PhD dissertation from Huazhong University of Science and Technology

Description of main symbols

E Elastic modulus of pipe (Pa)

G Pipe shear modulus (Pa)

L Pipeline length(m)

e Wall thickness(m)

R Pipe inner radius (m)

b=R/e Pipe diameter thickness ratio

Ap Cross-sectional area of tube wall (m2)

Jp Polar moment of inertia of the tube wall section (m4)

Ip The moment of inertia of the tube wall section (m4)

ρp Pipe density(kg/m3)
mp Pipe mass per unit length (kg)

μ Poisson's ratio of pipe

α Pipeline inclination angle (rad),coefficient

β Pipe rotation angle (rad),coefficient

γ Pipe rotation angle (rad),coefficient

ap Pipeline stress wave velocity (m/s)

ap pipelineFSIStress wave velocity (m/s)

ab Pipe bending stress wave velocity (m/s)

as Pipe shear stress wave velocity (m/s)

cx,cy,cz Pipelinex,y,zStructural damping coefficient in the axial direction (Ns/m) Pipeline

cϕ aroundzTorsional damping coefficient of the shaft

σz Pipe axial stress (Pa)

fx,fy Pipelinex,yShear force in the axial direction (N) Pipeline

fz zInternal force in the axial direction (N)

Fx,Fy,Fz Pipelinex,y,zAxial shear or axial force amplitude (N) Pipeline aroundx,y,z

mx,my,mz Bending moment or torque of the shaft (Nm) Pipeline aroundx,y,zAmplitude of

Mx,My,Mz shaft bending moment or torque (Nm) Pipeline aroundx,y,zThe rotation angle

βx, βy, βz of the axis (rad) Pipeline aroundx,y,zThe magnitude of the shaft angle (rad)

Θx, Θy, Θz Pipelinex,y,zAxial displacement (m) Pipelinex,y,zThe amplitude of the axial

ux,uy,uz displacement (m) Average flow velocity of transient flow liquid cross section (m/

Ux,Uy,Uz s)

U
U0 Average flow velocity of periodic pulsating liquid cross section (m/s)

uf Liquid displacement (m)

VIII
 PhD dissertation from Huazhong University of Science and Technology

Uf Liquid displacement amplitude (m)

p Liquid pressure (Pa)

P Liquid pressure amplitude (Pa)

υ Liquid kinematic viscosity (m2/s)

ρf Liquid density (kg/m3)

mf Liquid mass per unit length (kg)

Af Liquid cross-sectional area (m2)

If The moment of inertia of the liquid cross section (m4) The

f friction coefficient between the liquid and the tube wall

Kf Liquid bulk modulus (Pa)

af Liquid pressure wave velocity (m/s)

af liquidFSIPressure wave velocity (m/s) Total mass per

m= mp+ mf unit length of liquid-filled pipe (kg)

d = ρf/ρp Liquid and pipe density ratio

λ Wave speed(m/s), eigenvalue

ω、ωf Modal analysis circular frequency, liquid pulsation circular frequency (rad/s)

ω Fundamental periodic vibration circular frequency (rad/s)

B Fundamental periodic vibration amplitude (m)

ϖ Weight coefficient

Ω Dimensionless circular frequency

τ0 Shear force between the tube wall and the liquid (Pa)

τ Dimensionless time

I*=ρfIf+ρpIp Mass moment of inertia of the liquid-filled pipe unit (kgm)

κ=2(1+μ) /(4 + 3μ) Shear force distribution coefficient of circular section

N Number of pipeline segments

F Pipe unit axial internal force (N)

F0 Initial axial internal force of the pipe unit (N)

Q Shear force of the pipe unit cross section (N)

M Pipe unit cross-sectional bending moment (Nm)

Mz Pipe unit cross-sectional torque (Nm)

fξ The tangential friction between the tube wall and the liquid (N)

fη Normal force between pipe and liquid (N)

Subscriptx,y,z Coordinate axis direction

Subscriptf,p Liquid, pipe

SuperscriptL,R Left side, right side

IX
 Declaration of Originality

I declare that the degree thesis submitted is the research work and achievements I have made under the guidance of my supervisor.

To the best of my knowledge, this paper does not contain any other personal

Individuals and groups who have contributed to the research of this article have

It is clearly marked in the text. I am fully aware that I will bear the legal consequences of this statement.

Signature of thesis author:

date: Year moon day

Copyright authorization for dissertation

The author of this dissertation fully understands the school's regulations on the retention and use of dissertations, namely: the school has the right to

Keep and send copies and electronic versions of the paper to relevant national departments or institutions, and allow the paper to be consulted and borrowed.

I authorize Huazhong University of Science and Technology to include all or part of this thesis in relevant databases for

In order to conduct retrieval, this thesis can be preserved and compiled by means of photocopying, reduction printing or scanning.

Confidential □, This authorization shall be applicable after decryption in year.

This paper belongs to

Not confidential□.

(Please tick "√" in the box above)

Signature of thesis author: Instructor's Signature:

date: Year moon day date: Year moon day

 PhD dissertation from Huazhong University of Science and Technology

1introduction

1．1Background, significance and content of research on vibration characteristics of liquid-filled pipe system

1．1．1Background and significance of research on vibration characteristics of liquid-filled pipe system

There are liquid pressure pulsations and pipe wall structure vibrations in the liquid-filled pipe system. The coupling between them will not only cause

vibration and noise pollution, but serious coupled vibrations may even lead to catastrophic accidents. According to statistical analysis, the number of accidents in

the petrochemical industry worldwide is100In the major property damage and casualties accident, Accidents caused by pipeline vibration account for19%[1];

Even in advanced countries, the economic losses caused by pipeline vibration are huge every year. According to a Canadian expert, in the United

States, an industrially advanced country, the losses caused by pipeline vibration in the past amounted to100More than US$ 100 million; according to

the survey,1965to1981In the United States, there are records of76Water hammer accident, the most serious one is1985San Diego Nuclear Power

Plant1The nuclear power plant was forced to stop operating due to a huge water hammer accident in Unit 1. According to incomplete statistics, the

economic losses caused by pipeline vibration in the world amount to tens of billions of dollars each year.[2][3]In our country, such accidents have also

caused many serious casualties and huge property losses.[4]These accidents are all caused by water hammer, an extreme coupling vibration between

the pipe and the fluid. Water hammer often occurs in liquid-filled pipe systems. Once an accident occurs, it is catastrophic and the loss is huge.

No. 1
Water storage tank

Sewage from the old station

No. 2

Water storage tank

to
From Xinzhan sewage Note
water

Pump
No.3
Water storage tank

picture1.1A schematic diagram of the water injection system of an oilfield joint station

Most of China's oil fields have entered the second and third exploitation periods. Oil pipelines and water injection pipelines are densely distributed and crisscrossed, forming a huge and

complex pipeline network system. It is very important to ensure the safe operation of the pipeline network.1.1This is a schematic diagram of the water injection system of a certain oil field joint

station. Once the water injection pump stops for some reason, water hammer vibration will inevitably occur in the joint station and the water injection pipe network.

1
 PhD dissertation from Huazhong University of Science and Technology

This project is based on the water injection system of Daqing Oilfield and the non-constant flow liquid-filled pipe system. It studies the characteristics of coupled

vibration between pipeline and liquid and the influencing factors of vibration response. It predicts the vibration response of the liquid-filled pipe system

according to its structure and operating parameters, so as to take necessary measures to suppress or reduce the vibration of the system, prevent accidents from

happening or reduce the damage caused by accidents, and ensure the normal operation of the system. It has very important practical significance.

1．1．2Research content of vibration characteristics of liquid-filled pipe system

The history of pipeline vibration research has reached 100 years. The complexity of its physical, geometric and other conditions and its multi-parameter influence have

aroused great interest among many scholars. Its research content is very extensive, including modeling theory, straight pipe vibration characteristic theory, acoustic vibration

energy transfer characteristics, vibration characteristics and response prediction, experimental technology, etc.60Since the 1990s, due to the continuous improvement of safety

requirements for nuclear power plants, scholars from the United States, Britain, Germany, the Netherlands and other countries have achieved many results in the vibration

research of liquid-filled pipe systems in power plants.

In terms of theoretical modeling of the vibration response of the liquid-filled pipe system and the study of the characteristics of the vibration response, the research content mainly

includes: the study of the lateral (non-)linear vibration model and vibration characteristics of the liquid-filled pipe system, the study of the axial (quasi-)linear vibration model and vibration

characteristics of the liquid-filled pipe system, the calculation method of the vibration response of the liquid-filled pipe system, and the control of the vibration response of the liquid-filled pipe

system and system stability.

1．2Overview of the Study on Transverse Nonlinear Vibration Characteristics of Liquid-Filled Pipe Systems

1．2．1Overview of foreign research on lateral vibration of liquid-filled straight tubes

Research on liquid-filled pipes can be traced back to19century80Era.1885YearBrillouinThe phenomenon of fluid-induced pipe vibration was observed for

the first time, and since then the problem of liquid-filled pipes has aroused great interest.BrillouinStudents Bourrieres[5]At1939In 1996, the stability of the cantilever

liquid-filled pipe was discussed theoretically and experimentally, and the correct motion equation was derived. The cantilever system was studied and understood

in depth, and many characteristics of swing failure were obtained. Although the critical flow velocity value for pipeline instability could not be obtained,Bourrieres

He is still considered the first person to correctly derive the differential equations of motion for this problem.10In recent years, due to the construction of the

Trans-Arabian Oil Pipeline, the vibration of the oil pipeline caused by oil flow and natural gas has attracted the attention of mechanics workers, and many scholars

have been involved in this research.Ashley[6],Housner[7], Long[8],Handelman[9]et al. solved the natural frequency of the liquid-filled pipe under various support

conditions and found that the simply branched pipe would experience static instability similar to the compression rod buckling phenomenon at a sufficiently large

flow rate, and calculated the critical flow velocity at the time of instability. Banjamin[10]The segmented liquid-filled pipe was studied. Although the theoretical model

he used had only a few degrees of freedom, the results reflected the main instability forms of the segmented liquid-filled pipe.1966Year,GregoryandPaidoussis[11]

Filling tube for cantilever

2
 PhD dissertation from Huazhong University of Science and Technology

After conducting theoretical and experimental research, they first proposed the motion stability conditions of this type of tube, calculated the critical flow velocity

of the system, and conducted in-depth research on the influence of several system parameters on the critical flow velocity. Their theoretical and experimental work

was very successful, and established the method of problem research, which can be considered to have brought the research of this problem into a new stage.70

Era, Chen[12]-[17]With funding from the U.S. Department of Defense and the Department of Energy, a lot of further work has been done on the vibration and stability

issues of liquid-filled pipes (including elbows), some of which are groundbreaking.1974Year,PaidoussisandIssid[18]It is theoretically found that when the flow

velocity is high enough, the tube supported at both ends will experience coupled modal flutter instability after buckling.

Early studies on the vibration of liquid-filled straight pipes were mainly limited to low-order modal bending vibrations.Paidoussis[19]-[28]His

contribution in this regard is quite outstanding.1987In 2000, a review entitled "Flow-induced instability of cylindrical structures" was published, which

gave a brilliant explanation of the vibration of liquid-filled tubes (focusing on linear vibration) and pointed out two noteworthy instability phenomena: (

1)Divergent instability is a type of flow-induced static buckling instability, which mainly occurs in liquid-filled pipes supported at both ends;

(2)Flutter instability is a type of dynamic instability in which the amplitude increases exponentially with time, and often occurs in a cantilevered fluid-filled tube

with one end fixed and the other free.

In the adoption of the mechanical model of the liquid-filled pipe, when the span ratio of the liquid-filled pipe is not very large, theTimoshenkoA beam model is

appropriate.Paidoussis[26],Edelstein[29],Sallstrom[30]-[32]etc. have done a lot of research on this. SallstromIt was found that after considering the shear deformation of the pipe

beam, the critical velocity was lower than the value based on the slender pipe. When the cross-sectional size of the pipe is of the same order of magnitude as the span length and

the pipe wall is thin, it is not appropriate to use the beam model to simulate the movement of the liquid-filled pipe. At this time, the circumferential movement of the pipe is also

significant, so it is necessary to introduce a thin shell model. Since then, the research on liquid-filled cylindrical shells and the research on liquid-filled pipes using beam models

have progressed in parallel.

close10Over the years, with the rapid development of science and technology and the deepening of understanding, people have done a lot of fruitful

work in the nonlinear vibration of liquid-filled tubes and discovered some important phenomena that were previously impossible to obtain within the linear

range. Their main work includes: considering the longitudinal tension caused by the lateral deflection under the condition of fixed support at both ends and the

influence of large curvature, the nonlinear motion differential equation of the liquid-filled tube is established[33]; Some modern computational methods for

analyzing nonlinear dynamic systems are proposed[34]-[36]; The stability of nonlinear vibration of the liquid-filled tube supported at both ends and the

Parametric resonance[37]-[39].

1．2．2Overview of foreign research on lateral vibration of liquid-filled elbows

In engineering practice, liquid-filled elbows are widely used and their importance is self-evident. Pipe elbows, arched pipes and arc-shaped cooling pipes

are all common engineering structures. Compared with liquid-filled straight pipes, liquid-filled elbows are much more complicated. The former only needs one

independent variable (deflection) and one control equation to describe its movement, while the latter needs four independent variables and four control equations

to fully describe its movement.[40]Moreover, the static equilibrium position of the elbow is also related to the flow velocity.

3
 PhD dissertation from Huazhong University of Science and Technology

Conventional research requires certain assumptions to decouple the bending motion into in-plane motion and out-of-plane motion to simplify the problem.

Its research
It is precisely because of the complexity of the problem of liquid-filled elbows that since1970Around the year,
history is much later than that of the straight tube.

