VIBRATION OF A PIPELINE CONTAINING FLUID FLOW

L-
WITH ELASTIC SUPPORT/

A Thesis Presented to
The Faculty of the College of Engineering and Technology
Ohio University

In Partial Fulfillment
of the Requirement for the Degree
Master of Science

Huhua Chen,
--
March 1991
 ACKNOWLEDGEMENTS

I wish to express m y appreciation to my

aduisor Dr. Shad M. Sargand f o r his encoragement,

help and support throughout this work.

I also w i s h to thank to t h e m e m b e r s o f my

graduate committee, Dr. Glenn A. hazen and Dr. Dauid N.

Keck f o r their inualuable criticism.

 LIST OF FIGURES AND TABLE

FIGURE PAGE

A PRISMATIC BEAM IN THE X - Y PLANE 3

AN ELEMENT OF THE BEAM CROSS SECTION 4

A SIMPLE SUPPORT BEAM 7

A BEAM ON ELASTIC FOUNDATION 9

WINKLER FOUNDATION MODEL 13

FORCES ON AN ELEMENT OF THE FOUNDATION 14

VLASOV FOUNDATION MODEL 20

A PIPELINE CONTAINING FLUID FLOW WITH A

SIMPLE SUPPORT

COMPARISON OF THEORETICAL AND

EXPERIMENTAL RESULTS

A PIPELINE CONTAINING FLUID FLOW WITH ELASTIC

SUPPORT

THE RELATION BETWEEN VELOCITY AND FREQUENCY

IN SIMPLE SUPPORT AND FOUNDATION SUPPORT

THE RELATION BETWEEN VELOCITY AND FREQUENCY

IN DIFFERENT FOUNDATION CONSTANT E

THE RELATION BETWEEN FREQUENCY AND ELASTIC

MODULUS OF FOUNDATION 51

TABLE PAGE

4.4 COMPARISON OF THEORETIC AND EXPERIMENT RESULTS 36

TABLE OF CONTENTS

INTRODUCI'ION

BENDING VIBRATION

2.1 . BASIC THEORY

2.2. TRANSVERSE VIBRATION OF A SIMPLE BEAM
2.3. VIBRATION OF BEAMS ON ELASTIC FOUNDATION

BEAM ON ELASTIC FOUNDATION

3.1. INTRODUCI'ION
3.2. WINKLER FOUNDATION
3.3. TWO PARAMETER FOUNDATION MODEL
3.4. VLASOV FOUNDATION MODEL

VIBRATION OF PIPELINE CONTAINING FLUID

FLOW WITH SIMPLE SUPPORT

4.1. INTRODUCI'ION
4.2. DIFFERENTIAL EQUATION OF MOTION
4.3. FREE VIBRATION
4.4. EXPERIMENTAL INVESTIGATION

VIBRATION OF PIPELINE CONTAINING FLUID FLOW

WITH ELASTIC SUPPORT

5.1. INTRODUCI'ION
5.2. DERIVATION OF DIFFERENTIAL EQUATIONS
5.3. NUMERICAL RESULTS AND DISCUSSION RESULTS

CONCLUSION
 CHAPTER 1

INTRODUCTION

Analysis of the bending vibration properties of a pipeline containing flowing fluid

is of great practical significance in the design of pipelines. Investigation into this problem
was once based on S. Timoshenko's beam theory, which did not take fluid flows into
account. Indeed, the velocity of fluid flow within a pipe has significant effect on the
dynamic properties.

In 1952, G. W. Housner described the pipeline as a curved path. Motion within

the pipeline was rather complicated because each point on the center line has both a vertical
acceleration and an angular acceleration. Housner applied Hamilton's principle in his
derivation to insure that no part of the motion was overlooked. The differential equation he
generated included both the inertial force associated with the change in direction of fluid
velocity and the inertial force associated with the coriolis acceleration.

A more recent experimental study was concerned with the effects of high velocity
fluid flow on the static and dynamic characters of a simply supported pipe. The
experiment appeared to conclude that, at a certain high critical velocity, fluid flow causes a
dynamic instability. It also shows the frequency variation of the bending vibration as a
function of fluid velocity as derived by Housner.

However, these studies were concerned only with a simple supported pipeline.
This paper presents bending vibration of a pipeline containing flowing fluid on an elastic
support, which is a common practical problem. The elastic support restraint condition in
such a pipeline has some beneficial effect upon the vibration, such as an obvious decrease
in its amplitude. Hamilton's principle, as used in Housner7s work, is used here in the
derivation of the Vlasov foundation. Numerical results using different parameters of elastic
support were also presented. In the special case, when Young's modulus of elastic
support equals zero, the result is the same as that obtained by Housner.
 CHAPTER 2

BENDING VIBRATION

2.1 BASIC THEORY

Transverse vibrations of a prismatic beam in the x-y plane (see Fig. 2.l.a), which
is assumed to be a plane of symmetry for any cross section, is considered here,
Throughout this research, the symbol "y" is used to represent the transverse displacement
of a typical segment of the beam located at the distance "x" from the left-hand end. The
flexural rigidity of the beam, while potentially small, must be taken into account.

A Prismatic Beam in the X - Y Plane ( Ref. 10 )

Fig. 2.1 .a
 An Element of the Beam Cross Section ( Ref. 10 )

Fig. 2.1.b

An element of length dx, with internal and inertial forces acting upon it, is shown
in a free-body diagram (see Figure 2.1.b). This figure shows how the shearing force V
and the bending moment M conform to the beam sign convention. When the beam vibrates
transversely, the dynamic equilibrium condition for forces in the y direction is given by the
equation

and the moment equilibrium condition yields

By substituting V from eq. ( b ) into eq. ( a ), the following is produced:

Elementary flexural theory describes the relationship

Introducing this expression is into eq. ( c ) yields the general equation for transverse free
vibrations of a beam:

In the specific instance of a prismatic beam, the flexural rigidity EI does not vary with x, as
shown in the following eqiuation

which may also be written as

In this application, the following definition is used:

When a beam vibrates transversely in one of its natural modes, deflection at any
location varies harmonically with time, as follows:
y =x( Acospt+ Bsinpt ) (el

where the subscript "i" for the ith mode has been omitted for notational convenience.
Substitution of eq. (e) into eq. ( 2.1.3 ) yields

To aid in the solution of this fourth-order ordinary differential equation, the following
notation is introduced:

and eq. ( f ) may be rewritten as

To satisfy eq. ( h ), let X = e nX and obtain

The values of n are thus found to be n l = k, n2 = - k, n3 = jk, and nq = - jk, where

j= a.
The general form of the the solution for eq. ( h ) becomes

which may also be written as

This expression represents a typical normal function for transverse vibrations of a prismatic
 7
beam.

