Nonlinear dynamics of imperfectly-supported pipes conveying fluid

In this paper, the nonlinear dynamics of a pipe imperfectly supported at the upstream end and free at the other and conveying fluid is investigated. The imperfect support is modelled via cubic translational and rotational springs. The equation of motion is obtained via Hamilton’s principle for an open system, and the Galerkin method is used for discretizing the resulting partial differential equation. The dynamics of a system with either strong rotational or strong translational stiffness is examined in details. Numerical results show that similarly to a cantilevered pipe, the system undergoes a supercritical Hopf bifurcation leading to period-1 limit cycle oscillations. The Hopf bifurcation may, however, occur at a much lower flow velocity compared to the perfect system. At higher flow velocities, quasi-periodic and chaotic-like motions may be observed. The amplitude of transverse displacement is generally much higher than that for a cantilevered pipe, mainly due to large-amplitude rigid-body motion. In addition, effects of the mass ratio, internal dissipation, hardening- or softening-type nonlinearity, as well as concentrated- or distributed-type nonlinearity on the dynamics of the system are examined.     

HOPF BIFURCATION OF A NONLINEAR RESTRAINED CURVED PIPE CONVEYING FLUID BY DIFFERENTIAL QUADRATURE METHOD

This paper proposes a new method for investigating the Hopf bifurcation of a curved pipe conveying fluid with nonlinear spring support. The nonlinear equation of motion is derived by forces equilibrium on microelement of the system under consideration. The spatial coordinate of the system is discretized by the differential quadrature method and then the dynamic equation is solved by the Newton-Raphson method. The numerical solutions show that the inner fluid velocity of the Hopf bifurcation point of the curved pipe varies with different values of the parameter,nonlinear spring stiffness. Based on this, the cycle and divergent motions are both found to exist at specific fluid flow velocities with a given value of the nonlinear spring stiffness. The results are useful for further study of the nonlinear dynamic mechanism of the curved fluid conveying pipe.     

分布式运动约束下悬臂输液管的参数共振研究

输液管道结构在航空、航天、机械、海洋、水利和核电等工程领域都有广泛应用,其稳定性、振动与安全评估备受关注.针对具有分布式运动约束悬臂输液管的非线性动力学模型,分别采用立方非线性弹簧和修正三线性弹簧来模拟运动约束的作用力,研究了管道在脉动内流激励下的参数共振行为.首先,从输液管系统的非线性控制方程出发,利用Galerkin方法进行离散化;然后,由Floquet理论得出线性系统在失稳前两个不同平均流速下脉动幅值和脉动频率变化时的共振参数区域;最后,考虑系统的几何非线性项和分布式非线性运动约束力的影响,求解了管道的非线性动力学响应,讨论了非线性项及运动约束力对管道参数共振行为的影响.研究结果表明,系统非线性共振响应的参数区域与线性系统的共振参数区域是一致的,分布式运动约束力对发生参数共振时管道的位移响应有显著影响;立方非线性弹簧和修正三线性弹簧模型所预测的分岔路径存有较大差异,但都可诱发管道在一定的参数激励下出现混沌运动.      

Dynamics of cantilevered pipes conveying fluid. Part 1: Nonlinear equations of three-dimensional motion

In a three-part study, the first part being this paper, the investigation of the three-dimensional nonlinear dynamics of unrestrained and restrained cantilevered pipes conveying fluid is undertaken. The full derivation of the equations of motion in three dimensions for the plain cantilevered pipe is presented first in this paper, using a modified version of Hamilton's principle, adapted for an open system. Intermediate (between the clamped and free end) nonlinear spring constraints are then incorporated into the equations of motion via the method of virtual work. Furthermore, a point mass fixed at the free end of the pipe is also added to the system. The equations of motion are presented in dimensionless form and then discretized with Galerkin's method.     