People have only just begun to conduct systematic research on it.Svetlitsky[41],Unny[42], Chen[15],DollandMote[43]et al., all of whom have made positive

contributions in this field and studied a variety of pipe bending models, such asL-Type tube,S-The world-renowned pipeline dynamics expert and

Chinese-American scholar Chen Shuisheng[15]-[17]He conducted extensive research on circular fluid-filled elbows, assuming that the centerline of the

tube is not retractable and usingNewtonLaw and HamiltonThe equation of motion is derived from the principle. The results show that for the boundary

conditions of fixed or hinged supports at both ends, when the flow velocity reaches a critical value, the elbow will buckle and become unstable, while

the cantilevered liquid-filled elbow will flutter and become unstable, which is similar to the straight pipe. ChenIt was also found that the critical flow

velocity for in-plane motion is higher than that for out-of-plane motion. These important conclusions have become the standard answer to this

problem.1988Year,Misra,PaidoussisandVan[44][45]The so-called "non-stretching theory" and "stretching theory" were proposed. The former assumes

that the linear strain of the centerline of the tube is zero, while the latter assumes that there is linear strain. They used the finite element method to

calculate the critical flow rate of such complex-shaped liquid-filled elbows. As a result, the result obtained by the "non-stretching theory" was too low.

In this regard,PaidoussisThis is explained as follows: As the flow rate increases, the telescopic liquid-filled tube is hardened by the stress caused by the

liquid flow, so it is not easy to become unstable.1990Year, United StatesOklahomaState UniversityAithalandGipson[46]

The stability of the non-retractable liquid-filled elbow under various boundary conditions was re-studied, focusing on the influence of internal and external damping on the

stability. The results show that:1)For damped systems, in addition to non-conservative systems, conservative systems can also be made unstable in the form of flutter; (2)When

the flow velocity increases, the opening angle is smaller than90The elbow and opening angle are greater than90Bends of different degrees will become unstable in different

ways.

1．2．3Study on lateral vibration of liquid-filled pipelines in China

The research on liquid-filled pipe vibration in China started later than that in foreign countries.2000In 1996, Wei Fayuan and Huang Yuying[48]Developed Dupuisand

Rousselet[47]At1985The transfer matrix technique used in the analysis of liquid-filled elbows not only significantly reduced the order of the equations to be solved, but also

made it suitable for liquid-filled elbows with variable cross-sections (stiffness) and intermediate elastic supports; Ni Qiao et al.[49]For the first time, the differential quadrature

method was extended to the vibration and stability analysis of liquid-filled pipes and achieved success. With the popularization of computers, the finite element method has

shown strong vitality. Compared with the finite element equations based on ordinary beam units, the finite element equations based on liquid flow beam units do not change

the degree of freedom of the system, but they can automatically form a unit gyro matrix that reflects the influence of flow velocity, so there is no need to specifically derive the

system's gyro array, which improves the calculation efficiency.

Ni Qiao, Huang Yuying, etc.[49]-[53]The differential quadrature method is used to determine the critical flow velocity of a boundary-constrained liquid-filled tube with elastic and

viscoelastic supports, and the effects of the ratio of the elastic modulus of all directions of the material, the slenderness ratio of the tube, the tube-liquid mass ratio and the shear coefficient on

the stability of the tube system are studied. Numerical results show that these parameters have a great influence on the stability of the liquid-filled tube.

4
 PhD dissertation from Huazhong University of Science and Technology

The coupled vibration of liquid-filled pipes includes not only fluid-solid coupling (Poisson coupling, connection coupling, etc.) vibration, but also modal coupling

vibration. In the past, the nonlinear dynamic stability research of liquid-filled pipes mainly considered the nonlinear coupling of the longitudinal and lateral motions of the pipes

under the action of fluid, that is, the influence of fluid motion on the stability of the system was considered, but the influence of the vibration state of the pipe was not

considered, and the coupling was incomplete. Zhang Lixiang and Huang Wenhu[54]Taking the nonlinear coupling equation as the object, the stability problem of the nonlinear

vibration of the cantilever liquid-filled tube induced by the unsteady flow is analyzed by modal decomposition.4 Phase diagram of the first-order modal motion. In a certain flow

velocity range, the first-order modal motion of the cantilever liquid-filled pipe has no singularity; the third-order and above modal motions have the same stability

characteristics (but different critical velocities), with the singularity as the focus; the second-order modal motion has more complex motion characteristics, with stable and

unstable limit cycles appearing successively as the flow velocity increases.

From the above review, we can see that the research on the lateral vibration of liquid-filled straight pipes and liquid-filled curved pipes mainly focuses on

the establishment of pipeline vibration models, critical flow velocity and pipeline lateral vibration stability.

1．3Overview of the Study on Axial Vibration Characteristics of Liquid-Filled Pipe Systems

The vibration sources in the liquid-filled pipe system may be various, such as changes in the working conditions of components such as pumps, valves, and nozzles, or

external excitation loads such as earthquakes and power machinery. When the pipe system is excited, it causes liquid flow rate or pressure pulsation and pipeline structure

vibration. The vibration of the pipeline is transmitted through valves, elbows and other connectors and Poisson coupling, resulting in multiple mutually coupled vibration waves

in the entire liquid-filled pipe system, and the vibration mechanism is very complex.

Water hammer (or water hammer,waterhammerIt is an extreme unsteady flow problem that often occurs in liquid-filled pipe systems. The pressure

increase it generates propagates in the pipe system in the form of waves. For pipe systems with few (weak) constraints (except for pipes with strong constraints

along the way, such as buried pipes, all of which can be defined as few-constrained pipes), it will induce self-excited vibration of the pipes, or even large

oscillations. The vibration will cause new water hammer processes, resulting in the coexistence of multiple motion forms such as liquid flow, pressure

fluctuations, and pipe vibration in the pipe system. The coupling effect between these motion forms with different characteristics is called fluid-structure

interaction, or fluid-solid interaction (FSI).Fluid-structure Interaction,AbbreviationFSI).

The research on the axial vibration characteristics of liquid-filled pipes usually refers to the research on its fluid-solid interaction, and the most typical one is the

research on the dynamic characteristics of extreme transient hydraulic processes such as water hammer.

1．3．1Foreign research on axial vibration of liquid-filled tubes

As early as19In the first half of the century, people discovered that the speed of sound waves in an infinite fluid isc0=(Kf/ρf)1/2(Kfis the bulk

compressibility modulus of the fluid,ρfis the density of the fluid);HelmholtzIt is found that within a finite volume, the actual fluid fluctuation speed isc

0Small. For incompressible fluids,Young[55]The liquid pressure wave considering the elasticity of the tube wall is derived.

5
 PhD dissertation from Huazhong University of Science and Technology

(YoungWave speedc1=[Ee/(Dρf)]1/2.Korteweg[56]The wave velocity considering the effects of fluid compressibility and pipe wall elasticity on the wave fluctuation is derived, and it

is qualitatively pointed out that if the axial stress in the pipe wall is not ignored in the analysis, the influence of radial contraction caused by the Poisson's ratio of the pipe on the

pressure fluctuation cannot be ignored, the axial stress wave will move along the pipe, and the influence of the axial inertia or radial inertia of the pipe on the long wave motion

or short wave motion respectively cannot be ignored.KortewegThe wave velocity does not take into account the impact of pipeline constraints on fluctuations.Halliwell[57]and

WylieandStreeter[58]Considering the impact of pipeline constraints on fluctuations, rightKorteweg

The formula was modified. Later,KortewegThe thought ofGromeka[59]Inherited andLamb[60]Complete.Lamb The interaction between fluid and solid is

divided into three cases: the influence of pipeline movement on pressure fluctuation; the influence of fluid in the pipe on the axial vibration of the

pipe, and the axial stress wave velocity is defined.ap=(E/ρp); the influence of the fluid in the pipe on the radial vibration of the pipe. This is the

formation and specific manifestation of the early concept of fluid-solid coupling, but in principle, this early coupling form does not truly reflect the

fluid-solid coupling vibration characteristics of the pipe, that is, the pipe does not vibrate during the fluid fluctuation process and the pipe remains in

a static state.KortewegThe wave velocity formula was later used by Russian scholarsJoukowskyFor analysisMoscowUnsteady flow in water supply

systems has developed the famousJoukowskyClassical water hammer theory[61].

1956Year,Skalak[62]Inherited and developedLambIt is found that among the infinite wave modes, the basic wave of

the liquid-filled pipe corresponds to two low-order modes with finite phase velocity: one is the fluid pressure wave,

namely Youngwave; the other is the pipeline axial stress wave, that isLambWave.LinandMorgan[63]Also reported with

Skalak Similar results.HerrmannandMirsky[64]Fluid-structure interaction models with axisymmetric and asymmetric

motions are studied. Spllier[65]andTang[66]UseMOCSolutionHerrmannandMirskyEquations andLinandMorgan Equation,

and byKingandFrederick[67]useLinandMorganThe equation is perfectedSkalaktheory.Thorley[68]

It was observed through experimentsLambWave, confirmedLambViewpoints andSkalakThe correctness of the double-

wave coupling theory.20 century70Age, Liquid-filled PipesFSIThe theory has developed rapidly and comprehensively.De

AromondandRouleau[69]Viscous fluid in pipelineFSIresearch work, developedLinandMorganwork.RubinowandKeller[70]

The multi-wave modes of viscous fluid in viscoelastic pipes are studied.FSIquestion.Kuiken[71]-[74]He has published a series

of papers on viscous liquids, gases, isotropic viscoelastic tubes, prestressed tubes, and thermodynamics. Thkalkwijk[75][76],

Kot[77],Wylie[78],Tijsseling[79]The cavitation problem in fluid-structure interaction pipelines is studied.

The fluid-structure interaction in the liquid-filled pipe system is mainly caused by three mechanisms: friction coupling, Poisson coupling and connection coupling.

(1)Friction coupling is due to the relative motion between the pipe wall and the viscous fluid.

A kind of boundary contact coupling caused by interaction. In general, friction coupling has little effect on the dynamic characteristics of the system,

but in the higher frequency range, the motion is related to the frequency and the characteristics become very complicated.Brown[80][81],D'Souza and

Odenburger[82],Holmboe[83]The frequency-dependent friction coupling problem in a rigid pipe is investigated.Tentarelli[84]

6
 PhD dissertation from Huazhong University of Science and Technology

Using the modifiedBesselThe function studies the friction coupling problem of non-rigid pipes. Most of the topics related to friction coupling are the study of fluid

viscous friction models, among which the most influential ones areZielk[85]The proposed frequency-dependent transient turbulence model of viscous friction;Hino

[86]The proposed formula for the friction coefficient of unsteady flow, andBrunone[87]The proposed velocity-acceleration related fluid viscosity friction etc.

(2)Poisson coupling is a kind of interaction between fluid pressure and pipe wall stress caused by local interaction (sudden increase of fluid pressure

The intensity of the coupling is closely related to the Poisson's ratio of the pipe. cfThe moving pressure wavefront will cause the annular stress of the

pipeline to change continuously along the way. The annular stress induces axial stress through Poisson's ratio. The axial stress wavefront moves

along the pipe axis at a speed ofapThe movement induces new pressure waves wherever it goes, and the two waves alternate and interact with each

other. The influence of Poisson coupling on pipeline characteristics is extremely obvious and cannot be ignored.

(3)Connection coupling is caused by fluid disturbance at the pipe connection, which causes fluid pressure imbalance at the discontinuous part.

The dynamic coupling between the fluid structure is a kind of dynamic coupling between the fluid structure and the structure.RegetzHe studied the oscillation

relationship between pressure and flow rate in the rocket supply system, and conducted experimental research using a straight pipe test device, measuring the

vibration velocity at the free end of the pipe, and confirmed that pipe vibration has a significant effect on the fluid motion characteristics.DavidsonandSmith[88]

Established based onTimoshenkoThe beam-tube interaction model is composed ofWoodandChao[89]Extension to bifurcations and three-dimensional systems. Jones

andWood[90]The theoretical expression of the connection coupling induced by pressure when a valve suddenly closes at the downstream of a single pipe is derived.

Tentarelli[84],Ellis[91],TijsselingandVardy[92][93]The stop valve,TType pipe fittings,90Connection coupling problems such as degree bends, etc.

At present, the mathematical models describing the interaction mechanism of liquid-filled pipes are4- Equation model,8- Equation model and14- equation

model, etc. These models are all quasi-linear models, among which the most widely used is the axial motion4-Equation model, because there is a strong fluid-solid

interaction in the axial motion of the pipeline. When establishing the fluid-solid interaction model, it is usually based onKolsky[94]

In discussionPochhammerThe technique used in the equation is to decompose the motion into axial, lateral and torsional motions and consider them separately,

and then synthesize them.4In the modeling process, the -equation model is based on the continuity equation of fluid motion, momentum equation and vibration

equation of pipeline, and realizes the motion coupling of the two media through the contact compatibility conditions of fluid and solid structure on the boundary.

1．3．2Study on Axial Vibration of Liquid-Filled Tubes in China

Chen Yiming, Zhao Yongkai, etc.[95]Based on fluid dynamics, the vibration problem of hydraulic pipe flow with sinusoidal pulsation at the

beginning and open and closed ends was studied, and the analytical solutions for inviscid and viscous fluids were obtained.[96]The stiffness matrix

method is used to couple the subsystems of the pipeline to solve the pressure distribution of the pipeline system, and simulation and experimental

verification are carried out.[97]The finite element analysis method for the forced vibration of hydraulic system pipelines is discussed.