The constants C1, C2, C3, and C4 in eq. ( 2.1.5 ) must be determined in each
particular case from a determination of the boundary conditions at the beam's ends. For
example, where the end is simply supported, the deflection and bending moment are equal
to zero. Thus, we have

At a fixed end, where the deflection and slope are zero, the conditions are

The bending moment and shearing force both vanish at the free end, and we obtain

In considering both ends of a beam, four such end conditions can be used to
determine the values of C1, C2, C3, and C4, leading to the frequencies and mode shapes
for free vibrations.

$ 2.2 TRANSVERSE VIBRATION OF A SIMPLE BEAM

A Simple Support Beam ( Ref. 10 )

Fig. 2.2.1
The first case of transverse vibrations of beams the simply supported prismatic
beam is described in Fig. ( 2.2.1 ). The boundary conditions for this case are

This demonstrates that both the displacement and the bending moment are zero at each end.

The general expression for a normal function (2.1.5 ) may be

expressed in equivalent form:

X = C l ( ~ ~ s k z + ~ ~ tsCh2k( ~
z )~ ~ k X - c o s h k X )
( 2.2.1 )
t c 3 ( s i nkx t s i n h k z ) t C q ( s i nk x - sinh k x )

From the first two condition in equation ( a ), it may be concluded that the constants
C1 and C2 in eq. ( 2.2.1 ) must equal zero. From the third and fourth conditions, we
obtain C3 = C4 and

sin kL =0 ( 2.2.2 )

This is the frequency equation for the case presently under consideration. The non-zero
positive consecutive roots of this equation are kil = in for i=l, 2, ..., =. Hence,

Angular frequencies corresponding to the values of ki may be obtained from

The natural periods of frequency are described by

 9
For any mode, the period of frequency is thus seen to be proportional to the square
of the length. Further, it is inversely proportional to the radius of gyration of the cross
section. Thus, for geometrically similar beams of the same material, the natural periods of
frequency vary in direct proportion to the cross section's dimensions.

The normal function eq. ( 2.2.1 ), where C1= C2 = 0 and C3 = C4 = D/2,

describes the shapes of the deflection curves for the various modes of vibration.

isx
X i = D i sin kjr = Di sin-
L ( i = 1,2,3 ,..., ( 2.2.6

This indicates that the mode shapes are sine curves, the first of which is indicated by
dashed lines in Fig. ( 2.2.1 ).

$ 2.3 VIBRATION OF BEAM ON ELASTIC FOUNDATION

A Beam on Elastic Foundation ( Ref. 10 )

Fig. 2.3.1

A beam on an elastic foundation is a beam in which elastic restraints against

transverse motion are continuously distributed along its length. Such a beam is shown in
Fig. ( 2.3.1 ), where the elastic foundation is depicted as a large number of closely spaced
 10
translational springs. The foundation modulus kf is defined as the load per unit length of
the beam necessary to produce a displacement of the foundation equal to unity. As the beam
vibrates transversely, the differential equation of for a typical element of length dx becomes

where the first term on the right of the equation represents the restoring force of the elastic
foundation. When describing a prismatic beam, this expression becomes

In solving this equation, the following form is introduces for the natural modes of
vibration:

Substituting eq. ( b ) into eq. ( 2.3.1 ) yields

a4Xi
E I - ( P A P ?- k ) X i = 0
ax4

Dividing EI into this equation yields

If, for convenience,

then eq. ( d ) becomes

The solution of this differential equation is

 11

xi = Cii sin k i z + C2i cos kjr + C3i sinh ktx + C4i C O S k~ i ~ (9)

This result is the same as that for a beam without an elastic foundation. Thus, all
formulations previously derived for beams with various end conditions apply also to the
present case. Only one modification is required.

Instead of the relationship p = ki a, eq. ( e ) given us

When considering a simple beam on an elastic foundation, the simplest case of a

beam with translational restraints at both ends yields the normal functions

Under this condition, the angular frequencies are

when p = kZ1 4 / n4
~ ~
 CHAPTER 3

BEAM ON ELASTIC FOUNDATION

5 3.1 INTRODUCTION

Analyzing the effects of beams and plates on elastic foundation is a common

application in engineering. Most such analyses are based on Winkler's hypothesis. In this
premise, the foundation is assumed to act as if it consisted of an infinite number of closely
spaced linear springs. While the Winkler model is very simple to apply, it fails to account
for interactions between springs; thus, it is not an accurate representation of most practical
foundations. The accurate examination of some problems requires a continuous medium
model. However, it is often difficult to derive an exact solution with this model and
deriving an accurate numerical result by finite element methods can be an expensive
prospect.

The two-parameter elastic foundation is more restrictive than the Winkler model in
its formulation. By setting the second parameter at zero, the formulas and matrices of the
two-parameter model are reduced to those of the one-parameter model; that is, this formula
becomes equivalent to the Winkler foundation. It is assumed that all elastic foundations
reviewed herein are capable of exerting either pull or push vectors, as if the beams are
securely attached to the foundation at every point.

A brief review of elastic foundation models is given in the next section.

5 3.2 WINKLER FOUNDATION

An analysis of the bending of beams on an elastic foundation, if based on the

Winkler model, is derived from the assumption that the foundation's reaction forces are
proportional at every point to the deflection of the beam at that point.The differential
equation of the elastic line is based on the assumption that a straight beam is supported
along its entire length by an elastic medium and subjected to vertical forces acting in the
principal plane of the symmetrical cross section ( see Fig. 3.2.1 ).
 Winkler Foundation Model ( Ref. 5 )

Fig. 3.2.1
Under these conditions, the beam will deflect, thus producing continuously
distributed reaction forces in the supporting medium. One may make the fundamental
assumption that the intensity p of the reaction forces at any point is proportional to the
deflection of the beam y at that point: p = ky . The reaction forces are assumed to act
vertically and in opposition to the deflection of the beam. Hence, where the deflection is
directed downward (in a positive direction) the supporting medium will be compressed.
However, where the deflection is negative, tension is produced; for the purposes of this
research, the supporting medium is assumed to be able to take up such tensile forces.