A parametric study on nonlinear flow-induced dynamics of a fluid-conveying cantilevered pipe in post-flutter region from macro to micro scale

A mathematical formulation is proposed to investigate the nonlinear flow-induced dynamic characteristics of a cantilevered pipe conveying fluid from macro to micro scale. The model is developed by using the extended Hamilton's principle in conjunction with the inextensibility condition and laminar and turbulent flow profiles as well as modified couple stress theory. The current model is capable of recovering the classical model of cantilevered pipe conveying fluid by neglecting the couple stress effect. The governing equation of motion is presented in dimensionless form in a convenient and usable manner. To solve the problem at hand, the integro-partial-differential equation of motion is discretized into a set of ordinary differential equations via Galerkin method. Afterward, a Runge–Kutta's finite difference scheme is employed to evaluate the nonlinear dynamic response of the cantilevered pipe conveying fluid. A parametric study is carried out to examine the influences of mass parameter and dimensionless mean flow velocity on the nonlinear dynamic characteristics of the cantilevered pipe conveying fluid in post-flutter region. The role of size-dependency in the nonlinear behavior of pipe is explored by converting the new set of dimensionless parameters into the conventional one. Eventually, some convergence studies are performed to indicate the reliability of present results.     

Nonlinear dynamics of cantilevered pipes conveying fluid: Towards a further understanding of the effect of loose constraints

The nonlinear dynamics of a fluid-conveying cantilevered pipe with loose constraints placed somewhere along its length is investigated. The main objective of this study is to determine the effects of several geometrical and physical parameters of the loose constraints on the characteristics and behavior of pipes conveying fluid. Based on the full nonlinear equation of motion, the dynamical behavior of the pipe system is investigated. Phase portraits and bifurcation diagrams are constructed for a selected set of system parameters. Typical results are firstly compared to numerical ones reported previously and excellent agreement is obtained. Then, the threshold flow velocities for several key bifurcations including pitchfork, period doubling, chaos, and sticking behaviors are predicted, showing that in many cases, the gap size, stiffness, and asymmetry of the loose constraints have remarkable effects on the nonlinear responses of the cantilevered pipe conveying fluid. For a pipe system with small/large constraint gap sizes, small constraint stiffness, or large constraint offset, some of the complex dynamical behaviors including chaos and period-doubling bifurcations would disappear, at least in the flow velocity range of interest.     

接地惯容式减振器对悬臂输流管稳定性和动态响应的影响研究

输流管道广泛应用于机械、航空、核电和石油等重要工程领域.为防止管道结构因流致振动破坏造成的损失, 很有必要对其稳定性、动力学响应及其调控进行深入研究.本文提出一种由惯容器、弹簧和阻尼器并联组成的减振器模型, 研究了这种接地惯容减振器对悬臂输流管稳定性和非线性振动的影响. 首先, 基于哈密顿原理给出了带有接地惯容减振器非保守系统的非线性动力学模型; 然后, 利用高阶伽辽金方法对非线性方程进行离散化; 最后, 分别从线性和非线性角度分析了不同减振器参数下输流管道的被动控制效果, 着重讨论了惯容系数和减振器安装位置对悬臂管稳定性和动态响应的影响机制.线性理论模型的研究结果显示, 接地惯容减振器可显著影响悬臂管的失稳临界流速, 故通过调节减振器参数能有效提高输流管道的稳定性;惯容系数和弹簧刚度对系统稳定性的控制效果还与减振器的安装位置密切相关.非线性理论模型的分析结果显示, 惯容系数和减振器位置对输流管的非线性动态响应也有显著影响, 且这种影响还依赖于管道的流速取值; 在某些参数条件下, 减振器还可使输流管道由周期运动演化为复杂的混沌行为. 本文研究结果表明, 通过设计合理的惯容式减振器参数, 可提升悬臂输流管道的稳定性并有效抑制其颤振幅值.      

Nonlinear dynamics of extensible viscoelastic cantilevered pipes conveying pulsatile flow with an end nozzle

Nonlinear dynamics of an extensible cantilevered pipe conveying pulsating flow is considered in this paper. The fluid flow fluctuates harmonically and exhausts via a nozzle attached to the end of the pipe. Taking into account the extensibility assumption, the coupled nonlinear lateral–longitudinal equations of motion are derived using Hamilton's principle and discretized via Galerkin's method. The adaptive time step Adams algorithm is applied to extract the time response, and then the bifurcation, power spectral density and phase plane maps are plotted for some case studies. Effects of some geometrical parameters such as flow mass, pulsating flow frequency, gravity, nozzle mass and nozzle aspect ratio parameters are studied on the dynamics of such system and the validity of extensibility assumption is investigated and some conclusions are drawn.     

