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.     

Pseudo-nonlinear dynamic analysis of buckled pipes

In this study, the post-divergence behavior of fluid-conveying pipes supported at both ends is investigated using the nonlinear equations of motion. The governing equation exhibits a cubic nonlinearity arising from mid-plane stretching. Exact solutions for post-buckling configurations of pipes with fixed–fixed, fixed–hinged, and hinged–hinged boundary conditions are investigated. The pipe is stable at its original static equilibrium position until the flow velocity becomes high enough to cause a supercritical pitchfork bifurcation, and the pipe loses stability by static divergence. In the supercritical fluid velocity regime, the equilibrium configuration becomes unstable and bifurcates into multiple equilibrium positions. To investigate the vibrations that occur in the vicinity of a buckled equilibrium position, the pseudo-nonlinear vibration problem around the first buckled configuration is solved precisely using a new solution procedure. By solving the resulting eigenvalue problem, the natural frequencies and the associated mode shapes of the pipe are calculated. The dynamic stability of the post-buckling configurations obtained in this manner is investigated. The first buckled shape is a stable equilibrium position for all boundary conditions. The buckled configurations beyond the first buckling mode are unstable equilibrium positions. The natural frequencies of the lowest vibration modes around each of the first two buckled configurations are presented. Effects of the system parameters on pipe behavior as well as the possibility of a subcritical pitchfork bifurcation are also investigated. The results show that many internal resonances might be activated among the vibration modes around the same or different buckled configurations.     

Three dimensional nonlinear dynamics of submerged, extensible catenary pipes conveying fluid and subjected to end-imposed excitations

The complete 3D nonlinear dynamic problem of an extensible, submerged catenary pipe conveying fluid is considered. For describing the dynamics of the system, the Newtonian derivation procedure is followed. The flow inside the pipe is considered inviscid, irrotational and incompressible with constant velocity along the complete length of the pipe. The hydrodynamic effects are taken into account through the nonlinear drag forces and the added inertia due to the hydrodynamic mass. Following the Newtonian derivation, the dynamics of the pipe element and the fluid element are considered separately and the final governing set is derived combining the equations of inertia equilibrium. The system is solved using an efficient, second-order accurate, finite differences numerical scheme. The effect of the steady flow inside the pipe on both the in-plane and the out-of-plane vibrations is assessed with the aid of numerical simulations using as a model a relatively small-sag submerged catenary. The output signals of the time varying components that govern the dynamics of the pipe, have been properly processed to assess the effect of the internal flow on both the in-plane and the out-of-plane vibrations.     

Dynamics of a pipe conveying fluid flexibly restrained at the ends

The subject of this paper is the study of dynamics and stability of a pipe flexibly supported at its ends and conveying fluid. First, the equation of motion of the system is derived via the extended form of Hamilton׳s principle for open systems. In the derivation, the effect of flexible supports, modelled as linear translational and rotational springs, is appropriately considered in the equation of motion rather than in the boundary conditions. The resulting equation of motion is then discretized via the Galerkin method in which the eigenfunctions of a free-free Euler–Bernoulli beam are utilized. Thus, a general set of second-order ordinary differential equations emerges, in which, by setting the stiffness of the end-springs suitably, one can readily investigate the dynamics of various systems with either classical or non-classical boundary conditions. Several numerical analyses are initially performed, in which the eigenvalues of a simplified system (a beam) with flexible end-supports are obtained and then compared with numerical results, so as to verify the equation of motion, in its simplified form. Then, the dynamics of a pinned-free pipe conveying fluid is systematically investigated, in which it is found that a pinned-free pipe conveying fluid is generally neutrally stable until it becomes unstable via a Hopf bifurcation leading to flutter. The next part of the paper is devoted to studying the dynamics of a pinned-free pipe additionally constrained at the pinned end by a rotational spring. A wide range of dynamical behaviour is seen as the mass ratio of the system (mass of the fluid to the fluid+pipe mass) varies. It is surprising to see that for a range of rotational spring stiffness, an increase in the stiffness makes the pipe less stable. Finally, a pipe conveying fluid supported only by a translational and a rotational spring at the upstream end is considered. For this system, the critical flow velocity is determined for various values of spring constants, and several Argand diagrams along with modal shapes of the unstable modes are presented. The dynamics of this system is found to be very complex and often unpredictable (unexpected).     