The assumption p = ky implies that the supporting medium is elastic. Its material,
then, acts in accordance with Hooke's law. Its elasticity, therefore, may be characterized
by the force which, distributed over a unit area, will cause a deflection equal to that unit.
The constant value of the supporting medium, ko 1bs./in.3, is called the modulus of the
foundation.

If a beam has a uniform cross section and b is its constant width, then a unit of
deflection of this beam will cause reaction bko in the foundation; consequently, at a point
where the deflection is y, the intensity of the distributed reaction ( per unit length of the
beam ) will be

For the sake of brevity, the symbol k ( l b ~ . / i n ). ~is substituted for b ( in. ) x ko
(lbs.lin.3 ) in the following derivations. However, it should be remembered that k includes
 14
the effect of thewidth of the beam and will be numerically equal to only if the beam is
of a unit width.

It is possible that there will be components of deflection besides the vertical

reactions, including horizontal (frictional) forces originating along the surface where the
beam and the foundation are in contact. For the present, their (possibly small) effect are
not considered, and the reaction forces on the foundation are assumed to be vertical at
every cross section. In examining an infinitely small element enclosed between two vertical
cross sections at a distance dx apart on the beam, and assuming that this element was taken
from a portion where the beam was acted upon by a distributed loading q lbs./in., the
resulting forces on such an element are shown in Fig.3.2. 2.

pdx - kydx
1p.a

Forces on an Element of the Foundation ( Ref. 5 )

Fig. 3.2.2

The upward-acting shearing force Q (to the left of the cross section) and the
corresponding bending moment M (a clockwise moment acting from the left on the
element) are considered to be positive force. These positive directions for Q and M will be
maintained in all later derivations. Considering the equilibrium of the element in Fig (3.2.2)
the summation of the vertical forces yields

from which
Imposing the relation Q = dM / dx, we derive

Using now the known differential equation of a beam in bending, EI (d2y /dx2)= - M, and
differentiating it twice, we obtain

Thus, ( c ) gives us

This is the differential equation for the deflection curve of a beam supported on an
elastic foundation. Along the unloaded parts of the beam, where no distributed load is
acting (q = 0), this equation will take the form

It is now sufficient to consider only the general solution of (3.2.2). The solutions
obtained from this equation can be made to apply also for cases implied in (3.2.1) by
adding to it a particular integral corresponding to q in (3.2.1).

Substituting y = e - in ( 3.2.2 ), we obtain the characteristic equation

which has roots

The general solution of ( 3.2.2 ) is then seen to take the form

where

Using

eihz = cos Ax + i sin hz

e-ihz = cos hz - i sin hz

and introducting the new constants C1, C$, C3, and C4, where
we can write ( e ) in a more convenient form, as

y = e A z ( ~ l c oAxs +C2sinh x ) + e - h Z ( hx
~ +C4sin
3 ~ ~ ~Ax ) ( 3.2.a

In this equation, hincludes both the flexural rigidity of the beam and the elasticity of the
supporting medium. It is an important factor in determining the shape of the elastic line.
For this reason, The factor his referred to as the characteristic of the system. Since its
dimension is length -I, the term l / h is frequently referred to as the characteristic length.

Expression (3.2.a) represents the general solution for the deflection line of a
straight prismatic bar supported on an elastic foundation and subjected to transverse
bending forces, but with no q loading. Where there is a distributed load, an additional term
is necessary where. Differentiating (3.2.a) yields

--=d y e"[Cl(coshr-sinhx)+C2(coshz+sinhx)1
A dx
- e-"[c3( cos hx + sin hx ) + C 4 ( cos hx - sin hz )I ( 3.2.b )

=1 dSy
2h2 d x 3
- eAZ[C1( cos hr + sin hz ) - c,( cos hx - sin hz )I
+ e - h Z [ ~cos
3 ( hx - sin hx ) + C4( cos hx + sin hx )I

Knowing that

-d=y ton 8 , -E17 d2y = M , and - E dI 3 ~y = Q

dz dz dz

allows for deriving the general expressions for the slope 0 of the deflection line, the
 18
bending moment M and the shearing force Q from (3.2.b-d).The intensity of pressure in
the foundation will be found from ( 3.2.a ) to be p = ky.

In applying these general equations and their corollaries to particular cases, it is

necessary to determine the constants of integration C1, C2, C3, and C4. These integration
constants are dependent on the manner in which the beam is subjected to the loading. Their
values are constant along each portion of the beam within which the elastic line and all its
derivatives are continuous. Their values can be obtained from the conditions existing at the
two ends of such continuous portions. Out of the four quantities ( y, , M, and Q )
characterizing the condition of a single end, two are usually found at each end, from which
sufficient data are furnished for the determination of the constants C.

5 3.3 TWO PARAMETER FOUNDATION MODEL

Winkler's assumption, though quite simple, provides satisfactory results for the
surface deformations of beams on an elastic foundation, see Foppl and Hetenyl. However
the model is less satisfactory when applied to the examination of loaded surface areas.

More recent analyses assume that some interaction occurs between spring elements.

Filonenko-Borodich assumed that the top ends of the spring elements were
connected to a membrane which could sustain tensile stresses. that is stretched by a
constant tension T, obtaining
 This model assumes that at each point of contact, the foundation applies both a
pressure and a moment to the beam. The moment is assumed to be proportional to the
angle of rotation. Thus, actions of the foundation per unit length of the beam are taken as

in which k andke= the two moduli of the foundation. From x we derive an equivalent line
load. This force can be applied in the same way that the twisting moment M y on the edge
of a plate is converted to an equivalent shear 8M/82. This transforn~ationis standard in
elementary thin-plate theory.

Thus, Eq. 4 can be replaced by

without any moment load from the foundation.