7
 PhD dissertation from Huazhong University of Science and Technology

The triangular mesh is used to establish a dynamic model of forced vibration of pipeline particles. Jiao Xiuwen and Cao Yuping et al.[98]The transfer matrix method was used to

study the influence of fluid network structural parameters on pressure pulsation, and numerical simulation and experimental verification were carried out, which provided a way

for the reasonable design of pipeline networks and vibration and noise reduction.[99]By linearization assumption andLaplaceThe network model between the flow rate, pressure of

the fluid and the stress and displacement of the pipeline was derived by transforming the fluid flow rate, pressure and the stress and displacement of the pipeline. The transfer

matrix was established by solving the characteristic roots and characteristic vectors. In the establishment of this model, the influence of the frequency-related friction term was

considered for the first time. The comparison between the experimental results and the simulation results proved the correctness of this method. Zhang Zhiyong and Shen

Rongying[100]The influence of solid-liquid coupling (including connection, Poisson, and friction coupling) on the axial vibration response of the pipe system in a liquid-filled

straight pipe system was studied, and the influence of the closing speed of the valve on the solid-liquid coupling was investigated.[101]The three-dimensional pipeline problem was

discussed in which the structural model should have the form when there is a fluid parametric effect, and the fluid-solid coupling model of the pipeline with a bend was obtained

using complex mode synthesis technology.[102]A spectrum analysis method is proposed to analyze the spectrum characteristics of fluid-solid coupled vibration of liquid-filled pipes

under water hammer, and can directly consider the influence of dispersion and energy dissipation on the motion of the system. This method can be used to obtain the pipeline

spectrum and dispersion curve under arbitrary excitation sources and various boundary conditions.

1．4Study on the Calculation Method of Vibration of Liquid-Filled Pipe System

1．4．1Study on Calculation Method of Pipeline Vibration Stability

Driven by the development of computer science, the computational methods for analyzing the vibration and stability of liquid-filled tubes are constantly

being innovated. Generally speaking, the early theoretical work in this area mainly focused on analytical methods, while the recent20In recent years, numerical

methods have become the mainstream because the shapes, boundary conditions and external excitations of fluid-filled tubes have become increasingly complex.

Tingand Hosseinipour[103]The structural impedance method is used to analyze the stability problem of liquid-filled pipes. Its characteristic is that it is suitable for

dealing with the unsteady response of such pipes. Therefore, when the flow rate increases, the displacement response of the pipe can be continuously calculated

using this method, thereby theoretically describing the stability transformation process.1984YearKohli[104]A fluid beam element consisting of an incompressible

fluid and an elastic beam is proposed, which can be used for coupled vibration analysis of straight and curved pipes. However, the influence of the gyroscopic

force generated by fluid motion is not taken into account in their formula.Paidoussis[105]The hybrid element method was used in the study. The advantage of this

method in studying liquid-filled shells is that it can easily handle structural models such as simply supported shells with discontinuous thickness and annularly

reinforced fixed shells. Another method worth noting isSallstromandAksesson[30][31]Proposed based on TimoshenkoThe precise finite element method for beams,

in the finite element formula they used the exact displacement solution of the differential equation to replace the previous polynomial interpolation function, and

its calculation results were in very good agreement with the previous results.DupuisandRousselet[47]The transfer matrix technique is used in the analysis of liquid-

filled elbows to significantly reduce the order of the equations to be solved.

8
 PhD dissertation from Huazhong University of Science and Technology

Modern methods for analyzing the nonlinear dynamic characteristics of liquid-filled tubes can also be divided into two categories: analytical methods and numerical

methods. The analytical method generally separates the spatial and temporal variables of the partial differential equation of motion of the tube into a solution function, and

then selects a functional form that satisfies the given boundary conditions for the spatial variable function.GalerkinThe method is used to make the residual small, and a system

of ordinary differential equations with time as a variable can be obtained. In order to effectively study the problem in the state space, its degree of freedom cannot be too high.

Commonly used methods[106]There are central manifold reduction methods, regularization methods, parameter evolution methods, averaging methods and Lyapunov-Schmidt

In addition, the small parameter method[107][108]and incremental harmonic balance method[50]These have all been proven to be effective methods.GalerkinIn addition to the

numerical method, finite elements (or finite differences, differential quadrature methods, etc.) can also be used to discretize spatial variables, and then a set of high-order

ordinary differential equations about time is obtained. The numerical method directly uses the calculation method to solve the vibration system motion differential equation to

obtain the numerical solution of the vibration system. Commonly used methods include the transfer matrix method.TMM (Transfer Matrix Method), characteristic line method

MOC (Method of Characteristics), Finite Element MethodFEM (Finite Element Method), component combination methodCSM (Component Synthesis Method)The characteristic

line method and the finite element method are combined to obtain the characteristic line-finite element method (MOC-FEM).

1．4．2considerFSIComputational study on the vibration response of pipelines

For considerationFSIThe actual liquid-filled pipe system with vibration effect, vibration calculation research refers to the appropriate assumptions made on the pipe

system based on the theoretical research results and under the conditions that meet the actual working conditions, so that the complex pipeline vibration can be simplified, and

the modal analysis, response calculation and other calculation research on the pipe system are very necessary for the design of the increasingly complex pipe system in today's

industrial production. It can be said that for the pipe system vibration research, theoretical analysis provides the premise for practical calculation, and practical calculation

research is the assessment and application of theoretical research, and constantly promotes the development of theoretical research.

20century60Since the 1990s, scholars from various countries have been committed to the study of vibration calculation of complex pipe systems under

the condition of considering connection coupling and Poisson coupling. The research focuses vary, such as focusing on different types of connections or focusing

on the calculation of the entire system, time domain (Time-domain)Computational or frequency domain (Frequency-domain)Calculation, etc., using the transfer

matrix method (TMM)、Characteristic line method(MOC)、Finite Element Method(FEM), component combination method (CSM)The characteristic line method

and the finite element method are combined to obtain the characteristic line-finite element method (MOC-FEM).

The research on vibration calculation of liquid-filled pipelines has been developing continuously with the needs of actual industrial development, especially70In the

1980s, with the development of the chemical industry and the nuclear power industry, the research on high-pressure complex pipe systems has made great progress. These

studies are mainly concentrated in research institutions in several developed countries. According to the different problems they face, they have formed their own research

focuses, proposed their own calculation models and methods, and compared the theoretical calculation results with the experimental measurement results.

The methods used by domestic and foreign scholars to calculate the response of liquid-filled pipe systems can be summarized into the following three categories:

(1)Characteristic Line Method

9
 PhD dissertation from Huazhong University of Science and Technology

Since the liquid fluctuations and pipeline vibrations in the liquid-filled pipe system can be expressed by a set of partial differential equations (i.e., wave equations), the

characteristic line method can effectively convert them into a set of special ordinary differential equations, which can then be conveniently calculated using a computer through

numerical integration methods. Therefore, the characteristic line method has been widely used in pipeline response calculations.

Wiggert[109]Researched and consideredFSIThe axial vibration response of the liquid-filled pipe system is calculated and extended to the

bending and torsional vibrations of the pipe. The error caused by the interpolation calculation is pointed out.BudnyandWiggert[110]use"4

- Equation Model" studied the effect of pipeline structure damping on water tank-straight pipe-valve (RPV)The results show that the pipeline

structure damping can attenuate the high-frequency part of the vibration response and reduce the peak value of liquid pressure caused by water

hammer.WiggertandHatfield[111]Considering the axial, lateral and torsional vibrations of the liquid-filled pipe system, the "14-Equation Model"

, calculated by the characteristic line method and compared with the experimental results;ElansanyandContractor[112]

use"4-Equation Model",byRPVThe valve closing curve is studied by using optimization theory and taking a simple pipe system as the object.

The relationship between line, closing time and liquid pressure peak in water hammer response;TijsselingandVardy[93]Considering the axial and lateral bending

vibrations of the straight pipe, the effect of the coupling between the liquid and the pipe on the in-plane vibration of the single-bend pipe system is studied. The

cavitation at the end of the pipe and the bend (CavitationThe phenomenon is modeled and the effect of cavitation on the vibration response of the tube system is

discussed;Vardy,FanandTijsseling[113]Adopt andWiggertThe same characteristic line method is used for aT”The calculation results of a liquid-filled pipe system

were compared with the experimental results. The main purpose was to study the coupling between the liquid pressure wave and the pipe stress wave. The study

showed that the coupling between the two waves has a great influence on the vibration response of the pipe system and causes the pipe system mode to change

frequently.

The main calculation method used in the study of vibration response of liquid-filled pipe systems in my country is the characteristic line method. Cai Yigang derived the

classic water hammer model (without consideringFSI)The liquid wave compatibility equation was used to study the liquid-filled straight pipe, and the spatial interpolation

method and the temporal interpolation method were proposed and verified by experiments.[114]Wang Xuefang, Ye Hongkai and others from Tsinghua University have been

committed to the research and prevention of water hammer in practical engineering fields since the 1970s.[115].

The advantages of using the characteristic line method to calculate the vibration response of a liquid-filled pipe system are: ① The characteristic line method can directly solve the pipe

① The vibration wave equation in the system has a clear physical meaning; ② The solution idea is clear, the calculation amount is relatively small, and it is easy to implement on a small computer.

But its biggest disadvantage is that there is an interpolation problem in the calculation process. Since there are multiple waves in the pipe system, when using the characteristic line method, there

are multiple characteristic lines, and there must be characteristic lines that do not pass through the calculation grid nodes. The parameter values on these nodes must be obtained through

interpolation methods, which will cause interpolation errors and affect the phase and amplitude of the response. In addition, when considering the influence of liquid friction, the wave equation

contains non-integral terms caused by friction terms and structural damping terms. Approximate numerical integration is usually used, which brings numerical errors. Scholars from various

countries have pointed out this point in their respective studies and proposed some improvement methods, but due to the characteristics of the characteristic line method itself, the problem of

multi-characteristic line interpolation and the integral error of non-integral terms are

10
 PhD dissertation from Huazhong University of Science and Technology

The problem of difference has not been well solved and has become the main factor limiting the further development of the characteristic line method in calculating the

vibration response of liquid-filled pipe systems.

(2)Finite Element Method

The finite element method is a relatively mature method for structural modal analysis and response calculation, and there are some general commercial

finite element software, such asANSYS,NastranHowever, due to the complex coupling between pipes and liquids in the pipe system, and the fact that it often

contains strong fluid-solid coupling elements such as pumps, valves, and elbows, finite element modeling is difficult.Leeand Kim[116]The influence of the

circumferential stress of the pipeline caused by the internal liquid pressure was considered and solved by the finite element method. The branch pipe was modeled

and a single elbow system and a branch pipe system were numerically calculated and analyzed. SolimanandDatta[117]Finite element modeling was performed on

the elastically supported liquid-filled pipe system, and the response of the pipe system under seismic excitation was studied. Some foreign scholars also used the

finite element method to study the response of simple supported pipe systems (such as simply supported, cantilevered and other straight pipe systems) under

different excitations. The main purpose is to model the straight pipe or study the instability of the pipe system.[118].

(3)Characteristic line-finite element method and related combination methods

The calculation process of the characteristic line method is clear, but there are numerical error problems; the finite element method does not have numerical calculation problems, but

it is difficult to model the coupling between liquid and pipes. Therefore, some scholars have established the characteristic line-finite element method based on these two methods: the

characteristic line method is used for liquid, and the beam model is used for finite element modeling of pipes, and the liquid nodes are overlapped with the pipe finite element nodes, thereby

eliminating the interpolation error of the characteristic line method. The characteristic line-finite element method can calculate the vibration response of the liquid-filled pipe system more

accurately. The disadvantage is that during the calculation, data transmission between the liquid and the pipe is required at each step of the calculation to meet the compatibility conditions and

coupling conditions, and the calculation amount is large.

LavooijandTijsselingIn the literature [119]The characteristic line method and characteristic line method-finite element method were used to perform

numerical simulation on the two systems and compared with the experimental results.TimoshenkoThe beam model is proposed based on the spatial

interpolation method. The influence of interpolation can be reduced by refining the spatial nodes and appropriately modifying the characteristic parameters of

the pipeline and liquid. However, the influence of modifying the pipeline and liquid parameters on the response calculation is not analyzed. When the

characteristic line method-finite element method is used, the system model adopts Bernoulli-EulerThe beam model uses the characteristic line method for the

liquid and the finite element method for the pipe; the simulation results of the two methods are basically consistent and in good agreement with the

experimental results.Heinsbroekwait[120]The two experiments were simulated and compared using the characteristic line method and the characteristic line

method-finite element method. The conclusion is that for the calculation of the axial vibration of the pipeline, the characteristic line method can obtain very

accurate results, but for the calculation of the lateral vibration of the pipeline, the characteristic line method is not as accurate as the characteristic line method.

- Compared with the finite element method, a very good computational grid is required to obtain better results.

Gormanwait[121]Based on the established pipeline axial coupled vibration model, the finite difference method (FDM- Feature lines

11
 PhD dissertation from Huazhong University of Science and Technology

A system was numerically solved by the method: the characteristic line method was used to solve the liquid, and the finite difference method was used to solve the pipeline

vibration. The results were compared with those in the literature, but the results were quite different.

1．4．3Main Methods of Frequency Domain Analysis of Liquid-Filled Pipe Systems

Similar to the time domain response analysis of the liquid-filled pipe system, the traditional modal analysis of the liquid-filled pipe does not consider the coupling

effect between the liquid and the pipe, that is, it is assumed that the pipe does not deform and the liquid contributes only gravity to the pipe. This modal analysis model is

relatively simple and can be implemented through existing general finite element software. Scholars from various countries have found that this theoretical analysis method is

accurate enough for situations with more fixed constraints and smaller pipe deformation. However, when the pipe system is softer or the excitation amplitude is larger, the

coupling effect between the liquid and the pipe causes the modal frequency and vibration mode of the liquid and the pipe to change. If the coupling effect is ignored, the

results obtained are often very different from the measured results. Therefore, the coupling effect between the liquid and the pipe must be considered in the modal analysis of

the liquid-filled pipe system.

When considering fluid-solid coupling, the calculation methods for the vibration characteristics of liquid-filled pipe systems commonly used by scholars at home and abroad include:

finite element method, transfer matrix method, etc.

