Nonlinear dynamics of a pipe conveying pulsating fluid with parametric and internal resonances

In this paper, the nonlinear planar vibration of a pipe conveying pulsatile fluid subjected to principal parametric resonance in the presence of internal resonance is investigated. The pipe is hinged to two immovable supports at both ends and conveys fluid at a velocity with a harmonically varying component over a constant mean velocity. The geometric cubic nonlinearity in the equation of motion is due to stretching effect of the pipe. The natural frequency of the second mode is approximately three times the natural frequency of the first mode for a range of mean flow velocity, resulting in a three-to-one internal resonance. The analysis is done using the method of multiple scales (MMS) by directly attacking the governing nonlinear integral-partial-differential equations and the associated boundary conditions. The resulting set of first-order ordinary differential equations governing the modulation of amplitude and phase is analyzed numerically for principal parametric resonance of first mode. Stability, bifurcation, and response behavior of the pipe are investigated. The results show new zones of instability due to the presence of internal resonance. A wide array of dynamical behavior is observed, illustrating the influence of internal resonance.     

Nonlinear fluid flow laws for orthotropic porous media

Nonlinear fluid flow laws for orthotropic porous media are written in invariant tensor form. As usual in the theory of fluid flow through porous media [1, 2], the equations contain the flow velocity up to the second power. Expressions that determine the nonlinear resistances to fluid flow are presented and it is shown that, on going over from linear to nonlinear flow laws, the asymmetry effect may manifest itself, that is, the fluid flow characteristics may differ along the same straight line in the positive and negative directions. It is shown that, as compared with the linear fluid flow law for orthotropic media when for three symmetry groups a single flow law is sufficient, in nonlinear laws the anisotropy manifestations are much more variable and each symmetry group must be described by specific equations. A system of laboratory measurements for finding the nonlinear flow characteristics for orthotropic porous media is considered.     

Nonlinear waves in fluid flow through a viscoelastic tube

A system of nonlinear equations for describing the perturbations of the pressure and radius in fluid flow through a viscoelastic tube is derived. A differential relation between the pressure and the radius of a viscoelastic tube through which fluid flows is obtained. Nonlinear evolutionary equations for describing perturbations of the pressure and radius in fluid flow are derived. It is shown that the Burgers equation, the Korteweg-de Vries equation, and the nonlinear fourth-order evolutionary equation can be used for describing the pressure pulses on various scales. Exact solutions of the equations obtained are discussed. The numerical solutions described by the Burgers equation and the nonlinear fourth-order evolutionary equation are compared.     

A NUMERICAL METHOD FOR SIMULATING NONLINEAR FLUID-RIGID STRUCTURE INTERACTION PROBLEMS

A numerical method for simulating nonlinear fluid-rigid structure interaction problems is developed. The structure is assumed to undergo large rigid body motions and the fluid flow is governed by nonlinear, viscous or non-viscous, field equations with nonlinear boundary conditions applied to the free surface and fluid-solid interaction interfaces. An Arbitrary-Lagrangian-Eulerian (ALE) mesh system is used to construct the numerical model. A multi-block numerical scheme of study is adopted allowing for the relative motion between moving overset grids, which are independent of one another. This provides a convenient method to overcome the difficulties in matching fluid meshes with large solid motions. Nonlinear numerical equations describing nonlinear fluid-solid interaction dynamics are derived through a numerical discretization scheme of study. A coupling iteration process is used to solve these numerical equations. Numerical examples are presented to demonstrate applications of the model developed.     

Three-dimensional dynamics of supported pipes conveying fluid

This paper deals with the three-dimensional dynamics and postbuckling behavior of flexible supported pipes conveying fluid, considering flow velocities lower and higher than the critical value at which the buckling instability occurs. In the case of low flow velocity, the pipe is stable with a straight equilibrium position and the dynamics of the system can be examined using linear theory. When the flow velocity is beyond the critical value, any motions of the pipe could be around the postbuckling configuration (non-zero equilibrium position) rather than the straight equilibrium position, so nonlinear theory is required. The nonlinear equations of perturbed motions around the postbuckling configuration are derived and solved with the aid of Galerkin discretization. It is found, for a given flow velocity, that the first-mode frequency for in-plane motions is quite different from that for out-of-plane motions. However, the second- or third-mode frequencies for in-plane motions are approximately equal to their counterparts for out-of-plane motions, keeping almost constant values with increasing flow velocity. Moreover, the orientation angle of the postbuckling configuration plane for a buckled pipe can be significantly affected by initial conditions, displaying new features which have not been observed in the same pipe system factitiously supposed to deform in a single plane.     