 3 3.4 VLASOV FOUNDATION MODEL

Vlasov and Leontev also considered the shear interaction in a foundation and used a
variational method to their formulate their approaches to problems. Their approach has been
frequently adopted by recent researchers and is now extensively used in the determining
the design characteristics of structures upon various soil foundations. Their approach has
all of the advantages of a continuum approach and the simplicity of the coupled spring
model. However, it is strongly dependent upon an assumed form of the vertical
deformation profile.

Vlasov Foundation Model ( Ref. 3 )

Fig. 3.4.1
 The following derivation is given by R. Jones. The advantage of this formulation is
that it both yields the Vlasov model and provides a rigorous theoretical basis for the form of
the vertical deformation profile.

In this formulation, an elastic foundation of thikness H rests on a rigid base. Upon

the upper surface is a plate of flexural rigidity D, which is subject to vertical load q ( x, y )
(Fig. 3.4.1) Examining the xy plane at the upper surface with the z-axis directed positively
downward, the total strain energy of the foundation and the plate is

where: u,v,w are the two horizontal and the vertical displacements, r e s p e c t i v e l y ; ~Ty,,
~~,
ox ,oy,o, ,T,, are the stresses in the foundation; and p is the Poissons's ratio of the plate.

In this formulation, the double integration occurs over that portion of the upper
surface of the foundation on which the plate lies. The volume of the integration is over the
entire volume of the foundation.

The stresses in the foundation are related to the deformations by the formulation,
where: E and p are related to Young's modulus of the foundation, E, and Poissons ratio of
the foundati~np~by

Adopting Vlasov's assumptions since there is no horizontal loading, the horizontal

displacements are negligible in comparison with the vertical displacement, i.e. u = 0,
v = 0 the vertical deformation w ( x, y, z ) also takes the usual ( Vlasov ) form :

where : wl ( x, y ) is the vertical deformation of the upper surface of the foundation ; and
is a function of the vertical distribution of displacements, determined by the nature of
the problem.
 Based upon the reported results of experiments, details of which are not readily
available, Vlasov gave the function @ ( z ) in the following form:

where: Y is an unknown constant determining the variation, with depth, of the vertical
displacements.

Substituting for w and setting u = v = 0 in equation ( 3.4.1 ) yields:

while the stresses UE.Txy, T y c reduce to

Txz= G $=awl

Consequently, the strain energy V may be expressed as

The requirement that the total potential energy I is minimized yields

which leads to the following partial differential equations in 4 and wl:

and

where the double integration is applied over the entire upper surface of the foundation. It is
important to note that equation ( 3.4.10 ) is precisely the same equation as derived by
Vlasov for the response of a plate lying on an elastic foundation.

The values for k and 2t are usually given as:

and
Thus, equation (3.4.10) may be rewritten as

From equation (3.4.10) it is apparent that the surface deformation, i.e., W1 ( x, y ), is

dependent upon the values taken for the parameter k and 2t. These values, in turn, are
dependent upon the form of the vertical deformation profile, i.e.,@(z).Consequently, if
Vlasov's form for as given by equation (3.4.5) is in error, then the computed values
of wl will be adversely effected.

The coefficient k in equation (3.4.14) characterizes the compressive strain in the

foundation, and is equivalent in explanative purpose to a Winkler spring constant (or
modulus of subgrade reaction). The shearing strain in the foundation is characterized by the
coefficient t.

The primary advantage of above formulation is that it yields a differential equation

from which the vertical deformation profile may be determined. This is a superior attribute
not found in Vlasov's formulation. Since the foundation rests on a rigid base, we must
have = 0 on z = H, and on z = 0 we have

Equation ( 3.4.11 ) then has its solution

Q ( z ) = s i n hy ( H - z ) l s i n h yH

where
 This form for@agrees exactly with the previously predicted form of the vertical
deformation profile. Thus, a rigorous theoretical basis for the vertical deformation profile
@ ( z is
) established, giving added strength to the Vlasov two-parameter soil model.
Furthermore, on the basis of equation (3.4.17), several important factors may be deduced
which will influence the value of Y . Consider that the upper surface of the soil is of an
infinite extent so that at some distance from the plate the deflections decay to zero. Then,
using Green's theorem, equation ( 3.4.17 ) reduces to

~2 = ( p - 1) J J w l v 2 w d ~ d y
211 W
: dz dy

Making use of equation ( 3.4.14 ) then yields

The unsubscripted double integral applies over the entire upper surface of the
foundation. Equation ( 3.4.19 ) then shows that y is dependent upon both the applied load
q and the shape and flexural rigidity of the plate. When considering the special case of
surface loading only ( i.e. D = 0 ), Y will depend only on the load and the shape of the
load region. This is an important result since all previous publications have assumed that
was independent of such consideration.

As a consequence of this dependence, the parameters

and

2t- J~~~~~~
E ( sinh yH coshyH + yH )
2(1 + p ) 0 4y (1 + t , ~ )s i n h 2 y ~

are also dependent on the load, the shape, and interestingly the flexural rigidity of the
plate.

Indeed such a dependence is encountered when one attempts to experimentally

determine the value of the modulus of subgrade reaction, i.e., k.
 CHAPTER 4

VIBRATION OF A PIPELINE CONTAINING FLUID FLOW

WITH A SIMPLE SUPPORT

4.1 INTRODUCTION

In 1952 G. W. Housner presented an analytic solution for the vibration of a pipeline

containing flowing fluid based on simple beam theory. This result shows that the flow of
fluid in such a pipeline has no beneficial effect upon the vibrations. The fluid velocity
causes a dynamic coupling of the simple modes of vibration such that the normal modes of
vibration develop into a complex shape with 90 degree out-of-phase components. The
indicated solution is developed for free vibrations and steady- state forced vibrations . It
shows that large amplitudes may be developed if the amount of damping is too small. Low
fluid velocities have a negligible effect upon the vibration of the pipeline, and at a certain
high critical velocity, the fluid flow causes a dynamic instability.