(1)Finite Element Method and Related Methods

Finite element method is a common method for modal analysis and dynamic response calculation, and the method itself is relatively mature. There are

three ways to use finite element method to perform modal analysis of liquid-filled pipe system: ① Use existing general finite element software to perform analysis

and model the pipe and liquid separately.Everstine[122]The beam model and shell model are used for the pipeline respectively, and the finite element calculation

software is usedNastranThe calculations for a single-bend liquid-filled pipe system and a three-dimensional liquid-filled pipe system were carried out. The results

proved the validity of the pipe beam model in the low-frequency case and pointed out that the bending factor has a great influence on the calculation results when

the pipe is bent.Jamnia[123]useANSYSThe finite element analysis software studies the influence of fluid-solid coupling on the propagation and reflection of liquid

waves in the pipe; ② Combine the liquid finite element software written by myself with the general finite element software to make up for the disadvantage of the

difficulty of liquid modeling in the general finite element software.Hatfield,Wiggertet al.[124]The pipe and liquid are treated as independent components, and the

pipe is analyzed using general finite element software. The limited low-order modes are calculated to be compatible with the liquid, and then the modal frequency

of the pipe system is obtained. This is called the component combination method.Fujitaand Tanaka[125]The method they established was to discretize the pipe and

liquid using finite element technology, analyze them separately, and then couple the results for calculation, and verify them experimentally using a single elbow

pipe system; ③ They wrote their own finite element software to analyze the pipe and liquid.Finnveden[126]The finite element method is used to calculate the liquid-

filled straight pipe with flange, and the influence of flange on the modal frequency of the pipe system at low frequency is studied.Sallstrom[127]For pipelines

Rayleigh-Timoshenko The beam model is used to consider the flow velocity and viscosity of the liquid and the viscosity of the pipe, and the finite element method is

used for numerical solution to study the dynamic instability problem of a simple straight pipe system.

12
 PhD dissertation from Huazhong University of Science and Technology

(2)Transfer Matrix Method

The transfer matrix method is a commonly used and effective method for chain structure modal analysis and has been widely used. Compared with the finite element

method, a major advantage of the transfer matrix method is that it is easy to implement on a microcomputer. The system matrix dimension of the finite element method

increases with the increase of grid nodes, while the system matrix dimension of the transfer matrix method is a constant, which is the same as the number of state parameters

required to describe the system vibration, so the amount of calculation is much smaller than that of the finite element method.

El-Raheb[128]By establishing transfer matrices for straight pipes and curved pipes, a modal analysis study of three-dimensional curved pipes was carried out. A beam

model was used for straight pipes, and liquid plane waves and their non-axisymmetric waves (such as bending waves) generated at the curved pipes were considered for

curved pipes. The motion equations of straight pipes and curved pipes were established respectively, and the transfer matrices of straight pipes and curved pipes were

established through solution analysis. Two three-dimensional multi-curved pipe systems were calculated, and the effectiveness of the beam model was pointed out when the

frequency was lower than the cutoff frequency of the first-order lobed wave.Dupuis[47]Considering the initial deformation of the pipeline under the action of liquid, the shear

and axial deformation of the pipeline and the change of curvature of the bending, the motion differential equation of the pipeline is established, and the transfer matrix

method is used for calculation to study the dynamic instability problem of the pipeline under simple boundary conditions.Lesmez[129]Considering the Poisson coupling and

connection coupling between the pipe and the liquid, the transfer matrix of the liquid-filled straight pipe is established, and the treatment method of the bent pipe is given, but

the influence of the bending factor of the bent pipe is less studied.CharleyandCaignaert[130]Data obtained using a test rig with a pump demonstrate that even for simple

systems,FSIThe pressure spectrum calculated by the transfer matrix of the effect is much better than that calculated by the classical water hammer transfer matrix.Zhang[131]-

[133]A Laplace transform basedL-MOCThe method solves the problem of single-tube FSIFrequency domain analysis of the problem.[99]etc.14- Equation modelLaplaceThe transfer

matrix is established by transformation, the influence of frequency-related friction terms is taken into account, and the simulation accuracy is improved.

1．5Study on Vibration Control of Liquid-Filled Pipe System

The control of flow-induced pipeline vibration has also been paid attention to by some researchers, but most of the research work is still in the field of linear problems.

The main countermeasures for pipeline vibration reduction and noise reduction are to increase the stiffness of the pipe system structure, adjust the structural damping,

eliminate the exciting force of the liquid-filled pipe system, and optimize the control system design to avoid the occurrence of resonance, reduce the amplitude of the pipe

system structure, and increase the critical flow velocity of the liquid-filled pipe to improve engineering application capabilities.

1．5．1Passive Control of Vibration of Liquid-Filled Pipe Systems

In the process of implementing passive control on the pipe system, the volume and structural complexity of the system are often increased. Therefore, for many years,

research has been carried out around solving these two problems. From the perspective of the pipeline vibration mechanism, the classic countermeasures that can be used to

reduce pipeline vibration are:1)Weaken or eliminate the exciting force of the pipe system, that is, for different vibration causes

13
 PhD dissertation from Huazhong University of Science and Technology

Take appropriate measures, such as connecting a pulsation damper in the pipeline[134][170], reduce or eliminate liquid flow pulsation and pressure pulsation; minimize or

eliminate the vibration of power machinery; (2)Design and adjust the support position to improve the rigidity of the pipe system structure, increase the natural frequency of the

pipe system structure, keep it away from the excitation frequency, avoid resonance, and reduce the vibration amplitude of the pipe system structure; (3)Install a damping

vibration absorber between the pipeline and the foundation to effectively suppress pipeline vibration and accelerate the attenuation speed. Commonly used damping vibration

absorbers include viscoelastic damping vibration absorbers, elastoplastic damping vibration absorbers and electrorheological damping vibration absorbers.[171][172];(4)Isolate the

vibration of the power machinery so that the vibration cannot be transmitted to the pipeline; (5)The pipe wall uses vibration-absorbing materials to increase the absorption of

nodal waves; the damping of the system structure is increased. These are all effective methods to reduce the pressure pulsation in the pipe and reduce the transmission of

vibration in the pipe wall. In addition to the above classic methods, there are some sporadic technologies, such as the use of flexible pipes and flexible pipe joints, which aim to

reduce the transmission effect of vibration in the pipe wall and inhibit sound propagation.

In theory,FangandLyons[135]studied a vertical fluid-filled pipe with one end fixed and the other end hinged, and found that the axial force of the pipe will

cause damping. Due to the existence of the hinged end, Coulomb damping plays a major role in structural damping, and material damping accounts for only a

small part of the structural damping. When the hinged end is replaced by the fixed end, the Coulomb damping value is greatly reduced. For an isotropic fluid-filled

pipe with both ends tightened, the structural damping is mainly composed of material damping. According to the basic equation established by the hysteresis

material damping model, the modal attenuation coefficient is also obtained. It is found that due to the existence of the axial force of the fluid-filled pipe, the

material damping of the pipe wall has an attenuation effect on the vibration. The results show that wrapping a layer of damping material on the outside of the pipe

wall can effectively reduce the sound radiation of the pipe system to the surrounding space. In addition, optimizing the position of the support with periodic

excitation in the pipeline is also an effective way to reduce pipeline vibration.[136]-[139]. Especially in the literature [139]In this paper, the wave propagation theory is

creatively applied to the periodically supported liquid-filled pipe system. The dynamic stiffness matrix of the liquid-filled pipe is established according to the wave

calculation method. The transfer matrix method is used to analyze all the frequencies of the excitation loads. The periodic supports are designed in turn and

adjusted to apply the corresponding periodic loads, thereby achieving the purpose of vibration reduction and control.Tasi[140]et al. designed a passive control

model based on the modal space of pipeline vibration to control the flutter of the liquid-filled pipe. A pair of piezoelectric actuators are installed on the pipe wall

surface to generate a balanced bending moment to suppress the flutter of the liquid-filled pipe. The robust performance of this method is better than that of the

optimized independent modal space control method. The system has a larger constant flow rate area and can withstand higher flow rates, successfully suppressing

flutter. The position of the actuator in this model is also relatively important. If the position of the actuator is optimized, the flutter suppression effect will be better.

Chen[141]et al. studied the optimal vibration design of the pipe system by using optimization theory. They reduced the vibration amplitude of the pipe by modifying

the rigidity and position of the pipe. The key to this vibration control design is to find an appropriate objective function that reflects the vibration magnitude. They

investigated5An objective function (frequency, amplitude, transmissibility, curvature, deformation energy) is selected and then a new objective function is obtained

through program optimization and stress calculation.

14
 PhD dissertation from Huazhong University of Science and Technology

1．5．2Active Control of Vibration of Liquid-Filled Pipe Systems

Active vibration control is an AmericanNASAIn the last century70to80A new control method was proposed in the 1990s to solve the vibration

control problem of large, complex and flexible space structures.[171]Active vibration control technology is the product of the combination of modern

control theory with computer technology, testing technology, materials science and other disciplines. Its working principle is: when vibrating, the

sensor on the controlled component senses the vibration signal and transmits it to the control system. The control system instructs the actuator to

work according to the pre-designed control law, thereby controlling the vibration of the component.

For complex space pipe systems, due to the complexity and randomness of vibration and noise, it is difficult to implement active control in

terms of equipment. However, with the continuous development of intelligent materials and control technology, the control feedback system has

been greatly improved, and active control technology is changing with each passing day. In general, an active feedback control system has3It

consists of a hardware and a software, namely sensors, controllers, actuators and a control algorithm.

Improving the active control damping of the pipe system is one of the purposes of implementing active control.Yau[142]as well asLinandChu[143]

et al. designed a control system for a liquid-filled tube self-excitation system with flexible constraints. Piezoelectric actuators are used to generate control torque.

Its size is achieved by adjusting the input voltage, and the system is actively controlled by applying numerical feedback theory, but this control system does not

consider the dynamic influence of the actuator itself. The Coriolis force of the fluid will cause the system to become unstable, and when the flow rate reaches a

certain appropriate value, the Coriolis force also has a damping effect on the cantilever liquid-filled tube.Semercigil[144]exist1997In 2005, the influence of the

Coriolis force of the fluid on the vibration of the pipe system was investigated through experimental research and numerical analysis, which showed that it has a

damping effect. It was proposed that the damping effect of the Coriolis force can be used to reduce the coupled vibration of the system in order to achieve the

purpose of controlling the vibration of the pipe system. Doke[145]conducted an in-depth study on how to control the flutter stability of liquid-filled tubes. They

designed a constraint that can control the system by inputting energy. The controller is designed based on an algorithm that repeatedly modulates LqCyThe

weight matrix of the quadratic performance coefficient of the problem, that is, considering the constraint deviation of the actuator. Theoretical research and

experimental results show that the flutter stability control effect of the liquid-filled tube changes with the input deviation of the constraint. Limited by the control

force generated by the actuator, the maximum flow rate when the system becomes unstable is the critical flow rate of the system.Lin[146]use TimoshenkoThe

beam model and finite element method are used to build a model for the liquid-filled pipe system, and the modal control method is applied to implement active

control of the pipe system.

In addition, through the study of the effect of flow velocity on the vibration of the pipe system, changing the flow velocity of the fluid in the pipeline is also one of the

methods to implement active control of the pipeline.Caillaud[147]et al. used piezoelectric materials as actuators to change the damping of the system to study the critical velocity

corresponding to the loss of stability of the pipe system. Theoretically, it was shown that by controlling the critical velocity of the pipe system instability, the stable region of the

system can be increased. This method does not need to change the test model. By adjusting the damping of the control loop through velocity feedback, the number of tests can

be increased, which greatly reduces the research cost. It also points out that the frequency feedback device can effectively reduce the stability of the pipe system.

15
 PhD dissertation from Huazhong University of Science and Technology

This test can also be completed.Saroj[148]The plane vibration of the self-excited liquid-filled pipe was studied. According to the relationship between the flow velocity and the system coefficients

(pipe density, stiffness and fluid density, etc.) at the stable state, the flow velocity of the control pipe system was optimized using the Pontryagin integral minimization principle. At this time, the

flow velocity is large and the vibration amplitude is small, which reduces the fluid-solid coupling vibration of the system. Optimizing the flow velocity can effectively reduce the vibration energy of

the system, but it cannot make the system asymptotically stable, and the inherent damping of the system is ignored.

With the continuous development of various disciplines, the optimization design of control systems and nonlinear vibration control have also been

continuously developed.LinandTsai[149]The flutter control problem of the cantilever liquid-filled pipe under the action of critical flow rate was investigated. The

virtual load method was used to describe the geometric nonlinearity caused by large deformation, and the dynamic response of the system was obtained by

successive coordinate transformation, which made the solution of the problem become solving linear differential equations without dealing with complex

nonlinear strain-displacement relationships. The instantaneous optimization closed-loop control method was improved and developed using the Newmark

method when solving linear motion equations. The influence of the position of the actuator on vibration control was also noted, and it was pointed out that the

optimization of the actuator position needs further research.Borglund[150]Active nozzle control is used to improve the stability of the liquid-filled tube. The state

variable method is used for stability analysis based on the finite element program of structural dynamics. The structural dimensions and control system of the

tube are jointly designed using numerical optimization methods to reduce the structural mass and make the control system more sensitive. In other words, a

modified optimization problem is solved to obtain a design with better robustness.CharalambosandAntoniades[151]et al. developed a new control method to

compensate for the influence of time lag. Because there will be state time lag and time lag caused by control actuators and measurement sensors in the control

process, in order to overcome the influence

The of time lag,
nonlinear distributed state observer is designed by using the spectrum analysis technique of partial differential equation system.

It is used to reconstruct the state of the nonlinear partial differential equation system to eliminate the deviation between the actual state and the calculated state. The state

feedback controller and the distributed state observer constitute a distributed output feedback controller, which avoids the influence of time lag and strengthens the tracking

output and stability of the closed loop system.

Li Wanyou et al.[152]Aiming at the vibration characteristics of specific pipelines, an electromagnetic semi-active vibration absorption technology has been developed. Through a control

system with a single-chip microcomputer as the core, the semi-active vibration absorber automatically tracks the main frequency of pipeline vibration and absorbs the vibration energy of the

main frequency of pipeline vibration, thereby achieving the purpose of controlling pipeline vibration. The vibration absorber is installed on the pipeline in the form of an auxiliary part to form a

combined vibration reduction device, forming a semi-active control technology for pipeline vibration, thus providing a new technical approach for pipeline vibration control.