非线性流体-刚体结构相互作用问题的一种数值模拟方法

给出了一种模拟非线性流体-刚体结构相互作用问题的数值方法．文中假定结构承受大的刚体运动,流体流动受非线性有粘或无粘的场方程支配并满足自由表面和两相耦合界面上的非线性边界条件,利用任意拉氏-欧氏（ALE）网格系统构造了数值模型．采用所探讨的多块数值格式,允许可动重造网格间有独立的相对运动,从而克服了流体网格与固体大运动匹配的困难．通过数值离散化,导出了描述非线性流固耦合动力学的数值方程并应用耦合迭代过程对其作了求解．通过算例,说明了所提出数值模型的应用．     

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研究了埋置于弹性地基内充液压力管道中非线性波的传播. 假设管壁是线弹 性的,地基反力采用Winkler线性地基模型,管中流体为不可压缩理想流体. 假定系统初始 处于内压为$P_0$的静力平衡状态,动态的位移场及内压和流速的变化是叠加在静 力平衡状态上的扰动. 基于质量守恒和动量定理,建立了管壁和流体耦合作用的非 线性运动方程组; 进而用约化摄动法, 在长波近似情况下得到了KdV方程,表征 着系统有孤立波解.     

An Analysis of Turbulent Motions In and Around a Differentially Forced Density Interface

The Rapid-Distortion-Theory-based analysis proposed by Fernando and Hunt [1] is extended to study the nature of turbulence in and around a density interface sandwiched between turbulent layers with dissimilar properties. It is shown that interfacial motions consist of low-frequency, resonantly excited, nonlinear internal waves and high-frequency, linear internal waves driven by background turbulence. Based on the assumptions that (i) all resonant waves and some nonresonant waves having frequencies close to the resonant frequencies grow rapidly, break, and cause interfacial mixing, (ii) the spectral amplitude of the vertical velocity in the wave-breaking regime is constant, and (iii) kinetic energy is equipartitioned between linear and nonlinear breaking wave regimes, the r.m.s. vertical velocity at the interface and the turbulent kinetic energy flux into the interface are calculated. The migration velocity of the interface is calculated using the additional assumption that the buoyancy flux into a given turbulent layer is a fixed fraction of the turbulent kinetic energy flux supplied to the interface by the same layer. The calculations are found to be in good agreement with the entrainment data obtained in previous laboratory experiments in the parameter regime where the interface is dominated by internal wave dynamics. Received 23 July 1997 and accepted 8 January 1999     

Studies on Bifurcation and Chaos of a String-Beam Coupled System with Two Degrees-of-Freedom

In this paper, research on nonlinear dynamic behavior of a string-beam coupled system subjected to parametric and external excitations is presented. The governing equations of motion are obtained for the nonlinear transverse vibrations of the string-beam coupled system. The Galerkin's method is employed to simplify the governing equations to a set of ordinary differential equations with two degrees-of-freedom. The case of 1:2 internal resonance between the modes of the beam and string, principal parametric resonance for the beam, and primary resonance for the string is considered. The method of multiple scales is utilized to analyze the nonlinear responses of the string-beam coupled system. Based on the averaged equation obtained here, the techniques of phase portrait, waveform, and Poincare map are applied to analyze the periodic and chaotic motions. It is found from numerical simulations that there are obvious jumping phenomena in the resonant response–frequency curves. It is indicated from the phase portrait and Poincare map that period-4, period-2, and periodic solutions and chaotic motions occur in the transverse nonlinear vibrations of the string-beam coupled system under certain conditions. An erratum to this article is available at .     

Group theoretic analysis and similarity solution for a nonlinear viscous rod subjected to time dependent velocity impact

Unidirectional wave motion in a nonlinear viscous rod obeying Norton's law in creep, subjected to time dependent velocity impact is considered. From the basic equations of the problem and the four parameter dimensional group of transformations, absolute invariants of the group are constructed to obtain similarity transformations. Similarity representation of the original system of partial differentiation equations is formulated as a system of nonlinear ordinary differential equations with auxiliary conditions. Closed form solutions are obtained for a linear rod, for a nonlinear rod subjected to constant velocity impact and a weekly nonlinear rod. Nonlinear case is solved by a numerical approach based on the quasilinearization method.     