8 4.2 DIFFERENTIAL EQUATION OF MOTION

To derive differential equation consider a pipe full of fluid with following

parameters :

m - The total mass, pipe plus fluid, per unit length;

I - The moment of inertia of pipe;

E - The modulus of elasticity;

p - The mass per unit length of the fluid constant;
V - The velocity of flowing fluid.
 A Pipeline Containing Fluid Flow With a Simple Support ( Ref. I )

Fig. 4.2.1

Let the coordinate measured along the pipe be x and the label the vertical
displacement of the pipe as z ( Fig. 4.2.1 ). Based on these assumptions, a differential
equation describing the motion of the pipe may be derived. Fluid flowing along the curve
described by the center line of the pipe has a rather complicated motion; each point on the
center line has a vertical acceleration, an angular acceleration, and a changing curvature.
To insure that no component of the motion is overlooked, Housner adopted the Harnlton's
principle to derive the differential equation.

An element of fluid flowing through a pipe has a velocity v tangent to the pipe axis
and a velocity 2 = az / 8 t in a vertical direction. Assuming small displacemellts of the
pipe, the x-component of the velocity is v and the the z component is defined as

The kinetic energy in a length dx of the pipe is that of the pipe plus that of the fluid, or

The fmt term on the right side of the equation represents the kinetic energy of the
pipe shell. The second term represents the kinetic energy of the fluid. According to beam
theory, the strain energy in the length dx is given by
Hamilton's principle states that the variation of the 6 st2( T - v ) dt is equal to zero, which for this
t1
problem is

Performing the variation gives

since

Each term may be integrated by parts so as to eliminate the variation derivatives of 6 z . When this
is done, the following equation is obtained :

where all the integrated terms have disappeared because of the boundary conditions. Since 62 is
arbitrary, the only way for the integral to be zero is for the expression in square brackets to be
identically zero. Equating this to zero yields the differential equation
 Thus the beam is seen to be affected by three different inertia forces. The first term
on the right of the equation represents the inertial force associated with the change in
direction of v, enforced by the curvature of the beam; i.e., the fluid experiences an
addtional acceleration because it travels along a curved path. The second term on the right
of the equation is the inertial force associated with the Coriolis acceleration arising because
the fluid flows with velocity v relative to the pipe, while the pipe itself has an angular
velocityaz2/ataz at any point along its length. The last term represents the inertial force
associated with the vertical acceleration of the pipe.

5 4.3 FREE VIBRATION

Equation (4.2.1) differs from the more common vibration equations in that it
contains a mixed derivativeaz2/atsz, While it contains a first derivative with respect to
time, its influence is not the same as a viscous damping term of the form a z / s t . This can
be seen by writing the equation in the form

where F ( x, t ) is considered to be an applied force. The free vibrations are then those
normal modes which are derived as solutions of Equation (4.2.2) when F ( x, t ) is set
equal to zero. For a simply supported beam these are

z, = A, sin -nv
x sino,t
!#

Assume that the beam is somehow contained so that it may move only in the nth mode. If
F ( x,t ) is a z / a t ,then the applied force is propertional to

- A, on sin -nn
2
A!
cosu, t ( 4.2.4 )

The intensity of the force is proportional to the displacement. It is 180 deg-o~t-of-phase

with the velocity so that the vibrational energy of the beam is dissipated in doing work
against the force. However, if F (x,t ) = - 82 '/at ax, the applied force is propertional to
 Thus, while the force is again 90 deg-out-of-phase with the displacement, its
intensity in this case is not proportional to the displacement. If sin(nn/l)x is symmetrical
about the mid-point of the beam, then F (x, t) is seen to be antisymmetrical; therefore, F
(x, t) does no work on the mode and is not associated with damping. The significance
of 8z2/8t6xis that it presents dynamic coupling. It is impossible for a symmetrical mode
of the equation (4.2.2) to exist by itself in a free vibration, for there is a corresponding,
antisymmetrical force, 90 deg out-of-phase, which excites all the antisymmetrical modes.
Also, an antisymmetrical mode produces an F (x, y) which excites all of the symmetrical
modes. Thus a normal mode of equation (4.2.1) must be a linear combination of all the
normal modes of the homogeneous form of Equation (4.2.2) with symmetrical and
antisymmetrical modes 90 deg out-of-phase. Thus, a simply supported span has normal
modes z; satisfying Equation (4.2.1)

where the normal mode zi is composed of terms which interact with one another through
the mixed derivative term

An odd term, say

must be in dynamic balance with the coupling forces exerted by all the even terms, and an
even term must be in balance with the coupling forces exerted by all the odd terms. Each
coefficient Ai must be coupled with every other coefficient.

The coefficients and the natural frequency oi are determined as following rule:
When Expression (4.2.6) for zi is substituted in Equation (4.2.1), the mixed derivative
yields terms containing

c o s ( 2 n - 1 ) Ls x and c o s 2 kLB
These terms may be expanded in a Fourier series as

cos( 2n - I ) TI
x = 1(2n-,,~2ksin
k
llx
2k -
f

where

With these substitutions, all the terms in Equation (4.2.1) can be grouped according to
whether they contain

sin 2k ~ x c o s o t
1

To satisfy Equation (4.2.1), the coefficients of these terms must then be equated to zero.
This yields the following set of equations, for n = 1, 2, 3, ...
 Eliminating the A's from the equations results in a frequency equation whose roots
determine the natural frequencies of the normal modes. If = 1. these equations then
determine the remaining A for each normal mode. If all but the first two modes are
suppressed, the equations are solved readily and the frequency equation is

with coefficient A2 given by

There is a singular case when the amplitudes may become infinite, namely, when the fluid
velocity has the critical value

This may be seen readily from the following differential equation for static loading:

This is the same as the equation for a pipe carrying a lateral load p and an axial load
P = pv2 . It follow that the pipe will buckle when P reache critical load, that is

a2z
The term pv , gives rise to the buckling; it represents the inertial forces produced by
the curvature. The critical velocity is, of course, very large and is not of importance for
pipe lines.
 $ 4.4 EXPERIMENTAL INVESTIGATION

An experimental study base been presented by Harold L. Dodds, Jr., and Harry L.
Runyan. It is concerned with the effect of high velocity fluid flow on the static and dynamic
characteristics of a simply supported pipe. The frequency variation of the bending
vibrations as a function of fluid velocity, as predicted by G . W Housner, was verified
experimentally. In addition, the critical fluid velocity at which the system becomes statically
unstable was also verified.