1．6The technical route and content arrangement of this article

1．6．1The technical route and paper framework of this study

Any complex pipe system is composed of simple pipe systems, which are composed of straight pipes, curved pipes, valves and power

16
 PhD dissertation from Huazhong University of Science and Technology

The pump and other basic components are composed of the pump. In the study of the coupled vibration characteristics of the liquid-filled pipe system, valves and other components are often

treated as coupled boundary

Therefore,
conditions.
studying the coupled vibration characteristics of straight pipes and curved pipes is the basis for studying the vibration characteristics of complex liquid-filled pipe

systems. The lateral vibration of actual liquid-filled pipes is mainly caused by the axial vibration of the pipes connected to them, and the fluid-solid coupling of the axial vibration of the liquid-filled

pipes is strong, and the vibration characteristics are complex. Therefore, based on the existing research results, this paper will further study the coupled vibration characteristics and response

calculation methods of the non-steady flow liquid-filled pipe system, focusing on the axial coupled vibration characteristics of the liquid-filled pipes, and based on this, study the control strategy of

the axial vibration response of the liquid-filled pipe system, laying a foundation for the study of the coupled vibration characteristics and vibration control of complex liquid-filled pipe systems.

The technical route and paper framework of this study are shown in the figure1.2shown.

Paper Framework

1introduction
Technical route of this study

Coupled Vibration Modeling of Fluid-Filled Straight Pipes 2Coupled vibration model of straight pipe filled with liquid under unsteady flow

Vibration response of simple liquid-filled pipe system 3Characteristics of the Time Domain Response of a Simple Liquid-Filled Pipe System

Solution and influencing factors Line analysis

Typical liquid-filled pipe system coupled vibration 4 Prediction of coupled vibration response of a typical liquid-filled pipe system

Time domain response and solution of dynamic Test

Fluid-filled pipe system coupled vibration

5 Frequency domain analysis of coupled vibration of liquid-filled pipe system

Natural frequency, solution

6 Verification test of vibration response of liquid-filled pipe system and

Vibration Suppression for Liquid-Filled Pipe Systems

Vibration Suppression

7 Summary and work prospects

picture1.2The technical route and paper framework of this study

17
 PhD dissertation from Huazhong University of Science and Technology

1．6．2Contents of the paper

The full text is divided into7The contents of each chapter are arranged as follows:

No.1This chapter explains the research background and significance of this topic, and reviews the research results of domestic and foreign scholars in

the fields of liquid-filled pipe vibration characteristics, pipeline stability, research methods, and pipeline vibration control, clarifies the research direction and

focus of this article, and finally determines the technical route and paper framework of this research.

No.2Zhang YiTimoshenkoBased on beam theory, Establish a coupled nonlinear motion model of a single fluid-filled pipe vibration.

The quasi-linear motion model and its coupled vibration equations under different working conditions, as well as the motion equations and dimensionless forms

of the liquid-filled pipe supported at both ends in the transverse plane under periodic loads, lay a theoretical foundation for future research.

No.3This chapter studies the time domain vibration response of a simple liquid-filled pipe system and its calculation method. In order to better capture the changes in water hammer

pressure, a simple liquid-filled pipe system responseMOCThe method for determining the time step and the number of pipeline segments during calculation and the method for mesh encryption

are used to verify the effectiveness of the model by comparing the experimental results with the numerical calculation results of the model. On this basis, multiple factors affecting the time domain

response of the liquid-filled pipeline are studied to prepare for the suppression of vibration of the liquid-filled pipe system.

No.4This chapter studies the prediction of the coupled vibration response of a typical liquid-filled pipe system.First, establish the motion equations of the elbow and bend.

Provide a theoretical basis for the calculation of coupled vibration response of a typical liquid-filled pipe system; The "damping redistribution pipeline tempering optimization method" was proposed.

The minimum value of the sum of the absolute values of the remaining or shortened lengths of each pipeline after segmentation is used as the objective function to establish

the time step Δ of the complex liquid-filled pipe system.tand optimization model of the number of pipeline segments to solve complex liquid-filled pipe systemsMOCThe time

step must be unified during calculation. The validity of the model is verified by comparing the experimental results with the numerical calculation results of the model.MOC

- FDM, in order to more accurately solve the coupled nonlinear vibration response of the complex liquid-filled pipe system, and verify the effectiveness of the model by

comparing the experimental results with the numerical calculation results of the model.

No.5This chapter studies the modal analysis methods of liquid-filled pipe systems and examinesFSIThe influence of the effect on the vibration mode of the liquid-filled

pipe system.MOC-FFTThe method is used to solve the natural frequency of the liquid-filled pipe system, and the calculated results are compared with the modal analysis results

and the results of the literature. At the same time, the contribution of the medium, low and high frequency components to the liquid vibration response and the pipe vibration

response is examined.

No.6This paper takes a water injection system of a joint station as the research object, and studies the vibration suppression effect of the support position and damping material

respectively.

No.7This chapter summarizes the research results of the whole paper and looks forward to future research work.

18
 PhD dissertation from Huazhong University of Science and Technology

2Coupled vibration model of straight pipe filled with liquid under unsteady flow

When establishing the motion equation of a liquid-filled pipe, in addition to the motion characteristics of the pipe and the fluid, the coupling between the fluid and the

pipe must also be considered. During operation, the liquid-filled pipe may be subjected to tensile, compressive, bending, and torsion loads and motions at the same time. At

this time, the vibration of the pipe is complex and the coupling phenomenon is serious. The main modeling methods used for coupled vibration of liquid-filled pipes include

Newton's method (D'Alembert principle), energy method (Hamilton principle), and finite element method.

Although many scholars have tried to establish an accurate coupled motion model between fluid and pipeline[33][116][121][129][153][154](Bag

However, it is still necessary to study all the mechanisms of fluid-structure interaction, because the models they established either do not consider the effects of

Poisson coupling and pressure wave velocity on the liquid-filled pipe system.[33], or not fully coupled[154], or the equation does not include the radial vibration of

the pipe wall[116], or the influence of torsional vibration of the pipeline is not considered[121]This chapter is based on TimoshenkoBased on the beam theory, the

coupled vibration differential equation of the non-steady flow filled pipe supported at both ends and its expression in different engineering situations are

established, and then the fluid-solid coupling extended water hammer of the liquid-filled straight pipe is derived.14-equation.

2．1Assumptions and Pipeline Model

Create as shown2.1The rectangular coordinate system shown in the figure shows a straight pipe placed at an angle with its axis at right angles to the horizontal plane.

αAngle; the tube wall material is linear, uniform and isotropic,zThe axis coincides with the axis of the pipe before deformation.xAxis andyThe axes represent the two mutually

perpendicular lateral vibration directions of the pipeline; the supports at both ends of the pipeline are represented by springs, which limit thex,y,zThe displacement in the

direction and the rotation displacement around its axis: The stiffness of each spring at the left end of the pipeline isK1x,K1y,K1zandK1T, the stiffness of each spring at the right end

of the pipeline isK2x,K2y,K2zandK2TThe torsion spring can be placed in different directions to limit the bending moment or torque in different directions. Different values of

spring stiffness can represent different actual support conditions. The transported fluid is a compressible Newtonian fluid, and the fluid flows in one dimension; the liquid flow

rate is less than the critical flow rate.

K2x
K2T z
y K2z
x K2y
K1T
K1z
K1x K1y

picture2.1Liquid filling pipeline diagram

19
 PhD dissertation from Huazhong University of Science and Technology

2．2Differential equation of motion of a straight tube filled with liquid

2．2．1Analysis of the force and deformation of liquid-filled straight pipe

(1)Force model of a straight pipe filled with liquid

When a pipeline transports unstable liquid, it will generate vibration. Assume that the pipeline vibrates slightly within the elastic range.xThe vibration displacement in

the direction isux(z,t),yThe vibration displacement in the direction isuy(z,t),zThe vibration displacement in the direction isuz(z,t), as shown in Figure2.2shown.

ξ
η ζ β
y
O'

uy(z,t) z

x uz(z,t)
α
O

picture2.2Liquid-filled pipes that produce slight deformations

y pAf+(pAf)'ds
y
Q+Q'ds
M
Q
F pAf
Mz z z
α x α
x
O O
Pipe unit Liquid unit

picture2.3Unit body force diagram

The displacement causes the pipeline to deform. A control body is taken from the system. The tangent line of the axis at the center of the control body is

z The axis angle isβ(picture2.2); and separate the pipe unit body and the liquid unit body, and their forces are shown in the figure2.3shown.

Under the combined action of tension, compression, bending and torsion loads, the pipeline will produce spatial deformation due to the combined action of expansion, contraction,

bending and torsion. Since it is assumed that the pipeline vibrates slightly within the linear elastic range, the combined deformation of the pipeline unit body can be assumed to bex,yBending

deformation in the axial direction,zThe superposition of tensile and compressive deformation and torsional deformation in the axial direction.

20
 PhD dissertation from Huazhong University of Science and Technology

After deformation (Fig.2.4), aroundxThe rotation angle of the axis isβx, aroundyThe rotation angle of the axis isβy; Unit body aroundzWhen the shaft is twisted,

the twist angle around its own axis isβz.

ux'
Δ βz ymy,βy x
β uy'
h mx,βx
γ
z
dz o x o mz,βz

(a)Unit body bending deformation (b)Unit body torsional deformation (c)Unit body moment and rotation

picture2.4Element Moments and Deformations

(2)Deformation relationship of liquid-filled straight tube

zThe deformation of the pipeline unit body caused by tension and compression in the direction is Δz=uz'dz, after bending deformation, the total length of the pipeline unit axis

Spend

ds=dz(1+u′ )2z+u'2+ux '2 y (2.1a)

z ′ )2+u'2+xu'2 1/ 2 y]
The total deformation of the pipeline unit axis Δ =ds−dz=dz{[(1+u − 1},x,yDirection

After the bending deformation is superimposed, the deflection of the unit cell is

h= (dz/2)u'2+xu'2 y (2.1b)

The total axial strain of the pipe unit is

Δ
ε= ≈u′z+ (u'2x+u'2)y/ 2 − 3u′ (zu'2x+u'2) y/ 2 (2.1c)
ds
In the formula, the symbol (′)=∂/∂z.

(3)Deformation angle of liquid-filled straight tube

The tangent line of the center axis of the pipe unit after deformation iszThe axis angle isβ(picture2.4a),βsatisfy

tanβ=h/(dz/2) =u'2+ux'2 y ,cosβ=1/secβ≈1− (u'2 x + uy')2 / 2 (2.2a,b)

h
sinβ= ≈ (1−u′z ) ux'2+u'2y (2.2c)
ds/2
Before torsional deformation, the pipe unit body iszThe axis angle isγ,γsatisfy

twenty one
 PhD dissertation from Huazhong University of Science and Technology

sinγ=u′ y/ ux'2 + u'y2,cosγ=u' x / ux'+u'

2
y
2
(2.2d)

After torsional deformation, the pipe unit body is twisted aroundzThe axis angle isβz+γ,βz+γsatisfy

sin(βz+γ) = (u'sin
x β+uz'cosyβ) / z ux'2+u'2y (2.2e)'

cos(βz+γ) = (u'cos
x β−uz'sinβ
y ) / z ux'2+u'2y (2.2f)'

For hydraulic systems and other liquid-filled systems with short pipes, when they vibrate slightly,sinβz≈βz,cosβz≈1,

so

sin(βz+γ) = (u'βxz+u′ ) / y ux'2+u'2y ,cos(βz+γ) = (u' x −u' yβz) / ux'+2 u' y

2
(2.2e,f)

2．2．2Basic equations of motion

(1)Motion equations of the pipeline unit

Since the filling pipe isx,yThere is a slight bend in all directions, and the center of the unit body deviateszAxis (rotating axis), its eccentricity

2
The distance is the deflection of its axish, centrifugal force will be generated when rotating, and its acceleration isa n=hβz,so
[Fsinβcos(γ+β' z)]ds+f' xds+ (fξsinβ−fηcosβ) cos(γ+βz)ds
2
(2.3a)
p cos β⋅βzsin(γ+βz) −cxuxds=mpuxds
+mh

[Fsinβsin(γ+βz)]'ds+f' yds+ (fξsinβ−fηcosβ) sin(γ+βz)ds−cyuyds

(2.3b)
+mh
p cosβ⋅β2 zcos(γ+βz) −mpgcosαds=mpuyds

[Fcosβ]'ds+fξcos βds+fsin
η βds−Q'dsz−cudszz
−mgsinα
p ds−m hβ2 p zsinβ=mpuzds

(2.3c)

In the formula, the symbol (˙) =∂/∂t,Qzis the cross-sectional shear forceQexistzDirectional force

fx= −EIp ''cosβcos(γ+βz) (2.3d)

fy= −EIp ''cosβsin(γ+βz) (2.3e)

Qz= − EI p ''sinβ, =u'2 x + uy'2 (2.3f,g)

(2)Liquid unit equation of motion

twenty two
 PhD dissertation from Huazhong University of Science and Technology

− [pAfsinβcos(γ+β' z)]ds− (fξsinβ−fηcosβ) cos(γ+βz)ds

D2ux (2.4a)
+mh
f cosβ⋅β z
2
sin(γ+ϕ) =m f ds
D t2

− [pAfsinβsin(γ+β' z)]ds− (fξsinβ−fηcosβ) sin(γ+βz)ds

D2u (2.4b)
+mh
f cosβ⋅β2cos(
z γ+β) −mg
z cosf αds=mf y ds
Dt 2

2 D2
− [pAf cosβ]'ds−fξcosβds−fηsinβds−mfgsinαds−mfhβz sinβ=mfDt2 (z+u)d
z s (2.4c)

In the formula,D2/ Dt2It means that when liquid flows through a curved pipe, the change in the curvature of the pipe and the lateral vibration of the pipe will affect the

When the deformation is small, the liquid accelerates.D/Dt=∂/∂t+U∂/∂z,

D2 ∂2 ∂ ∂2 ∂ ∂2
= + U + 2U + UU' + U2 (2.5)
Dt2 ∂t2 ∂z ∂z ∂ t ∂z ∂z2
(3)Torsional motion equations of the pipe unit

Pipe unit bodyzThe equation of motion for torsional motion about the axis is

mz'ds−cϕϕzds−mpghcosαcos(βz+γ) =ρpJpϕzds (2.6)

In the formula,mz=Mzcosβ;ϕzis the torsional angular velocity of the pipeline unitzThe component in the axial direction,ϕz=βzcosβ.

