How to add sub-menu to a menu generated by wp_nav_menu by using plugin

You can modify your menu by using walker.

include('subMenu.php');
$menu =  wp_nav_menu( array('menu' => 'YOUR-MENU-NAME','menu_class' => 'megamenu','walker' => new subMenu));

create a file subMenu.php in theme folder add below code.

<?php
class subMenu extends Walker_Nav_Menu {
    function end_el(&$output, $item, $depth=0, $args=array()) {

    if( 'Item 3' == $item->title ){
        $output .= '<ul class="sub-menu">
        <li class="menu-item" id="menu-item-48"><a href="http://www.example.com/child1.com">child 1</a></li>
        <li class="menu-item" id="menu-item-49"><a href="http://www.example.com/child2.com">child 2</a></li>
        <li class="menu-item" id="menu-item-50"><a href="http://www.example.com/child3.com">child 3</a></li>
        </ul>';
    }
    $output .= "</li>\n";  
    }
}