There are two objectives in their experiment : ( a ) study the effect of fluid velocity
on the fundamental bending frequency of a simply supported pipe and ( b ) determine the
existence of a statically unstable condition as predicted in Housner, G. W. paper.

The calculated results from equations ( 4.2.8 ) and ( 4.2.10 ) for the fundamental
mode of vibration and the experimental data for two identical pipe are shown in
fig (4.4.2). The values of the constant used in calculating the value of Vc from
equation ( 4.2.10 ) and.the relation between U i and v from equation ( 4.2.8 ) are as
following :

The specific experimental values pertaining to fig( 4.4.2 ) which have been
normalized by the theoretical values of wi at \( = 0 and Vc ( at = 28.4 rad/sec and
Vc = 129.5 ft/sec ), appear in the following table. The overall damping of the system at
each point. as determined from the strain - gage records also appears in the table ( 4.4 ):
 Pipe V / vc @/OV=O log decrement
*0 1.042 0.179
.332 .919 .308
1 .595 .849 .409
.753 .662 .967

0 not obtained not obtained

.I67 1.059 0.329
.354 .958 .337
2 .543 .9 19 .629
,689 ,676 ,865
.752 .739 1.098
.985 0 not obtained

Comparison of Theoretical and Experimental Results ( Ref. 2 )

Table 4.4
0/ a v = o

Comparison of Theoretical and Experimental Results ( Ref. 2 )

Fig. 4.4.2
 As can be observed in fig ( 4.4.1 ) a good correlation between theory and
experiment is achieved. The maximum experimental error relative to the theoretical curve is
approximately 7.5 percent.

As predicted by the theory, the system became unstable which resulted in a

permanent deformation of the pipe. Divergence was achieved with both pipes. However,
because of an instrumentation failure during the first test, only the divergence velocity for
the second pipe was recorded which was 127.5 ft/sec. The experimental error of the
divergence velocity relative to the predicted critical velocity is 1.5 percent.

The log decrement, as shown in the table, is a measure of the total damping of the
system at each data point. These values were obtained by taking the natural logarithm of the
ratio of successive amplitudes for the fist completed cycle of each strain fgage record. The
log decrement value when the pipe is empty can be considered as a measure of the
structural damping of the pipe and its end supports. This value was 0.179 for the first
pipe.

As may be observed in the table, the natural frequency of the pipe decreases as the
fluid velocity increases while the log decrement values increase. It should be noted that the
log decrement increase is due to the combined effect of the frequency and fluid velocity,
although the values differ in some cases for the two pipes.
 CHAPTER 5

VIBRATION OF PIPELINE CONTAINIG FLUID FLOW

WITH ELASTIC SUPPORT

In this chapter, we will consider the bending vibrations of a pipe line on an elastic
support. The Vlasov model will be used for modeling elastic support and the Hamilton
principle will serve as a basis for derivating the differential equations.

$ 5.1 DERIVATION OF DIFFERENTIAL EQUATIONS

For the purpose of derivation, Let us consider an elastic foundation of thickness H,

resting on a rigid base. A pipeline containing flowing fluid lies upon the upper surface of
this foundation fig( 5.1.1 ).

A Pipeline Containing Fluid Flow With Elastic Support

Fig. 5.1.1

These assumptions may be modified in accordance with Vlasov's principle, that

since there is no horizontal loading, the horizontal displacements are negligible in
comparison with the vertical deformation i.e. u = 0. The vertical deformation ( x, z,t )
is also expressed in the usual (Vlasov) form :
where w ( x, t ) is the vertical deformation of the foundations upper surface and@(z)isa
function of the vertical distribution of displacements.

Based upon experimental evidence, the function Q ( z ) was taken by Vlasov in the
form

where r is an unknown constant determining the variation, with depth, of the vertical
displacements.

According to the kinetic energy theory of beam T ( t ) = 112 $

( ,/ gt )2 dZ #
the kinetic energy of the pipe line is defined by

in which, m is the mass per unit length of both pipeshell and fluid; p is mass of fluid per
unit length; v is the x - component of velocity, and 8w/8 t + v 8w/ 8z is z - component.
So,the first term in the equation ( 5.2.1 ) presents kinetic energy of the pipe shell, and
second presents the kinetic energy of fluid.

Since the vertical deformation of foundation w ( x,z,t ) = w ( x,t ). 4 ( z ) and

8 w/8 t = 08w/$t the kinetic energy of the foundation is defined by

where ms is the mass of the foundation, H is the thickness of the elastic foundation.
We have the total kinetic energy is

The potential energy of the pipe line is, according to the beam theory,

where EI is the flexural rigidity of pipe line, w is the deflection of pipe line.

We assume u, w are the horizontal and the vertical displacements;

are the stresses in the foundation; is the poissons ration, and F ( x,t ) is an external
force. The potentail energy of the foundation is

in which

T X Z= G
aa
Y, =G(-+-I
az
aiii
ax -G@=
aw

Substituting ( 5.2.6 ) and ( 5.2.7 ) into ( 5.2.5 ) we have

The total potential energy of the system is

V=Vp+Vf

According to Hamilton's principle, 6 1 1

(T - V ) dt = 0
Performing the variation in 8 w ,

We have

Since

and the each term may be integrated by parts so as to eliminate the variation derivatives of
B w . Because of boundary conditions, all the integrated terms have disappeared.The
equation (5.2.1 1 ) can then be simplified to
 Since w is arbitrary, the only way for the integral to be zero is for the expression
in brackets to be identically zero. This yields the differential equation

where

we have
 t2
form s c S ( T - V ) M=O.wehave
ti

Equation ( 5.2.17 ) can be written as

Since the foundation rests on a rigid base, we must have @ = 0 when z = H, and that when
z = 0 we also have @ = 1. Using these two boundary conditions following solution for
equation ( 5.2.18 )
is obtained :

sinh r ( It - z )
'(')= sinhrn

in which

Substituting equation ( 5.2.19 ) into equation ( 5.2.15 ) leads to

 kf = Es(1-PI
( l + r , ( l - 2 p ) So (x)
X d4 2
dZ
( 5.2.2 1 .a )