(4)Pipe axial internal force equation

Axial internal force of the pipeFIt consists of two parts: initial axial tensionF0The axial internal force generated by the pulsating

force, the axial strain also includes two parts: the initial axial tensionF0The strain generatedε0The axial internal force of the pipelineFfor

F=F0+EApε (2.7)

2．3Coupled nonlinear vibration equations of a straight tube filled with liquid

2．3．1Liquid-filled straight tubexDirectional (lateral) vibration equation

According to the formula (2.3a)and(2.4a)We can get:

[F′− (pAf)′]sinβcos(γ+βz) +[F− (pAf)][sinβcos(γ+βz)]′+f' x −cxux

(2.8a)
+ 0.5m(1−u′ z) ux'2+u'2ycosβ⋅β2sin(
z γ+β) =mu
z +mD
px2u f x / Dt 2

twenty three
 PhD dissertation from Huazhong University of Science and Technology

The formula (2.1c)、(2.2)、(2.7)Substitution formula (2.8a), after finishingxThe equation of lateral vibration in the axial direction is:

EA(pu'uxz′′ +u'uzx
′′ +u'u'xyy u''x) − (pAf)'u' x−cxux
u′′ +u'2u′′y /2x + 3u'2u′′x /2x − 2u'u'uxzz′′−u'2 z

+ [F0− (pAf)](u''x−u''u ′′
yz′ −u'uy'' z)βz+ (pA f)uyβz
xz′ −u'ux'' z) −[F0− (pAf)](u'' y−u''u

−EI−1p [ '''ux′+′′u'' x − ''ux'(u'xu''x+u' yu''y)− + (''u'' x− '''ux′ ) 2/ 2 − ′′u′x′(u'u′+u' yu''y) / 2]

2

−EA(pu'uyz′′ +u'uzy′′ +u'u'xyx

u′′ +3u'2uy′′ /2y − 2u'u'u ′′+u'2u′′x/2 y−u'2
yzz u''y)βz
z (2.8b)

+ EI−1p ['''u′ + y′′u′′ − ′′y u′ (u'u

y
′′ +
xx
u'u′′)yy −2 − ( '''uy′ + ''u''y) / 22 − u′′ +u'uyy'') / 2]βz
''uy′ (u'xx

− [F0− (pA)]f u'βyz′ −EA(up'u′ yz

+u'u'2yx
/ 2 +u'3/ 2y −u'u'2)yzβ′ +EIz p
''uy' [1−2/ 2]β' z
−1

+m(1−uz′ )βz2(u'xϕ+u′ y) /2 =mu+x m(UU x UU′ +xUU'u′ +xU2

f ′ +2 ux'')

2．3．2Liquid-filled straight tubeyDirectional (lateral) vibration equation

According to the formula (2.3b)and(2.4b)We can get:

[F′− (pAf)′]sinβsin(γ+βz) +[F− (pAf)][sinβsin(γ+βz)]′+f' y −cyuy−mgcosα

1 D2uy (2.9a)
+ m(1−u′z) ux'2+u'2ycosβ[βsin(
z γ + βz) + βz2cos(γ + βz)] = mu
p y+ mf
2 Dt2

The formula (2.1c)、(2.2)and(2.7)Substitution formula (2.9a), After finishingyThe equation of lateral vibration in the axial direction is:

EA(pu'uyz′′ +u'uzy
′′ +u'u'xyx
u′′ +u'2u′′x /2y + 3u'2u′′y /2−
y 2u'u'uyzz
′′−u'2 u''y) − (pAf)'u' y−mgcosα z

+ [F0− (pA)](
f u′′ − ′ −u'u''y z) −cyuy+[F0− (pAf)](u'' x−u''xu'z−u' xu''z)βz
y u''uyz

−EIp − 1[ '''uy′+′′u'' y− ''uy'(ux'u′′x +u'uyy′′) − 2+ (''u''y− '''uy′ )2/ 2 − ''u′y (u'xu'' + uy'u''y) / 2]
+ EA(pu'uxz′′ +u'uz′′ +x u'u'xyy
u′′ +3u'2ux′′ /2x − 2u'u'uxzz′′+u'2u′′y/2−x u'2 u''x)βz− (pAf)'u' xβz
z (2.9b)

−EIp −1 ['''u′x + ''ux′′ − ′′u'x(u'xu''x+u' yu''y)−2− ('''u′ + x 2

''u''x) / 2 − ''ux'(u'xu''x+u' yu''y) / 2]βz
+ EAp(ux' u'z+u' x3 / 2 +u'xu'y/2 2 −u' xu'z)2β' z+[F0− (pAf)]u'βxz' −EI p
''ux'−[1−
1
2 / 2]β'z
+m(1−u'z)βz(2u' x−u' yβz) / 2 =muy+mf(UU' y+ 2UU'y+UU'u' y+U'' 2 y)

2．3．3Liquid-filled straight tubezDirectional vibration equation

According to the formula (2.3c)and(2.4c)We can get:

[F′ − (pAf)′]cosβ+[F− (pAf)](cosβ)′−Q' z −czuz−mgsinα

1 D2 (2.10a)
− m(1−u′z) ux'2+u'2yβ2 z sinβ=mpuz+mf (z+u) z
2 Dt2

The formula (2.1c)、(2.2)and(2.7)Substitution (2.10a), simplify and ignore the fourth small quantity, After finishingzAxis direction

twenty four
 PhD dissertation from Huazhong University of Science and Technology

The axial vibration equation is:

' F0−EAp− (pAf)](uxux+'u′''′′

EAp''uz− (pAf) −[ y uy) −czuz−mgsinα
− EAp′ u′ z′′(uxux+u′ y′′uy) +EIp( ′′′ −u′ ′′′+
z
′ ′′−u′′ ′′−u′z′ ′′ z ) (2.10b)

− 0.5m(1−u′z)2 2 β2z=mu+m
z [(Uf+UU′)(1+u′ ) +2UU
z ′ +U2z uz'']

2．3．4Continuity equation for liquids

Considering the conservation of fluid mass, the continuity equation for non-steady flow liquid is:

DA Dρf+ρfAU′ =0 Dt
ρfDt f + Af f (2.11)

Liquid elastic modulusKfand cross-sectional areaAfThe rate of change with time is as follows[7]:

⎛Dp⎞ ⎛Dρf⎞
Kf=ρf⎜ ⎟ ⎜⎟ (2.12a)
⎝Dt⎠ ⎝Dt⎠

1 DAf 2R⎛Dp μ DF⎞

= ⎜ − ⎟ (2.12b)
AfDt Ee⎝Dt 2Af Dt⎠

The formula (2.1c)and(2.7)Substituting into the equation (2.12b), ignoring the higher order traces, we can get:

2RAf μRAp[u'
Af+UA' f− (p+Up′) + z+u' xu'x+u' yu'y+U(u′′ z+u'uxx '' )] = 0
′′ +u'uyy (2.13)
Ee e
The equation (2.1c)、(2.7)and(2.12)Substituting into the equation (2.11), we can get the continuity equation for unsteady flow

p+Up′ +ρ2fafU'2−
μρfaf[u' 2 − 2u'zu'z+u'uxx′ +u'uyy' +U(u'' z− 2u'u
z zz′′ +u'u '' )] = 0
xx′′ +u'uyy (2.14)

In the formula,afis the liquid pressure wave velocity,a2 f= (Kf/ρf) /[2Rf/(Ee) +1].

2．3．5Liquid momentum equation

From the equation (2.4)EliminatefηTerm, remove the high-order small quantities and rearrange the momentum equation for unsteady flow:

mf(u+z U+UU′ +2
y UU′ +zUU′+UU'u′ +U
y 2u'' z) + (pAf)′+fξ+mfgsinα
mf(uuxx′ +uuyy
′ +UU'2+xUU'2+z 2UU'u′xx+2UU'u′zz+UU'u'2+xUU'u'2+U
z 2u'u′′ +xx
U2u' zu''y)
(2.15)
+mf(uuyx′ −uuxy
′ +2UU'uxy
′ −2UU'uxy′ +U2u' xu''y−U2u'uyx'')βz
+mf(1− 2uz′ )(ux'2+u'y2)β2+z mgβfcoszαu′ +mg f αu'
x cos y =0

2．3．6Torsional motion equations of a pipe

The formula (2.1)、(2.2)Substitution formula (2.6), ignoring the higher order traces, we can get the pipeline unit body along the tangent direction of its neutral axis

25
 PhD dissertation from Huazhong University of Science and Technology

The torsional motion equation is

mz'−cϕβz−mz(u' xu''x+u' yu''y) −mpgcosα(u' x−βzu' y) =ρpJpβz−ρpJpβz(uxu' ' x+u' yu'y) (2.16)

2．3．7Summary of Equations of Motion

equation(2.8b)、(2.9b)、(2.10b)、(2.13)、(2.14)、(2.15)and(2.16)The tension-compression, bending-torsion combined vibration equations of the non-

steady flow liquid-filled pipe system are formed.2.8b)、(2.9b)、(2.10b)The coupling between the pipe and the liquid, and between the axial vibration and the

lateral vibration of the system is revealed. The equation (2.13)It represents the coupled vibration between the radial, axial and lateral directions of the pipeline.

The equation (2.14)This reveals the coupling between the liquid pressure fluctuation and liquid motion caused by liquid pulsation. The equation (2.16)The

coupling between torsional vibration and lateral bending is revealed. Therefore, the coupled vibration equations of the unsteady flow pipeline established in this

paper are a relatively complete fluid-solid coupling vibration model.

2．4Simplification of coupled nonlinear vibration equations

The equations of the fluid-solid coupling vibration model derived above are too complex and inconvenient to analyze and process, and there are great difficulties in

applying them to engineering practice and theoretical analysis. In practical engineering problems, the combined effects of tension and compression, bidirectional bending and

torsion rarely occur. Even if such a situation exists, it can be simplified by defining the direction of the transverse coordinate axis as the bending direction of the pipeline for

easy analysis and processing. Therefore, the above equations need to be simplified according to the actual engineering practice.

2．4．1Axial tension, compression, bending and torsionxzCoupled vibration equations in a plane

Lateral vibration occurs only inxAxis direction, at this timeyThe influence of axial vibration is relatively weak and can be ignored.

Slightly higher order traces can be obtained for axial tension, compression, bending and torsion.xzThe coupled vibration equations in the plane (take the liquid and the tube wall as

The friction force betweenfξ=mff|U|U/(4R)

mux+cxux+ 2mfUUx ′ +mfUU'x+mfU Ux′ ′ + (pA′f)′ux+m fU2ux''−[F0− (pAf)]ux ''
1 (2.17)
''''+[F0− (pA)](uf ''u' xz+u'u''xz) −EA(up'u''xz+u'u''zx+ 3u'2x ux''/ 2) +
+ E ipx mβz2ϕu
′ =x 0
2
muz+c zuz+ 2mfUU'z+mfU+m fUU'z+mfUU ′+mfUU'u'z+mfU2uz−''EApuz ''
1 (2.18)
+ (pAf)′+ [F0 − EAp− (pAf)]ux′u′′x−EI p (ux′u′′′′
x+u''x'''
ux) +mgsinα+ mβz2u'x2= 0
2

2RA μRA
Af+UA′ −
f f(p+Up′) + p[uz′ +u′xu
′ x+U(u'' z+u' xu''x)] = 0 (2.19)
Ee e

26
 PhD dissertation from Huazhong University of Science and Technology

p+Up′+ρaff2U
( ′−2μu' z ) − 2μρa
ff(2u' xu'x+UU''z+UU′x′′
ux) = 0 (2.20)

mf(u+z U+UU′ +zUU

2 ′ +UU
z ′+UU'u′ +U2z uz'') + (pAf') +mff|U|U/(4R)
(2.21)
f sinα+m f(xu+UU′ x+
+mg 2UU′ +xUU'u′ +xU2u''u′x+)xm β2ufz'2 x+mfgβzu' xcosα=0

mz'−cϕβz− (mzu'' x+mpgcosα−ρpJpβzu' x )u'x=ρpJpβz (2.22)

2．4．2Axial tension, compression, bending and torsionyzCoupled vibration equations in a plane

Lateral vibration occurs only inyAxis direction, at this timexThe vibration effect in the axial direction is relatively weak and can be ignored. At the same time, ignoring

the higher-order traces, the axial tension, compression, bending and torsion are obtained.yzCoupled vibration equations in a plane

muy+cuyy+2U m′f +Uy m′ +f U m

y 'u′ f+ (pA)'
y u′ +Uf2u'' y f y−[F0− (pAf)]u'' y+EIpu''''y
(2.23)
−EA(pu'uyz′′ +u'uzy′′ +3u'2yu′′y/2) +[F− 0(pA)](uf ''u′ +yzu'u′′) yz+mgcosα−mβ2 zβzu' / 2 = 0
y

muz+cuzz+2U m′f +Uz+U mf ′ + (pA

f )′+zU m′ +f U2 f f uz''−E'' pz
(2.24)
+ [F0−EA−p(pA)]uf'u′′ yy
−EI(u'up′′′′′+yyu''u′′′)yy+mgsinα+mβ2u'2 z y /2=0

2RAf(p+Up′) + μRAp[u'
Af+UA′ −
f z +u' yu'y+U(u'' z+u' yu′′)]
y =0 (2.25)
Ee e
p+Up′ +ρaff2(U′−2μu′ ) −2
z μρa2 ff(u' yu'y+UU''z+UU'yu''y) = 0 (2.26)

mf(u+z U+UU′ +2
z UU′ +zUU′+UU'u′ +U
z 2u'' z ) + (pAf') +mff|U|U/(4R)
(2.27)
+mg
f (u'cos
y α+sinα) +m(uf+UU
y ′ +2yUU′ +UU
y 'u′ +Uy2u′′)u′ y+my β2ufz
'2 y =0

mz'−cϕβz− (mpgcosα+ρpJpβzu' y −mzu''y)u'y=ρpJpβz (2.28)

2．4．3Coupled vibration of a straight pipe filled with liquid with the effect of rotational inertia neglected

From the equation (2.17)~(2.22)、(2.23)~(2.28)It can be seen that in the lateral vibration equation, axial vibration equation, and liquid continuity equation

of the liquid-filled system, only an additional rotation term is added to the vibration equation without torsion. This additional term is caused by the eccentricity

and rotational inertia of the eccentric part caused by the micro-bending deformation of the liquid-filled pipe. In the torsional vibration equation, the torsional

vibration term of the eccentric part caused by the bending deformation is also added to the vibration equation without bending deformation of the pipe. In the

case of non-forced torsional vibration, if the influence of micro-bending deformation on rotational inertia is ignored and higher-order traces are further ignored,

the above equations can be further simplified.