Stability analysis of viscoelastic curved pipes conveying fluid

Based on the Hamilton' s principle for elastic systems of changing mass, a differential equation of motion for viscoelastic curved pipes conveying fluid was derived using variational method, and the complex characteristic equation for the viscoelastic circular pipe conveying fluid was obtained by normalized power series method. The effects of dimensionless delay time on the variation relationship between dimensionless complex frequency of the clamped-clamped viscoelastic circular pipe conveying fluid with the Kelvin-Voigt model and dimensionless flow velocity were analyzed. For greater dimensionless delay time, the behavior of the viscoelastic pipe is that the first, second and third mode does not couple, while the pipe behaves divergent instability in the first and second order mode, then single-mode flutter takes place in the first order mode.     

参-强激励联合作用下输流管的分岔和混沌行为研究

研究输送脉动流的两端固定输流管道在其基础简谐运动激励下的分岔和混沌行为,考虑管道变形的几何非线性和管道材料的非线性因素,推导了系统的非线性运动方程,并应用Galerkin方法对其进行了离散化处理。通过采用数值模拟方法,对系统的运动响应进行仿真,重点探讨了流体平均流速、流速脉动振幅以及基础简谐运动激励振幅对系统动态特性的影响。结果表明,系统在不同的参数下会发生围绕不同平衡点的周期和混沌等运动,并在系统中发现了两条通向混沌运动的途径:倍周期分岔和阵发混沌运动。     

具有刚性间隙约束输流管的碰撞振动

管道与间隙约束间的碰撞振动是工程输流管结构的一个重要动力学现象. 迄今,人们通常采用光滑的非线性弹簧来模拟管道与间隙约束之间的碰撞力,但这种光滑的碰撞力无法真实反映碰撞前后管道状态向量的非光滑传递特征. 本文基于非光滑理论建立了具有刚性间隙约束简支输流管的非线性碰撞振动模型,利用 Galerkin 法离散了无穷维的管道模型, 并引入恢复系数构造了碰撞前后管道各处状态向量的传递矩阵,运用四阶龙格库塔法分析了脉动内流激励下管道与刚性间隙约束的非光滑碰撞振动现象,着重讨论了刚性间隙约束参数对管道动态响应随流速脉动频率变化的影响规律,特别是碰撞振动的周期性运动规律. 研究结果表明,刚性约束间隙值对管道碰撞振动行为的影响较大,在某些脉动频率下管道会出现多周期和非周期性的运动形态,还可出现非光滑系统特有的黏滑现象. 此外,碰撞恢复系数对管道振动的影响也比较显著,较小的恢复系数值更容易使管道在大范围脉动频率区间出现复杂的非周期碰撞振动.      

Dynamic stability of a pipe conveying fluid with an uncertain computational model

This paper deals with the problem of a pipe conveying fluid of interest in several engineering applications, such as micro-systems or drill-string dynamics. The deterministic stability analysis developed by Paidoussis and Issid (1974) is extended to the case for which there are model uncertainties induced by modeling errors in the computational model. The aim of this work is twofold: (1) to propose a probabilistic model for the fluid–structure interaction considering modeling errors and (2) to analyze the stability and reliability of the stochastic system. The Euler–Bernoulli beam model is used to model the pipe and the plug flow model is used to take into account the internal flow in the pipe. The resulting differential equation is discretized by means of the finite element method and a reduced-order model is constructed from some eigenmodes of the beam. A probabilistic approach is used to model uncertainties in the fluid–structure interaction. The proposed strategy takes into account global uncertainties related to the noninertial coupled fluid forces (related to damping and stiffness). The resulting random eigenvalue problem is used to analyze flutter and divergence unstable modes of the system for different values of the dimensionless flow speed. The numerical results show the random response of the system for different levels of uncertainty, and the reliability of the system for different dimensionless speeds and levels of uncertainty.     

VIBRO-IMPACT DYNAMICS OF PIPE CONVEYING FLUID SUBJECTED TO RIGID CLEARANCE CONSTRAINT 1)

管道与间隙约束间的碰撞振动是工程输流管结构的一个重要动力学现象. 迄今,人们通常采用光滑的非线性弹簧来模拟管道与间隙约束之间的碰撞力,但这种光滑的碰撞力无法真实反映碰撞前后管道状态向量的非光滑传递特征. 本文基于非光滑理论建立了具有刚性间隙约束简支输流管的非线性碰撞振动模型,利用 Galerkin 法离散了无穷维的管道模型, 并引入恢复系数构造了碰撞前后管道各处状态向量的传递矩阵,运用四阶龙格库塔法分析了脉动内流激励下管道与刚性间隙约束的非光滑碰撞振动现象,着重讨论了刚性间隙约束参数对管道动态响应随流速脉动频率变化的影响规律,特别是碰撞振动的周期性运动规律. 研究结果表明,刚性约束间隙值对管道碰撞振动行为的影响较大,在某些脉动频率下管道会出现多周期和非周期性的运动形态,还可出现非光滑系统特有的黏滑现象. 此外,碰撞恢复系数对管道振动的影响也比较显著,较小的恢复系数值更容易使管道在大范围脉动频率区间出现复杂的非周期碰撞振动.     