- Es( 1 -p ) r
2 ( 1 + p ) ( 1 - 2 ~ ) s i n h ~ ( r [Hs i)n h (rH ) cosh (rH ) + (rH ) ]

As demonstrated in chapter 4, the normal modes wi can be expressed as

Wi =I
TI
~ , - , s i n (2n - 1 ) - x s i n w i t
n
+ CA,, sin 2k-xcoswit ( 5.2.22 )
n L k L

Substituting equation ( 5.2.22 ) into equation ( 5.2.16 ) with F ( x, t ) = 0, we have the

following set of equations, for n = 1, 2, 3, . . . ; k = 1, 2, 3, . . .
 --8pvo i
- ( 2 n - 1 l2
C-42,-I
1 n ( 2n - 1 ) 2 - ( 2k l2

For A 1= 1,n = 1, k = 1, the frequency equation is

32 PVW,

For a special case, when t and M are equal to zero, equation ( 5.2.24.a ) is
reduced to equations ( 4.2.8 ) and ( 4.2.9 ) of Chapter 4. To solve the above equation for
the frequency, we must first find kf ,2t , and M, which needs the value of r .

For the convenience of derivation, express the normal mode w as the following form

The real part of above expression is the same as equation ( 5.2.22 ) for n = 1 and k
= 1. Substitute equation ( 5.2.25 ) into equation ( 5.2.20 ) we have
 where K = - A21 A 1

Simplifying the above equation, we have

At this point, there are five unknowns w, k , 2t, M, and r . Theoretically, these unknowns
can be solved using five equations, ( 5.2.21 ), ( 5.2.24 ) and ( 5.2.27 ).

The interaction method has been used to solve these equations, using following
steps. First, we assume a value for r ; substituting it into equation ( 5.2.21 ) yields kf , 2t
and M. Then, substituting kf, 2t and M into equation ( 5.2.24 ), w and a corresponding
h a y be found. Substituting K into equation ( 5.2.25 ) yields a calculated value r ; if the
calculated r is equal to the value r we assumed at the beginning, then the needed w has been
found. Otherwise, we assume another value for r and repeat the process until the calculated
r equals the assumed r.
 8 5.3 NUMERICAL RESULTS AND DISCUSSION OF RESULTS

The numerical calculation is carried out using the same constant of pipeline as in
Chapter 4 as follows :

p = 8.00 * slugslft ;
E = 1.44 * 10' 1b ~ / ( f t ;) ~

m = 1.49 * 10-2 slugslft ;

1 = 10.5 ft ;
Ef= 10 K s f ;

In which, the symbols represent :

mass of fluid per unit length ;

modulus of elasticity ;
moment of inertia ;
mass of pipe plus fluid per unit length ;
length ;
modulus of elasticity for foundation ;
weight of foundation ;
mass of foundation ;
high of foundation ;

As seen in for simple supported pipeline, when fluid velocity increases, the
frequency of the pipeline vibration decreases sharply. This means that the vibration
displacement is increased very quickly. As velocity aproaches to the critical velocity, the
frequency approaches zero. This indicates instability will occur. For the pipeline
supported by an elastic foundation, the frequency also decreases with an increase of the
fluid velocity in the pipeline. However, the decrease in the frequency of the foundation -
supported pipeline is much less than that of the simple supported pipeline. Also, the drastic
decrease in the frequency does not occur in the foundation - supported pipeline. Therefore,
it is not likely that the unstable condition w
ill occur in a foundation - supported pipeline.

The Relation Between Velocity and Frequency in Simple Support and foundation Support

Fig. 5.3.1
 Different values for the foundation constant have been used in studying the effects
of the foundation on the vibration of the pipeline.

4 E= 12ksf E= 11ksf E= 1Oksf E=Oksf

The Relation Between Velocity and Frequency in Different Foundation Constant E

Fig. 5.3.2
 The Relation Between Frequency and Elastic Modulus of Foundation

Fig. 5.3.3

In Figure ( 5.3.3 ) the relation between velocity and frequency is plotted for the
different E values of the foundation . As E increases the frequency also increases,
implying a decrease in the amplitude of the vibration .
 CHAPTER 6

CONCLUSION

In this paper the Vlasov foundation model was successfully used to derive a
theoretical solution for a pipeline with flowing fluid. The numerical calculation was carried
out by using the iteration method.

The nlain conclusions are ;

1. The theoretical solution derived by using the Vlasov foundation model

and Housner's pipeline model successfully describes the vibration of a
pipeline containing flowing fluid and supported on an elastic foundation.

2. As expectance, elastic support will reduce that amplitude of the pipeline

vibration which in this case is caused by fluid flowing within the
pipeline.The amplit decrease with the increase of foundation stiffness.

3. The unstable condition observed in the simple supported pipeline is not

likely occur in an elastic supported pipeline.

4. In the special case , when the parameters E, k, t, and M are all equal to
zero, the differential equation is reduced to the one given by Housner.
 PROGRAM

C This program is using interaction method to solve w, k, 2t, M, and r in

C equations ( 5.2.21.a ), ( 5.2.21.b ), ( 5.2.21.c ), ( 5.2.24 ), and ( 5.2.27 ).
C See the page 47.
C The program was written by fortran language, and was run on CMS mainframe.
.......................................................................
REAL AMU, AL, PI, AMS, ES, V, W, R, AKI, AK2, FK, T, AAM, AM, EI
REAL AK, P, H

R = 0.4
AMU = 0.25
AL = 10.5
PI = 3.1415927
ES = 10000.0
AMS = 0.284679
AM = 0.0149
P = 0.008
H = 5.0
EI = 1500.0

CALL AFK(ES,AMU,R,H,FK)
CALL TT(R,AMU,H,T,ES)
CALL A M W W S \ A M r n S )
CALL WRO(R,FK,T&lM,W)
CALL VVO(FK,T, P,EI,PI,AL,V)

C WRITE ( 7,201 ) R, H, KF, 2T, M, W

C 201 FORMAT ( 8X, 'R7, 11X, 'H', 11X, 'KF', l o x , '2T7, IOX, 'M', IOX, 'W' )
C WRITE ( 7,202 )
C 202 FORMAT ( 6F12.6 )
CALL WW( FK,T,AAM,VV,W, RT )
 WRITE ( 7,203) RT,FK,T,AAM,W,V
203 FORMAT ( 6F10.4)
10 CONTrNuE
STOP
END

SUBROUTINEAFK ( ES,AMU,R,H,FK )
C .................................................................
C This subroutine is to solve k in equation ( 5.2.2 1.a ), when r is given.
C .................................................................