Period-doubling route to chaos in a two-degree-of-freedom flexibly-mounted rigid plate placed in water

Flow-induced instabilities of a flexibly-mounted rigid flat plate placed in water were investigated experimentally, when the plate had either one degree of freedom in the torsional direction or two degrees of freedom in the torsional and transverse directions. Tests were conducted in a re-circulating water tunnel and bifurcation diagrams were used to summarize the system behavior. The 1DoF system became unstable by divergence at a critical flow velocity after which the plate buckled. At higher flow velocities, periodic oscillations were observed and the amplitude of oscillations increased with increasing flow velocity. No other instability was observed at higher flow velocities. In the 1DoF system, the variations in the response frequency were related to the added mass moment of inertia. For the 2DoF system, the plate׳s original stability was lost at a critical flow velocity by divergence followed by a dynamic instability resulting in periodic oscillations, which in turn became unstable giving rise to period-2, period-4 and eventually chaotic oscillations.     

DIVERGENCE INSTABILITY OF VARIABLE-ARC-LENGTH ELASTICA PIPES TRANSPORTING FLUID

A flexible elastic pipe transporting fluid is held by an elastic rotational spring at one end, while at the other end, a portion of the pipe may slide on a frictional support. Regardless of the gravity loads, when the internal flow velocity is higher than the critical velocity, large displacements of static equilibrium and divergence instability can be induced. This problem is highly nonlinear. Based on the inextensible elastica theory, it is solved herein via the use of elliptic integrals and the shooting method. Unlike buckling with stable branching of a simply supported elastica pipe with constant length, the variable arc-length elastica pipe buckles with unstable branching. The friction at the support has an influence in shifting the critical locus over the branching point. Alteration of the flow history causes jumping between equilibrium paths due to abrupt changes of direction of the support friction. The elastic rotational restraint brings about unsymmetrical bending configurations; consequently, snap-throughs and snap-backs can occur on odd and even buckling modes, respectively. From the theoretical point of view, the equilibrium configurations could be formed like soliton loops due to snapping instability.     

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.     

Numerical investigation of the effect of boundary conditions on hydroelastic stability of two parallel plates interacting with a layer of ideal flowing fluid

The paper studies the hydroelastic stability of two parallel identical rectangular plates interacting with a flowing fluid confined between them. General equations describing the behavior of ideal compressible liquid in the case of small perturbations are written in terms of the perturbation velocity potential and transformed using the Bubnov–Galerkin method. The small deformations of elastic plates are defined using the first-order shear deformation plate theory. A mathematical formulation of the dynamic problem for elastic structures is developed using the variational principle of virtual displacements, which takes into account the work done by the inertial forces and hydrodynamic pressure. The numerical solution of the problem is carried out in three-dimensional formulation by means of the finite element method. A stability criterion is based on the analysis of complex eigenvalues of the coupled system of equations obtained for different values of flow velocity. The existence of different types of instability has been shown depending on the combinations of the kinematic boundary conditions defined at the edges of both plates. We considered both the symmetric and asymmetric types of clamping. It has been found that the dependence of the lowest eigenfrequency of two parallel plates on the height of quiescent fluid is nonmonotonic with a pronounced peak. At the same time, critical velocities of instability change insignificantly if the distance between plates is greater than half of the maximum linear dimensions of the structure. It should be noted that the critical velocities of divergence increase monotonically with growth of the height of the fluid layer, but critical velocities for the onset of flutter instability have sharp jumps. The cause of these jumps is a change in the mode shapes at which the system loses stability.     