Dynamic Stability of a Fluid-Coveying Cantilevered Pipe on an Additional Combined Support

Based on an analytical study, a numerical analysis is made of the dynamic stability of a cantilevered steel pipe conveying a fluid. The pipe is modeled by a beam restrained at the left end and supported by a special device (a rotational elastic restraint plus a Q-apparatus) at the right end. The numerical analysis reveals that the critical velocity of the fluid depends on the governing parameters of the problem such as the ratio of the fluid mass to the pipe mass per unit length and the rotational elastic constant at the right end     

Stabilization of a cantilever pipe conveying fluid using electromagnetic actuators of the transformer type

The article presents an investigation of the stabilization of a cantilever pipe discharging fluid using electromagnetic actuators of the transformer type. With the flow velocity reaching a critical value, the straight equilibrium position of the pipe becomes unstable, and self-excited lateral vibrations arise. Supplying voltage to the actuators yields two opposite effects. First, each of the actuators attracts the pipe, thus introduces the effect of negative stiffness which destabilizes the middle equilibrium. Second, lateral vibrations change the gap in magnetic circuits of the actuators, which leads to oscillations of magnetic field in the cores and the electromagnetic phenomena of induction and hysteresis that impede the motion of the pipe. The combination of these two non-linear effects is ambiguous, so the problem is explored both theoretically and experimentally. First, a mathematical model of the system in form of a partial differential equation governing the dynamics of the pipe coupled with two ordinary differential equations of electro-magnetodynamics of the actuators is presented. Then, the equation of the pipe’s dynamics is discretized using the Galerkin procedure, and the resultant set of ordinary equations is solved numerically. It has been shown that the overall effect of actuators action is positive: the critical flow velocity has been increased and the amplitude of post-critical vibrations reduced. These results have been validated experimentally on a test stand.

     

Nonlinear dynamics of functionally graded pipes conveying hot fluid

For improved stability of fluid-conveying pipes operating under the thermal environment, functionally graded materials (FGMs) are recommended in a few recent studies. Besides this advantage, the nonlinear dynamics of fluid-conveying FG pipes is an important concern for their engineering applications. The present study is carried out in this direction, where the nonlinear dynamics of a vertical FG pipe conveying hot fluid is studied thoroughly. The FG pipe is considered with pinned ends while the internal hot fluid flows with the steady or pulsatile flow velocity. Based on the Euler–Bernoulli beam theory and the plug-flow model, the nonlinear governing equation of motion of the fluid-conveying FG pipe is derived in the form of the nonlinear integro-partial-differential equation that is subsequently reduced as the nonlinear temporal differential equation using Galerkin method. The solutions in the time or frequency domain are obtained by implementing the adaptive Runge–Kutta method or harmonic balance method. First, the divergence characteristics of the FG pipe are investigated and it is found that buckling of the FG pipe arises mainly because of temperature of the internal fluid. Next, the dynamic characteristics of the FG pipe corresponding to its pre- and post-buckled equilibrium states are studied. In the pre-buckled equilibrium state, higher-order parametric resonances are observed in addition to the principal primary and secondary parametric resonances, and thus the usual shape of the parametric instability region deviates. However, in the post-buckled equilibrium state of the FG pipe, its chaotic oscillations may arise through the intermittent transition route, cyclic-fold bifurcation, period-doubling bifurcation and subcritical bifurcation. The overall study reveals complex dynamics of the FG pipe with respect to some system parameters like temperature of fluid, material properties of FGM and fluid flow velocity.     