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.     

Bifurcations of a cantilevered pipe conveying steady fluid with a terminal nozzle

This paper studies interactions of pipe and fluid and deals with bifurcations of a cantilevered pipe conveying a steady fluid, clamped at one end and having a nozzle subjected to nonlinear constraints at the free end. Either the nozzle parameter or the flow velocity is taken as a variable parameter. The discrete equations of the system are obtained by the Ritz-Galerkin method. The static stability is studied by the Routh criteria. The method of averaging is employed to examine the analytical results and the chaotic motions. Three critical values are given. The first one makes the system lose the static stability by pitchfork bifurcation. The second one makes the system lose the dynamical stability by Hopf bifurcation. The third one makes the periodic motions of the system lose the stability by doubling-period bifurcation. The project supported by the Science Foundation of Tongji University and Tongji University and National Key Projects of China under Grant No. PD9521907.     

On the dynamics of rings rotating with variable spin speed

This work investigates nonlinear dynamic response of circular rings rotating with spin speed which involves small fluctuations from a constant average value. First, Hamilton's principle is applied and the equations of motion are expressed in terms of a single time coordinate, representing the amplitude of an in-plane bending mode. For nonresonant excitation or for slowly rotating rings, a complete analysis is presented by employing phase plane methodologies. For rapidly rotating rings, periodic spin speed variations give rise to terms leading to parametric excitation. In this case, the vibrations that occur under principal parametric resonance are analyzed by applying the method of multiple scales. The resulting modulation equations possess combinations of trivial and nontrivial constant steady state solutions. The existence and stability properties of these motions are first analyzed in detail. Also, analysis of the undamped slow-flow equations provides a global picture for the possible motions of the ring. In all cases, the analytical predictions are verified and complemented by numerical results. In addition to periodic response, these results reveal the existence of unbounded as well as transient chaotic response of the rotating ring.     

A self-similar solution for a weakly swirling jet

A study is made of the laminar flow of a viscous incompressible fluid in a swirling jet that is produced by the action of a point source which transmits to the medium surrounding it a finite momentum flux. The limit of large Reynolds numbers is investigated under the assumption that the circulation of the azimuthal component of the velocity is a constant quantity at large distances from the jet axis. The boundary layer equations are solved asymptotically for the case of small circulation. It is shown that in the case of weak swirling of the jet the interaction of the azimuthal and axial motions is basically nonlinear.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 4, pp. 45–50, July–August, 1984.     

Three-to-One Internal Resonances in Parametrically Excited Hinged-Clamped Beams

The nonlinear planar response of a hinged-clamped beam to a principal parametric resonance of either its first or second mode or a combination parametric resonance of the additive type of its first two modes is investigated. The analysis accounts for mid-plane stretching, a static axial load, a restraining spring at one end, and modal damping. The natural frequency of the second mode is approximately three times the natural frequency of the first mode for a range of static axial loads, resulting in a three-to-one internal resonance. The method of multiple scales is used to attack directly the governing nonlinear integral-partial-differential equation and associated boundary conditions and derive three sets of four first-order nonlinear ordinary-differential equations describing the modulation of the amplitudes and phases of the first two modes in the cases of (a) principal parametric resonance of either the first or the second mode, and (b) a combination parametric resonance of the additive type of these modes. Periodic motions and periodically and chaotically modulated motions of the beam are determined by investigating the equilibrium and dynamic solutions of the modulation equations. For the case of principal parametric resonance of the first mode or combination parametric resonance of the additive type, trivial and two-mode solutions are possible, whereas for the case of parametric resonance of the second mode, trivial, single, and two-mode solutions are possible. The trivial and two-mode equilibrium solutions of the modulation equations may undergo either a supercritical or a subcritical Hopf bifurcation, depending on the magnitude of the axial load. For some excitation parameters, we found complex responses including period-doubling bifurcations and blue-sky catastrophes.     