Vortex-induced vibrations of pipes conveying fluid in the subcritical and supercritical regimes

In this paper, the vortex-induced vibrations of a hinged–hinged pipe conveying fluid are examined, by considering the internal fluid velocities ranging from the subcritical to the supercritical regions. The nonlinear coupled equations of motion are discretized by employing a four-mode Galerkin method. Based on numerical simulations, diagrams of the displacement amplitude versus the external fluid reduced velocity are constructed for pipes transporting subcritical and supercritical fluid flows. It is shown that when the internal fluid velocity is in the subcritical region, the pipe is always vibrating periodically around the pre-buckling configuration and that with increasing external fluid reduced velocity the peak amplitude of the pipe increases first and then decreases, with jumping phenomenon between the upper and lower response branches. When the internal fluid velocity is in the supercritical region, however, the pipe displays various dynamical behaviors around the post-buckling configuration such as inverse period-doubling bifurcations, periodic and chaotic motions. Moreover, the bifurcation diagrams for vibration amplitude of the pipe with varying internal fluid velocities are constructed for each of the lowest four modes of the pipe in the lock-in conditions. The results show that there is a significant difference between the vibrations of the pipe around the pre-buckling configuration and those around the post-buckling configuration.     

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.     

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.     

Asymmetric motion of a two-dimensional symmetric flapping model

A two-dimensional symmetric flapping model is studied in terms of the bifurcation using discrete vortex method. This model consists of two wings attached together at a hinge, and the flapping motion of the wings is symmetric with respect to the horizontal line. The center of mass of this model can move according to the hydrodynamic force generated by an interaction of the wing and vortices separated from boundary layer. The bifurcation parameter is a time scale of the dissipation, which is simplified to contrast the transition of the type of the motion. Bifurcation diagram shows that steady motion of zero-mean velocity (with symmetric flapping) is unstable in a parameter region, and that there is another region where two types of a steady stable flapping motion coexist. We illustrate these types of the motion.     

壁面温度在多参数下对平板边界层的影响研究

为了得到壁面温度在不同来流速度、不同湍流强度条件下对边界层转捩与减阻的影响规律,本文采用Transitionk-kl-ω模型对低来流速度下无压力梯度的光滑平板进行了数值模拟。结果表明,随着来流速度的升高,壁温升高所起到的减阻效果更好,即高来流速度对壁面温度更为敏感。当来流处于中高湍流强度下时,壁温升高能起到推迟转捩的作用,且随着湍流强度的升高,转捩推迟的效果越好,但减阻效果正好相反;当来流处于低湍流强度下时,壁温升高会使得转捩提前发生。壁温升高抑制了边界层内流体的脉动程度,使得层流的稳态不易被破坏,流动更加稳定;同时,壁温升高使得边界层内流体的速度梯度减小,从而降低了壁面摩擦系数,故壁温升高能起到推迟边界层转捩与减阻的作用。     

Structural response of high solidity net cage models in uniform flow

Hydrodynamic loads acting on a fish farm may be affected by the growth of different biofouling organisms, mainly due to increased solidity of the nets. In this paper, the hydrodynamic loads acting on high solidity net cage models subjected to high uniform flow velocities and the corresponding deformation of the net cages are studied. Model tests of net cylinders with various solidities were performed in a flume tank with a simulated current. Standard Morison-type numerical analyses were performed based on the model tests, and their capability of simulating the occurring loads and the observed net cage deformations for different flow velocities was evaluated.Large deformations of the net cage models were observed, and at high velocities the deformations were close to what is physically possible. Net cage deformation appeared to be less dependent on solidity than on flow velocity and weights. Drag forces increased with increasing flow velocity and were dependent on both bottom weights and netting solidity. For the lowest solidity net, drag forces were close to proportional to flow velocity. For the three high solidity nets, the measured drag forces were of similar magnitude, and drag increased less with increasing flow velocity above approximately 0.5 m/s than at lower velocities.This study shows that a basic reduced velocity model is not sufficient to model the interaction between the fluid flow and net (hydroelasticity) for high solidity net cages subjected to high flow velocities.The standard numerical analysis was in general able to make good predictions of the net shape, and was capable of making an acceptable estimate of hydrodynamic loads acting on the lowest solidity net model (Sn=0.19). For high solidities and large deformations, numerical tools should account for changes in water flow and the global drag coefficient of the net.     