Experimental investigation of dynamic stability of a cantilever pipe aspirating fluid

The dynamic stability of a submerged cantilever pipe conveying fluid from the free end to the fixed one is considered as one of the unresolved issues in the area of fluid–structure interaction. There is a contradiction between theoretical predictions and experiments. Reported experiments did not show any instability, while theory predicts instability beyond a critical fluid velocity. Recently, several papers appeared, improving the theoretical modelling of pipe dynamics. All theories predict instability, either oscillatory or static, referred to here as flutter and divergence, respectively. A new test set-up was designed to investigate the hypothesis that previous experimental set-ups could not allow observations of pipe instability or the pipe aspirating water is unconditionally stable. In this new test set-up, the fluid velocity could exceed the theoretically predicted critical velocities. A cantilever pipe of about 5 m length was partly submerged in water. The free open end of the pipe was in the water, whereas the fixed end was above the waterline. The experiments clearly showed that the cantilever pipe aspirating water is unstable beyond a critical velocity of water convection through the pipe. Below this velocity the pipe is stable, whereas above it the pipe shows a complex motion that consists of two alternating phases. The first phase is a nearly periodic orbital motion with maximum amplitude of a few pipe diameters, whereas the second one is a noise-like vibration with very small amplitudes. Increasing the internal fluid velocity results in a larger amplitude of the orbital motion, but does not change the pipe motion qualitatively.     

A further study on the non-linear dynamics of simply supported pipes conveying pulsating fluid

In this paper, the non-linear dynamics of simply supported pipes conveying pulsating fluid is further investigated, by considering the effect of motion constraints modeled as cubic springs. The partial differential equation, after transformed into a set of ordinary differential equations (ODEs) using the Galerkin method with N=2, is solved by a fourth order Runge-Kutta scheme. Attention is concentrated on the possible motions of the system with a higher mean flow velocity. Phase portraits, bifurcation diagrams and power spectrum diagrams are presented, showing some interesting and sometimes unexpected results. The analytical model is found to exhibit rich and variegated dynamical behaviors that include quasi-periodic and chaotic motions. The route to chaos is shown to be via period-doubling bifurcations. Finally, the cumulative effect of two non-linearities on the dynamics of the system is discussed.     

Non-planar responses of cantilevered pipes conveying fluid with intermediate motion constraints

In this paper, the nonlinear responses of a loosely constrained cantilevered pipe conveying fluid in the context of three-dimensional (3-D) dynamics are investigated. The pipe is allowed to oscillate in two perpendicular principal planes, and hence its 3-D motions are possible. Two types of motion constraints are considered. One type of constraints is the tube support plate (TSP) which comprises a plate with drilled holes for the pipe to pass through. A second type of constraints consists of two parallel bars (TPBs). The restraining force between the pipe and motion constraints is modeled by a smoothened-trilinear spring. In the theoretical analysis, the 3-D version of nonlinear equations is discretized via Galerkin’s method, and the resulting set of equations is solved using a fourth-order Runge–Kutta integration algorithm. The dynamical behaviors of the pipe system for varying flow velocities are presented in the form of bifurcation diagrams, time traces, power spectra diagrams and phase plots. Results show that both types of motion constraints have a significant influence on the dynamic responses of the cantilevered pipe. Compared to previous work dealing with the loosely constrained pipe with motions restricted to a plane, both planar and non-planar oscillations are explored in this 3-D version of pipe system. With increasing flow velocity, it is shown that both periodic and quasi-periodic motions can occur in the system of a cantilever with TPBs constraints. For a cantilevered pipe with TSP constraints, periodic, chaotic, quasi-periodic and sticking behaviors are detected. Of particular interest of this work is that quasi-periodic motions may be induced in the pipe system with either TPBs or TSP constraints, which have not been observed in the 2-D version of the same system. The results obtained in this work highlight the importance of consideration of the non-planar oscillations in cantilevered pipes subjected to loose constraints.     

Internal resonance of pipes conveying fluid in the supercritical regime

This paper treats nonlinear vibration of pipes conveying fluid in the supercritical regime. If the flow speed is larger than the critical value, the straight equilibrium configuration becomes unstable and bifurcates into two possible curved equilibrium configurations. The paper focuses on the nonlinear vibration around each bifurcated equilibrium. The disturbance equation is derived from the governing equation, a nonlinear integro-partial-differential equation, via a coordinate transform. The Galerkin method is applied to truncate the disturbance equation into a two-degree-of-freedom gyroscopic systems with weak nonlinear perturbations. The internal resonance may occur under the certain condition of the supercritical flow speed for the suitable ratio of mass per unit length of pipe and that of fluid. The method of multiple scales is applied to obtain the relationship between the amplitudes in the two resonant modes. The time histories predicted by the analytical method are compared with the numerical ones and the comparisons validate the analytical results when the nonlinear terms are small.