REAL FK1,FK2
F K ~ = ( ( E S / ~ ~ ) ~ ( ~ - A M U ) ~ ( R ) / ( ~ -2xAMU))
~(~+AMU)X(~
C FK1=( (ESI12)x R)/(2x(1-AMUxAMU))
FK2= (SINH(RxH)xCOSH(RxH ) + RxH)/(SINH(RxH)xx2)
FK = FK1 x FK2
C WRITE(7,109)FKl,FK2,FK
C 109 FORMAT ( 3F20.8)
RETURN
END

SUBROUTINE T T ( R,AMU,H,ES )
c*********************************************************
C This subroutine is to solve 2t in equation ( 5.2.21.b ), when r is given.
c******************************************************
REAL TI,T2
T1 =(ES/12)/(4xRx(l +AMU))
T2=(SINH(RxH)xCOSH(RxH)-RxH)/(SINH(RxH)xx2)
T=T1 xT2
C WRITE(7,104)Tl,T2,T
C 104 FORMAT ( 3F20.7)
RETURN
END
 SUBROUTINEA M M ( R,H,AAM, AMS )
c**********************************************************************
C This subroutine is to solve M inequation ( 5.2.2
1.c ), when r is given.
c**********************************************************************

REAL AM1, AM2

AM1 =AMS/(2xRxSINH(RxH)xx2)
AM2=SINH(RxH)x(COSH(RxH)- (Rx H)
AAM = AM1 x AM2
C WRITE(7,105)AMl,AM2,AAM
C 105 FORMAT ( 3F20.7)
RETURN
END

SUBROUTWE WW ( FK,T,AAM,V,W,RT )
c**********************************************************************
C This subroutine is to calculate r again ,whenk ,2t,M,w is given.
c*********************************************************
COMMON/ONE/AMU,PI,AL, AMS,ES
COMMON=E/AM,P,H ,EI
REAL Al, A2, AA1, AA2,AA3,A,Bl,B2,BBl,BB2,B
Al=32xP/(3 xAL)xV x W
AA2=FK+EIx(PI/ AL)xx4
AA3= (PxV xV+T)x(PI/AL) xx2+(AM+AAM)xWxW
A2=AA2-AA3
A =Al/A2
B2= -(8xPxVxW)/ (3xAL)
BBl=FK+EIx(2xPI/AL)xx4
BB2=(PxV x V + T ) x ( 2 x P I / A L ) x x 2 + ( A M + A A M ) x W x W
B1 =BB1-BB2
B=Bl/B2
AK= 1/B
Rl=(l-2xAMU)xPIxPI/(2xALxAL)
R2=(1+AMU)x ( 1 - 2 x A M U ) x A M S x W x W / ( E S / 1 2 )
R3=3xRlxAKxAK/(l -AKxAK)
R4=Rl+R2-R3
 RT=SQRT(ABS(R4))
c WRITE( 7,2)
C 2 FORMAT(8X,'Bl',lox,'A2',lOX,'AK',IOX,'A',IOX,' B y )
WRITE (791)
1 FORMAT ( 3F12.6)
RETURN
END

SUBROUTINEW R O ( R,FK,AAM,W )
c**********************************************************************
C This subroutine is to calculate paramter w in subroutine ww.
c**********************************************************************

COMMON/ONE//AMv,PI,AL,AMS,ES
COMMON/THREEYAM,P,H,EI
WRITE (5,881)
881 FORMAT ( ' ', 'WRO' )
W1 =FK+EIx(PI/AL)xx4-Tx(PI/AL)xx2
W2=AM+AAM
W=SQRT(ABS(Wl/W2))
WRITE ( 7,777) FK, AAM,T,W
777 FORMAT ( 4F12.6)
RETURN
END

SUBROUTINE VVO ( FK, T,P,EI,PI,AL,V )

C**********************************************************************
C This subroutine is to calculate the parameter v in subroutine ww.
c**********************************************************************

WRITE (5,771)
771 FORMAT ( ' ', ' VVO ' )
Vl =(AL/PI)xx2/P
V2=FK+EIx(PI/AL)xx4-Tx(PI/AL)xx2
V=SQRT(ABS(VlxV2))
WRITE ( 7,888) V
888 FORMAT ( 1 F12.6)
RETURN
END
 REFERENCES

Housner, G. W. : " Bending Vibrations of a Pipe Line Containin Flowing

Fluid". J. Appl. Mech. , vol. 19, no. 2, June 1952, pp. 205-208.

Harold L. Dodds, Jr., and Hany L. Runyan : " Effect of High -Velocity
Fluid flow on the Bendng Vibrations and Static Divergence of a Simply
Supported Pipe ". Nasa - Langley, 1965 L-4408.

R. Jones and J. Xenophontos : " The Vlasov Foundation Model ".

J.Mech. Sci. vol. 19, pp 317-323.

S. Timoshenko, D. H. Young, and W. Weaver. Jr : " Vibration

Problems in Engineering ". Fourth Edition, 1974.

Z. Feng and R. D. Cook : " Beam Elements on Two Parameter Elastic

Foundations ". This paper is part of Journal of Engineering Mechanics,
vol. 109, No. 6, December, 1983.

Ashley, Hot; and Haviland, George: " Bending Vibrations of a Pipe Line
Containing Flowing Fluid ". J. Appl. Mech., vol. 17, no. 3, Sept. 1950,
pp. 229-232.

S.Timoshenko : " Strehgth of Materials ". Third Edition, 1956.

Walter C. Hurty annd Moshe F. Rubinstein : " Dynamec of Structures "

Second Edition, 1965.

S.Timoshenko : " Theory of Elasticity " . Third Edition, 1969.

S.Timoshenko : " Vibration Problem in Engineering ". Third Edition, 1955.