Numerical simulations of fluid–structure interaction based on Cartesian grids with two boundary velocities

This work proposes an innovative numerical method for simulating the interaction of fluid with irregularly shaped stationary structures based on Cartesian grids. Instead of prescribing an artificial force to enforce the no‐slip boundary condition at the solid–fluid interface, this work imposes two boundary velocities, referred to as the solid and mass‐conserving boundary velocities, to satisfy the no‐slip boundary condition and mass conservation in the ghost cells around the immersed solid boundary. Both the traditional level set method [41] and the hybrid particle level set method [45] were used to represent the solid boundary and the complex free‐surface evolution, respectively. Consequently, the boundary velocities close to the immersed solid boundary can be determined in terms of the level set function and the neighboring fluid velocity. The projection method is further modified to incorporate the solid and mass‐conserving boundary velocities into the solution algorithm. A series of numerical experiments were conducted to demonstrate the feasibility of the proposed method. They involved uniform flow past a stationary circular cylinder and the propagation of water waves over a submerged trapezoidal breakwater. Comparisons between the numerical results and experimental data showed very good agreement in all cases of interest. Copyright © 2015 John Wiley & Sons, Ltd.     

Effect of drag reducing polymer on air–water annular flow in an inclined pipe

Drag reduction (DR) for air and water flowing in an inclined 0.0127 m diameter pipe was investigated experimentally. The fluids had an annular configuration and the pipe is inclined upward. The injection of drag reducing polymer (DRP) solution produced drag reductions as high as 71% with concentration of 100 ppm in the pipeline. A maximum drag reduction that is accompanied (in most cases) by a change to a stratified or annular-stratified pattern. The drag reduction is sensitive to the gas and liquid superficial velocities and the pipe inclination. Maximum drag reduction was achieved in the case of pipe inclination of 1.28° at the lowest superficial gas velocity and the highest superficial liquid velocity. For the first time in literature, the drag reduction variations with the square root of the superficial velocities ration for flows with the same final flow patterns have self-similar behaviors.     

Pipe flow with solid particles fixed in space

A group of solid particles were hung by slender rods in a pipe to make a model of two-phase flow of coarse particles. Pressure gradient and velocities were measured for different types of the models. The drag on the particles (spheres) were obtained from measurements of pressure gradient with some assumptions. The results are summarized as follows. (1) Mean velocities of fluid are lower in the central part of the pipe than in the circumferential part. Turbulence is remarkably increased by particles. The spectrum distribution of turbulent velocity becomes flatter. These results are similar to the gas-solid flow of coarse particles in a vertical pipe. (2) At a large Reynolds number, the drag coefficient per one sphere in the group is larger than that of a single isolated sphere in a uniform flow. When the spheres are arranged along the same line in the longitudinal direction, the drag coefficient becomes smaller as the longitudinal distance between the spheres is shortened.     

固—液耦合Timoshenko管道的稳定性分析

根据Ｈａｍｉｌｔｏｎ原理的固－液耦合振同分方程用幂级数法计算了Ｔｉｍｏｓｈｅｎｋｏ管道的固有频率和临界流速。给出了管道前三阶固有频率－流速的关系曲线,分析了转动惯量对该输流管道的稳定特性的影响。计算结果表明,转动一对两端简支的固－液合Ｔｉｍｏｓｈｅｎｋｏ管道的静力失稳没有影响,但对其频率特性和动力失稳有影响。     

STROUHAL NUMBERS OF FLOW-EXCITED ACOUSTIC RESONANCE OF CLOSED SIDE BRANCHES

Flow-excited acoustic resonances of piping systems containing closed side-branches are often encountered in engineering applications. They are excited by the unstable shear layer which separates the mean flow in the main pipe from the stagnant fluid in the branch. The object of this paper is to develop a design chart that can be used to predict the critical flow velocities in the main pipe at which acoustic resonances are initiated. Model tests were carried out on three different configurations of side-branches (single, tandem, and coaxial branches). For each of these pipe configurations, the effects of the diameter ratio, the distance from an upstream elbow and the acoustic damping are investigated in some detail. The test results are implemented into a design chart to predict the flow velocity at the onset of resonance as a function of the system operational and geometric parameters.