Asymptotic analysis of a pulsating flow of viscous fluid in a symmetric deformed channel

The time-periodic flow of a viscous incompressible fluid in a two-dimensional symmetric channel with slightly deformed walls is considered. The solution of the Navier-Stokes equations is constructed by means of the method of matched asymptotic expansions [1] at large characteristic Reynolds numbers. It is shown that in an unsteady flow a region of nonlinear perturbations surrounds the line of zero velocity inside the fluid. The formation and development of such nonlinear zones with respect to time is considered. An alternation of the topological features of the streamline pattern in the nonlinear perturbation zone is discovered.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 4, pp. 17–23, July–August, 1987.The author is deeply grateful to V. V. Sychev for his formulation of the problem and his attentive attitude to my work.     

Chaotic vibrations of an orthotropic FGM rectangular plate based on third-order shear deformation theory

In this paper, an analysis on the nonlinear dynamics and chaos of a simply supported orthotropic functionally graded material (FGM) rectangular plate in thermal environment and subjected to parametric and external excitations is presented. Heat conduction and temperature-dependent material properties are both taken into account. The material properties are graded in the thickness direction according to a simple power law distribution in terms of the volume fractions of the constituents. Based on the Reddy’s third-order share deformation plate theory, the governing equations of motion for the orthotropic FGM rectangular plate are derived by using the Hamilton’s principle. The Galerkin procedure is applied to the partial differential governing equations of motion to obtain a three-degree-of-freedom nonlinear system. The resonant case considered here is 1:2:4 internal resonance, principal parametric resonance-subharmonic resonance of order 1/2. Based on the averaged equation obtained by the method of multiple scales, the phase portrait, waveform and Poincare map are used to analyze the periodic and chaotic motions of the orthotropic FGM rectangular plate. It is found that the motions of the orthotropic FGM plate are chaotic under certain conditions.     

Method of narrow strips for nonlinear problems of a stratified fluid

Plane steady flow is considered for an ideal incompressible stratified fluid in a gravitational field of force. It is a characteristic feature of these flows that the density is constant and Bernoulli's constant remains the same along a streamline. Internal waves arise because of ponderability in the stratified fluid; they are not due to the presence of a free surface. These wave motions are studied in detail in the linear formulation, but flows of the solitary wave type can be described only by nonlinear equations.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 2, pp. 174–178, March–April, 1986.     

Planar dynamics of inclined curved flexible riser carrying slug liquid–gas flows

Flexible risers transporting hydrocarbon liquid–gas flows may be subject to internal dynamic fluctuations of multiphase densities, velocities and pressure changes. Previous studies have mostly focused on single-phase flows in oscillating pipes or multiphase flows in static pipes whereas understanding of multiphase flow effects on oscillating pipes with variable curvatures is still lacking. The present study aims to numerically investigate fundamental planar dynamics of a long flexible catenary riser carrying slug liquid–gas flows and to analyse the mechanical effects of slug flow characteristics including the slug unit length, translational velocity and fluctuation frequencies leading to resonances. A two-dimensional continuum model, describing the coupled horizontal and vertical motions of an inclined flexible/extensible curved riser subject to the space–time varying fluid weights, flow centrifugal momenta and Coriolis effects, is presented. Steady slug flows are considered and modelled by accounting for the mass–momentum balances of liquid–gas phases within an idealized slug unit cell comprising the slug liquid (containing small gas bubbles) and elongated gas bubble (interfacing with the liquid film) parts. A nonlinear hydrodynamic film profile is described, depending on the pipe diameter, inclination, liquid–gas phase properties, superficial velocities and empirical correlations. These enable the approximation of phase fractions, local velocities and pressure variations which are employed as the time-varying, distributed parameters leading to the slug flow-induced vibration (SIV) of catenary riser. Several key SIV features are numerically investigated, highlighting the slug flow-induced transient drifts due to the travelling masses, amplified mean displacements due to the combined slug weights and flow momenta, extensibility or tension changes due to a reconfiguration of pipe equilibrium, oscillation amplitudes and resonant frequencies. Single- and multi-modal patterns of riser dynamic profiles are determined, enabling the evaluation of associated bending/axial stresses. Parametric studies reveal the individual effect of the slug unit length and the translational velocity on SIV response regardless of the slug characteristic frequency being a function of these two parameters. This key observation is practically useful for the identification of critical maximum response.