than in the case of
movement on the arc of curve, than the
1 movement on the chord. This can be explained
a1( φ)
by the fact that at the starting, the angle of the
tangent to the trajectory is greater than the angle
0
of the chord.
− 0.376
−1
6. CONCLUSIONS
1.4 1.5
φ10 φ φ11
1. The change of variable (6) has solved the
problem of determining the kinematic quantities
Fig. 4b. Graph of variation of mobile load acceleration in
the assumption H=21050N
of the gravitational displacement of the loads on
carrier cables. This variable change was made
In the simplified theory, the acceleration does according to the position on the trajectory, not
not take negative values, but only tends to zero by time. We believe this is the idea that this work
if the trajectory is long enough for the speed to is desirable.
reach the limit value.
450

2. The obtained solution (13) and (14) 5. It is expected that, due to the energy
substantially improves the solution based on the consumption to overcome the friction between
consideration of the load displacement on the the carrier cable due to its local bending under
actual trajectory, both as an allure of varying the load weight, the speeds and the acceleration
aspect, as well as the resulting values. of the displacement of the load will be somewhat
3. In addition, we can make a very useful computing tool that has been lacking so far, at
comment for the designer. As long as it results: least according to our knowledge.
u(φ1) in a positive value, the input speed of the 6. We think, therefore, that the designers of
mobile load at the arrival station results in a real such cableway facilities, have been provided
value; if u(φ1) = 0 it results that the mobile load with the computing tool that has been lacking so
stops by itself at the arrival station, and if far, at least according to our knowledge.
u(φ1) < 0, an imaginary value is obtained for the
input speed at the arrival station, meaning that 7. REFERENCES
the mobile load stops on the way, before it
arrives at the station of arrival. [1] Bernoulli, Johhan., “Solutio problematis
Then, of course, the load will move back to funicularii”, Acta Eruditorum, Leipzeig,
the point where the trajectory has the minimum (Lipsiae), pp. 274-282, 1691.
quota. Therefore, the solution is likely to signal [2] Oproescu, G., “Dinamica firelor. Modelare
the wrong design. si experiment”. IMPULS Publishing
4. The solution obtained is not accurate, at House, ISBN 978-973-8132-85-6,
least in theory, as it assumes that the radius of Bucharest, 2015.
curvature of the trajectory is constant, so that the [3] Alamoreanu, M., Vasilescu, A., “Theoreti-
trajectory of the load is a circle arc. cal Aspects of Zip Line Analysis”,
However, given the large radius of curvature Proceedings of VIII Triennial
as well as the conditions considered in International Conference “Heavy
establishing this circle, the solution offers a high Machinery HM 2014”, Milomiг Gašić
degree of accuracy, as can be seen from the (Ed.), pp. A 131-136, ISBN 978-86-
qualitative interpretations and comments made 826З1-74-3, Zlatibor, Serbia, June 2014,
on the case study. Faculty of Mechanical and Civil
The deviation of the circle from the parabolic Engineeгing, Kraljevo.
trajectory (1) can be evaluated by plotting the [4] Barat, I.E., Plavinskii, V.I., “Kabelnâe
two curves on the same graph. In the case study kranâ”, Iz. “Maşinostroenie”, Moskva,
considered this deviation is approx. 30mm, that 1964.
it is 0.6% from the maximum sag equals 5m.

Studiul deplasării gravitaţionale a sarcinilor pe cabluri purtătoare

În lucrare se stabileşte ecuaţia diferenţială a mişcării sub acţiunea gerutăţii proprii a sarcinilor pe cabluri purtătoare,
având ca necunoscută viteza de deplasare a acesteia ca funcţie de timp. Integrarea directă a acestei ecuaţii nu este posibilă.
Dificultatea a fost ocolită prin trecerea de la variabila timp la variabila unghi al razei vectoare. Astfel, prin considerarea
în primă aproximaţie că raza de curbură a traiectoriei sarcinii nu variază, s-a reuşit reducerea ecuaţiei la o ecuaţie
diferenţială de ordinul întâi cu coeficienţi constanţi care a fost rezolvată cu uşurunţă. Soluţia a fost aplicată într-un studiu
de caz real al unei de instalații de agrement (tiroliene); au fost reprezentate grafic variaţiile vitezei şi a acceleraţiei sarcinii
mobile, care au fost interpretate comparativ cu cazul simplificat a deplasării sarcinii pe coarda traectoriei reale, des utilizat
în practica inginerească. Acest studiu a prilejuit unele comentarii, interpretări şi concluzii de interes practic.

Mircea ALAMOREANU, Ph.D., Professor, Technical University of Civil Engineering Bucharest,

Department of Construction Equipments and Mechatronics, e-mail: [email protected], Office
Phone: +40213158200, 59 Calea Plevnei, Bucharest 1, CP 010223, ROMANIA
Andrei VASILESCU, Ph.D., Professor, Technical University of Civil Engineering Bucharest,
Depatment of Structural Mechanics, e-mail: [email protected], Office Phone:
+40212421208, 122-124 Blv. Lacul Tei, Bucharest 2, CP 020396, ROMANIA