(1)xzCoupled vibration equations in a plane

27
 PhD dissertation from Huazhong University of Science and Technology

mux+cuxx+2U m′f +Uxm′ +f U m

x 'u′ +
f (pA)'
x u′ +U2f x f ux''−[F0− (pA f)]ux''
(2.29)
+ E ipx
′′′′′+[F−0 (pA)](fu''u′xz+u'u′′)xz −EA(u'u u'u′′ +3
p ′′+xz zx u'2 x ux/'' 2) = 0

muz+cuzz+2U m′f +Uz+U mf ′ +U m

f ′+U
z m'fu′ +U2 f z f uz''−EA'' puz
(2.30)
+ (pAf) '+[F0−EAp− (pAf)]uxux'−EI
'' (ux'ux''''
p +u''x'''
ux) +mgsinα=0

2RAf μRAp[u'
Af+UA' f− ( p + Up′) + z+u' xu'x+U(u′′ z+u'u
xx'')] = 0 (2.31)
Ee e
p+Up′+ρaff2(U′−2μu′ ) −2
z μρa2 ff(u' xu'x+UU''z+UU'xu''x) = 0 (2.32)

mf(u+z U+UU′ +2
z UU′ +zUU′+UU'u′ +U
z 2u'' ) + (pAf') +mff|U|U/(4R)
z
(2.33)
+mg
f sinα+m(u
f +UU
x ′ +2x UU′ +UU
x 'u′ +Ux 2 ux'')u'x= 0

mz'−cϕβz=ρpJpβz (2.34)

(2)yzCoupled vibration equations in a plane

muy+cuyy+2U m′f +Uy m′ +f U m

y 'u′ f+ (pA)'
y u′ +Uf2 y f uy''−[F0− (pAf)]u'' y
(2.35)
+ E ipy
′′′′′−EA(u zy +3u'2 yu''y/ 2) +[F0− (pAf)](u'' yu'z+u' yu''z) +mgcosα=0
p 'uy′′+zu'u′′

muz+cuzz+ 2Uf m′ z+U+U

f m′ +f z ( pAf′+
) U mf ′ +U2u'' f z−E'' pz
(2.36)
y+u''yu'''
+ [F0−EAp− (pAf)]u' yu''y−EIp(u' yu'''' y) +mgsinα=0

2RA μRAp[u'
Af+UA′ −
f f(p+Up′) + z+u' yu'y+U(u'' z+u' yu''y)] = 0 (2.37)
Ee e
p+Up′ +ρaff2(U′−2μu' z ) −μρ
2 a(u u'' y+UU''z+UU'yu''y) = 0
ff 2 y (2.38)

mf(u+z U+UU′ +2
z UU′ +zUU′+UU'u′ +U
z 2'' uz) + (pAf') +mff|U|U/(4R)
(2.39)
+mg
f (u'cos
y α+sinα) +m(uf+UU
y ′ +2yUU′ +UU
y 'u′ +Uy2'' ' uy)uy= 0

mz'−cϕβz=ρpJpβz (2.40)

2．5Coupled nonlinear vibration equations of a straight pipe filled with liquid under periodic loads

Usually, the liquid transported by the pipe system always pulsates, and the dynamic load on the pipe system is mostly a periodic load or a superposition of multiple periodic loads (for

micro-amplitude pulsation, it can be regarded as the superposition of multiple micro-amplitude periodic pulsations) In order to solve the vibration of the liquid-filled pipe

28
 PhD dissertation from Huazhong University of Science and Technology

In order to study the time domain response of the dynamic system and the vibration control measures based on the vibration characteristics of the system, it is necessary to

study the vibration characteristics of the vibration system under the action of pulsating loads. Previous studies have mainly focused on the stability, limiting flow rate and

natural frequency of the liquid-filled pipe, and less on the vibration of the liquid-filled pipe under periodic loads. This section will derive the motion differential equation of the

liquid-filled pipe system under periodic pulsating flow and basic simple harmonic excitation, and then make it dimensionless.

2．5．1Vibration equation of a straight tube filled with liquid under periodic pulsating liquid

In many cases, the fluid transported in the liquid-filled pipe may be provided by a piston or centrifugal pump. During operation, the

periodic motion of this pump will provide a pulsating form of fluid to the pipeline, that is, the flow rate of the fluidUIt changes regularly with

time. It has several additional pulsating components on the basis of the average flow rate. Therefore, the flow rate can be described as

follows:

⎛ n
⎞
U=U0⎜1+∑δisin(ωf ,it)⎟ (2.41)
⎝ i=1 ⎠

In the formula,U0is the average flow velocity of the fluid, which is a constant that does not change with time.δiis the pulsation amplitude of flow velocity,ωf,i

is the pulsation frequency of the liquid, andδi<<1In order to facilitate the study,n=1,Right now

U=U0[1+δsin(ωft)] (2.42)

(1)The liquid-filled straight tube is under the action of periodic pulsating liquid.xzVibration in a plane

The formula (2.42)Substitution formula (2.29)~(2.34)and willmz=GJpβz'Substituting into the equation (2.34), further ignoring the

high-order small quantities, after simplification and arrangement, we can obtain the following equation:xzDifferential equations of motion

in a plane.

1
mux+cuxx+21′ + (fpA0x)'u′ +1′′ f+U2xδ2mffu''0x
2
0 x−[F0− (pAf)]u'' x+EIpu''''
x
2
+ [F0− (pA)](
f u''u
xz′ +u'uxz′′) −EA(u p'u′′+
xz u'u′′zx+3u'2 xu''x/ 2) (2.43)
1
= −2mf U0 δ(ux′ +U′′)sin(
0x ωt) f−m Uf δω 0 ufx
'cos(ωt) f+ U20δ2 mfu''xcos(2ωft)
2
2 1
muz+cuzz+21′ +1f′′ +0 z f 0z Uf2δ20u'' z−EApu''z+ (pAf)′+mgsinα
2
+ [F0−EAp− (pAf)]u' xu''x−EIp(u' xu'''' x+u''xu'''
x) = −2mfU0δ(u' z+U0u''z) sin(ωft) (2.44)
1
−mf U0 δωf (1+u′z)cos(ωtf ) + Uf2δ20u'' zcos(2ωtf )
2

29
 PhD dissertation from Huazhong University of Science and Technology

2RAf μRA ⎡ 2RAf μRAp ⎤

Af− p+ p(u′z+u'u
xx') + ⎢A′f − p′+ (uz''+u' xu''x)⎥U 0
Ee e ⎣ Ee e ⎦
(2.45)
⎡2RA f μRAp(u'' ⎤
=⎢ p′−A′ f− z+u' xu''x)⎥U0δsin(ωft)
⎣ Ee e ⎦

′ ) +[p′−2μρa2 ff(uz ′′ +ux'u''x)]U0

p−2μρaf 2(fu′ +z u'uxx
(2.46)
f 2f(u''z+u' xu''x) −p′]U0δsin(ωft)
= [2μρa

2 1 1
mfuz+ 2mfU0u' z+mfU0u ''z+ mfU0δu''z+ (pAf)′+ mff|U|U+mfgsinα
twenty two

2 4R (2.47)
1
= −mf U0 δωf (1+u′z )cos(ωt
f ) − 2mf U0 δ(uz′ +U′′)sin(
0z ωt) f+ Uf2δ20u'' zcos(2ωft)
2

GJ'pβ'z−cϕβz=ρpJpβz (2.48)

(2)The liquid-filled straight tube is under the action of periodic pulsating liquid.yzVibration in a plane

The formula (2.42)Substitution formula (2.35)~(2.40)and willT=GJpϕ'Substituting into the equation (2.40)After simplification

and arrangement, we can get the following equation:yzDifferential equations of motion in a plane.

muy+cuyy+21′ + (fpA0)'yu′ +U2uf ′′ +yU2δ2fu''0 y f 0 y/ 2 −[F0− (pAf)]u''y+EIpu''''y

+ [F0− (pA)](
f u''u
yz′ +u'uyz′′) −EA(up'u′′+
yz u'u′′zy+3u'2 yu''y/ 2) +mgcosα (2.49)
1
= −2mf U0 δ(uy′ +U′′)sin(
0y ωt) f−m Uf δω0 ufy
'cos(ωt) f+ U20δ2mufy''cos(2ωft)
2
1
muz+cuzz+21′ +1f′′ +0 z Uf2δ20 uz''−EApu''z+ (pAf)′+mgsinα
f
2
0z
2
y+u''yu'''
+ [F0−EAp− (pAf)]u' yu''y−EIp(u' yu'''' y) = −2mfU0δ(u' z+U0u''z) sin(ωft) (2.50)
1
−mf U0 δωf (1+u′z)cos(ωtf ) + Uf2δ20 uz''cos(2ωtf )
2
2RAf μRA ⎡ 2RAf μRAp(u'' ⎤
Af− p+ p(′ u 'y y' ) +⎢ ′ A−f
+z uu p' + z+u' yu''y)⎥U0
Ee e ⎣ Ee e ⎦
(2.51)
⎡2RA f μRA ⎤
=⎢ p′−A' f− p(u''z+u' yu''y)⎥U0δsin(ωft)
⎣ Ee e ⎦

p−2μρaff2(u
z ′ +u'u′ yy
) +[p′−2μρa2 ff (u'' z+u' yu''y)]U0
(2.52)
= −[p′ −2μρaff(2u'' z+u' yu''y)]U0δsin(ωft)

30
 PhD dissertation from Huazhong University of Science and Technology

1 ⎡ f ⎤
mfuz+ 2mfu'zU0 + mfU'02u'z+m δu z′′+ (pAf) ' + mf⎢⎣4R |U|U+ g
′ (uycosα+sinα)
twenty two

2fU0 ⎥⎦ (2.53)
1
= −mf U0 δωf (1+u′z )cos(ωt
f ) − 2mf U0 δ(uz′ +U′′)sin(
0z ωf t) + Uf2 0δu2 ''zcos(2ωft)
2
GJpβ''z−cϕβz=ρpJpβz (2.54)

From the equations (2.43)~(2.48)、(2.49)~(2.54)It can be seen that the influence of periodic pulsating liquid on the system is mainly

concentrated in the liquid itself, that is, the vibration energy of periodic pulsating liquid is mainly distributed in the liquid.

2．5．2Vibration equation of a straight pipe filled with liquid under combined periodic loads

In certain working situations, in addition to being subjected to the periodic pulsation of the liquid, the supporting foundation of the liquid-filled pipe may

also produce movement itself. For example, the interconnected hydraulic system pipelines play a supporting role at the connection point. When the pipeline

transports periodic pulsating liquid, it is equivalent to applying lateral periodic excitation to other connected pipelines. Another example is the external piping

system in an aircraft engine. When the engine rotor rotates at high speed, due to the eccentricity, it will inevitably cause the vibration of the engine casing, thereby

generating a basic motion forced excitation effect on the liquid-filled pipe (oil system or cooling system) placed thereon. Based on the action of periodic pulsating

liquid, the vibration equation of the liquid-filled straight pipe under the combined action of two periodic loads is derived when the foundation also performs simple

harmonic motion. When the foundation performs simple harmonic motion, its motion can be described as:

u=Bsin(ωt) (2.55)

In the formula,Bis the amplitude of the basic movement,ωThe frequency of movement.

(1)Fluid-filled straight pipe under combined action of cyclic loadxzVibration equations in a plane

The formula (2.55)Substitute into the formula (2.43)~(2.48)After sorting, it can be obtained that the liquid-filled tube supported at both ends under the combined

excitation of periodic pulsating flow and basic simple harmonic motion (combined action of self-excitation, parameter excitation and external excitation) isxzDifferential

equations of motion in a plane.

1
mux+cuxx+21′ + (fpA0x)'u′ +1′′ f+U2xδ2 0 mfu''x−[F0− (pAf)]u'' x+EIpu''''x
f
2
0x
2
+ [F0− (pA)](
f u''u
xz′ +u'u
xz′′) −EA(u
p'u′′+
xz u'u′′zx+3u'2 xu''x/ 2) = −mfU0δωfu' xcos(ωft) (2.56)

− 2m
f U
0 δ(u ′′)sin(ωt)f + 0.5U2δ0 2 mu
x ′ +U0x fx ''cos(2ωft) + mxD2sin(ωt) −cxBωcos(ωt)

muz+cuzz+21′ +Uf 2u0′′z +0.5U

f 2δ
0 z2 f 0 uz''−EApu''z+ (pAf)′+mgsinα
x+u''xu'''
+ [F0−EAp− (pAf)]u' xu''x−EIp(u' xu'''' x) = −2mfU0δ(u' z+U0u''z) sin(ωft) (2.57)

−mf U0 δωf (1+u′z)cos(ωtf ) + 0.5U2fδ20u'' z cos(2ωft)

31
 PhD dissertation from Huazhong University of Science and Technology

2RAf μRA ⎡ 2RAf μRAp(u'' ⎤

Af− p+ p(u′z+u'u xx') + ⎢A′f − p′+ z+u' xu''x)⎥U 0
Ee e ⎣ Ee e ⎦
(2.58)
⎡2RA f μRA ⎤
=⎢ p′−A′ f− p(u''z+u' xu''x)⎥U0δsin(ωft)
⎣ Ee e ⎦

′ ) +[p′−2μρa2 ff(uz ′′ +ux'u''x)]U0

p−2μρaf 2(fu′ +z u'uxx
(2.59)
f 2f(u''z+u' xu''x) −p′]U0δsin(ωft)
= [2μρa

2 1 1
mfuz+ 2mfU0u' z+mfU0u ''z+ mfU0δu''z+ (pAf)′+ mff|U|U+mfgsinα
twenty two

2 4R (2.60)
1
= −mf U0 δωf (1+u′z )cos(ωt
f ) − 2mf U0 δ(uz′ +U′′)sin(
0z ωt) f+ Uf2δ20u'' zcos(2ωft)
2

GJ pβ'z'−cϕβz=ρpJpβz (2.61)

(2)The system is under the combined action of cyclic loads.yzVibration equations in a plane

The formula (2.55)Substitute into the formula (2.49)~(2.54)After sorting, it can be obtained that the liquid-filled tube supported at both ends under the combined

excitation of periodic pulsating flow and basic simple harmonic motion isyzDifferential equations of motion in a plane.

muy+cuyy+21′ + (fpA0)'yu′ +U2uf ′′ +yU2δ2fu''0 y f 0 y/ 2 −[F0− (pAf)]u''y+EIpu''''y

+ [F0− (pA)](
f u''u
yz′ +u'u
yz′′) −EA(u
p'u′′+
yz u'u′′zy+3u'2 yu''y/ 2) +mgcosα
(2.62)
= −2mf U0 δ(uy′ +U''0 y) sin(ωft) −mfU0δωfu' ycos(ωft) + 0.5U20δ2mu
fycos(2
'' ωft)
+mxD2sin(ωt) −cyBωcos(ωt)
1 2
muz+cuzz+21′ +1f'' 0z f 0δu
Utwenty two ''z−EApu''z+ (pAf)′+mgsinα
f 0z +
2
y+u''yu'''
+ [F0−EAp− (pAf)]u' yu''y−EIp(u' yu'''' y) = −2mfU0δ(u' z+U0u''z) sin(ωft) (2.63)
1
−mf U0δωf(1+u′ z)cos( ωft) + f 0δu
Utwenty two ''zcos(2ωt)
f
2
2RAf μRAp(u′ +u'u′ ) + ⎢⎡A′ − 2RAf μRAp ⎤
Af− p+ z yy f p′+ (uz''+u' yu''y)⎥U0
Ee e ⎣ Ee e ⎦
(2.64)
⎡2RA μRAp(u'' ⎤
=⎢ fp′−A' f− z+u' yu''y)⎥U0δsin(ωft)
⎣Ee e ⎦

p−2μρ2faf(uz ′ +u'yu'y) +[p′−2μρ fa2f(u z''+u' yu''y)]U0

(2.65)
= −[p′−2μρaff2(u'' z+u' yu''y)]U0δsin(ωft)

32
 PhD dissertation from Huazhong University of Science and Technology

1 ⎡ f ⎤
mfuz+ 2mfu'zU0+mfU02u''z+ mfU0δuz''+ (pAf) +'mf⎢⎣4R |U|U+g(u' ycosα+sinα)
twenty two

2 ⎥⎦ (2.66)
1
= −mf U0 δωf (1+u′z )cos(ωt
f ) − 2mf U0 δ(uz′ +U′′)sin(
0z ωt) f+ Uf2δ20u'' zcos(2ωft)
2
GJ'pβ'z−cϕβz=ρpJpβz (2.67)

From the equations (2.56)~(2.61)、(2.62)~(2.67)It can be seen that the basic simple harmonic excitation only affects the lateral vibration of the

system.

2．6Dimensionless Form of Coupled Nonlinear Vibration Equation of Straight Fluid-Filled Pipe

In order to facilitate the processing and analysis of the vibration equation, it is necessary to make the vibration differential equations dimensionless. Introduce the following

Dimensionless parameters and variables.

z u u u mf Af,U= mfUL,U mfUL

ζ= ,η=x,ϑ= y,ξ= z,β= ,A= f 0 = 0 ,
L L L L m L2 EIp EIp

pAf 2 EIp t cxL2 mfg 3 FL2 AL2 fafL

ρtwenty
pAf= L,τ= ,c = ,g= ,F=0 ,E=p , α= ,
four

x
EIp m L2 mxDp EIp EIp Ip EIp

B m m 2Ip cϕL2 m πf
B= ,Ω =
1 ωL
f 2 ,Ω2= ωL2, Θ = ,ϕ=β,cϕz= ,χ= .
L EIp EIp πeL3 ρpJp EIp 4

2．6．1Dimensionless Form of Coupled Vibration Equation of Straight Fluid-Filled Pipe

Substituting dimensionless parameters and variables into the equation (2.29)~(2.34)、(2.35)~(2.40), ignoring the effects of rotational inertia and high-order small

amounts of liquid-filled straight pipe coupled vibration equations in the dimensionless form.

(1)xzDimensionless form of the coupled vibration equations in a plane

η+c ηx +2βUη′+βUη′+UU'η′+ (pA)'η′+f U2η′′− (F−pA)η''

(2.68)
+η′′′′′+ (F−pA)(η''ξ′+η'ξ′′) −E(η'ξ′′+ξ'η′′+3η'2η′′ /2) = 0

ξ+c ξz+ 2βUξ′+βU(1+ξ′) +UU′( +ξ1

′) +U2 ξ′′+ (pA)'f
(2.69)
− Eξ′′+[F−E− (pAf)]η'η' ′− (η'η′′′′′+η''η′′′) + β−g2 sinα=0

βAf+UA' f−ΘAf Af(βp+Up′) +2μAf[β(ξ′+η'η′) +U(ξ′′+η'η′′)] =0 (2.70)

33
 PhD dissertation from Huazhong University of Science and Technology

βp+Up′+α(U′ −2μβξ′ −2μβη'η′−2μUξ′′−2μUη'η′′) =0 (2.71)

β2ξ+βU(1+ξ′) +2βUξ′+UU′(1+ξ′) +U2ξ′′+ (pAf)′+χ|U|U/Af+gsinα=0 (2.72)

E
ϕ′′ −cϕϕ=ϕ (2.73)
2(1+μ)(1−β2)

In the formula, the symbol (˙) =∂/∂τ, (′)=∂/∂ζ,ϕ,ϕare the dimensionless torsional velocity and torsional acceleration, respectively.

(2)yzDimensionless form of the coupled vibration equations in a plane

ϑ+c ϑy +2βUϑ′+βUϑ′+UU'ϑ′+ (pA)'ϑ′+fU2 ϑ′′− (F−pAf)ϑ''

(2.74)
+ϑ′′′′′+ (F−pAf)( ϑ''ξ′+ϑ'ξ′′) −E( ϑ'ξ′′+ξ'ϑ′′+3ϑ'2ϑ'' / 2)+ β−2gcosα=0

ξ+c ξz+2βUξ′+βU(1+ξ′) +UU′(1+ξ′) +U2ξ′′+ (pA)' f

(2.75)
− Eξ′′+[F−E− (pAf)]ϑ'ϑ′′− (ϑ'ϑ′′′′′+ϑ''ϑ′′′) +β−2gsinα=0

βAf+UA' f−ΘAf Af(βp+Up′) +2μAf[β(ξ′+ϑ'ϑ′) +U(ξ′′ +ϑ'ϑ′′)] =0 (2.76)

βp+Up′+α(U′−2μβξ′−2μβϑ'ϑ′ −2μUξ′′−2μUϑ'ϑ′′) =0 (2.77)

β2ξ+βU(1+ξ′) +2βUξ′+UU′(1+ξ′) +U2ξ′′+ (pAf)′+χ|U|U/ Af

(2.78)
+ g(ϑ'cosα+sinα) = 0
E
ϕ′′ −cϕϕ=ϕ (2.79)
2(1+μ)(1−β 2)

2．6．2Dimensionless form of vibration equation of liquid-filled straight pipe under combined periodic loads

(1)xzDimensionless form of the vibration equations in a plane

Substituting dimensionless parameters and variables into the equation (2.56)~(2.61), we can get the liquid-filled pipe with two ends supported under the combined

action of periodic loadsxzThe dimensionless form of the differential equation of motion in a plane:

η+c ηx +2βU η′+

0 (pA)'ηf′+U2η′′(1+
0 δ2/ 2) − (F−pA)η′′+ (F−pAf)(η''ξ′+η'ξ′′)

+η′′′′ −E(η'ξ′′ +ξ'η′′+3η'2η′′ /2) = −2U0δ(βη′+U η'' 0) sin(Ω1τ) (2.78)

−βΩ1U0 δη'cos(Ωτ1) +0.5U2δ02η''cos(2Ωτ) 1+BΩ2 sin(Ω2τ) −cxBΩ2cos(Ω2τ)
2

ξ+czξ+2βU 0 ' δ
ξ′ +U20' ξ(1+ 2 2
/ 2) + (pAf)′−Eξ′′ +β−gsin α+[F−E− (pAf)]η'η''
1 (2.79)
− (η'η′′′′′+η''η′′′) = −2U0δ(βξ′+U0ξ′′)sin(Ω1τ) −βΩ1U0δ(1+ξ′)cos(Ω1τ) + U0δ ξ''cos(2Ω1τ )
twenty two

34
 PhD dissertation from Huazhong University of Science and Technology

βAf+U' 0Af−ΘAf Af(βp+U' 0 p) +2μAf[β(ξ′+η'η′) +U0(ξ′′ +η'η′′)]

(2.80)
= − ⎡A'
⎣f+ΘAf Afp′−2μAf(ξ′′+η'η′′)⎤U0δsin(Ω
⎦ 1τ)

βp+U0p′−2μα[β(ξ′+η'η′) +U0(ξ′′ +η'η′′)] = [2μα(ξ′′+η'η′′) −p′]U0δsin(Ω1τ) (2.81)

β2ξ+2βUξ′0+U2 0(1+δ2/ 2)ξ′′+ (pAf)′ +χ|U|U/ Af+gsinα

1 (2.82)
= −2U0δ(βξ′+U ξ0′′)sin(Ωτ)1−βUΩδ0(1+
1 ξ′)cos(Ωτ) + 1 U20δ2ξ''cos(2Ωτ1)
2
E
ϕ′′ −cϕϕ=ϕ (2.83)
2(1+μ)(1−β2)
(2)yzDimensionless form of the vibration equations in a plane

Substituting dimensionless parameters and variables into the equation (2.62)~(2.67), we can get the liquid-filled tube supported at both ends under the combined excitation of periodic

pulsating flow and basic simple harmonic motionyzThe dimensionless form of the differential equation of motion in a plane:

ϑ+c ϑy +2βU ϑ′+

0 (pA)'ϑ′+
f U2ϑ′′(1+
0 δ2/ 2) − (F−pA)ϑ′′+ (F−pAf)(ϑ''ξ′+ϑ'ξ′′)

+ϑ′′′′ −E(ϑ'ξ′′+ξ'ϑ′′ +3ϑ'2ϑ′′ /2) = −2U0δ(βϑ′ +U ϑ'' 0) sin(Ω1τ) (2.84)

−βΩ1U0 δϑ'cos(Ωτ1) +0.5U2δ02ϑ''cos(2Ωτ) +
1 BΩ2 2 sin(Ω2τ) −cyBΩ2cos(Ω2τ)

ξ+cξ+2βUξ′ +0U2ξ′′(1+
0 δ2/ 2) + (pA)′ −Eξf′′+β−2gsinα+[F−E− (pAf)]ϑ'ϑ''

1 (2.85)
− (ϑ'ϑ′′′′′ +ϑ''ϑ′′′) = −2U
0 δ(βξ′+U 0ξ′′)sin(Ωτ1) −βΩU1δ
0 (1+ξ′)cos(Ωτ) +1 U20δ2ξ''cos(2Ωτ1)
2
βAf+U0A' f−ΘAf Af(βp+U0p′) +2μAf[β(ξ′+ϑ'ϑ′) +U0(ξ′′+ϑ'ϑ′′)]
(2.86)
= − ⎡A' Afp′ −2μAf(ξ′′+ϑ'ϑ′′)⎤U0δsin(Ω1τ)
⎣f+ΘAf ⎦
βp+p'U0− 2μα[β(ξ′+ϑ'ϑ′) +U = [20(ξ+''ϑ'ϑ′′)]
(2.87)
μα(ξ′′ +ϑ'ϑ′′) −p′]U0δsin(Ω1τ)

β2ξ+2βUξ′0+U2(1+
0 δ2/ 2)ξ′′+ (pA' ) +χ|U|U/
f Af+g(ϑ'cosα+sinα)
1 (2.88)
= −2U0δ(βξ′+U ξ0′′)sin(Ωτ)1−βUΩδ0(1+
1 ξ′)cos(Ωτ) + 1 U20δ2ξ''cos(2Ω 1)τ
2
E
ϕ′′ −cϕϕ=ϕ (2.89)
2(1+μ)(1−β2)
The same method can be used to write the equations for the liquid-filled tubes supported at both ends under the action of periodic pulsating flow or basic simple

harmonic motion alone, and under the action of non-periodic loads.xzflat,yzThe dimensionless form of the differential equations of motion in the plane is omitted here.

35
 PhD dissertation from Huazhong University of Science and Technology

2．7Fluid-Structure Interaction Quasi-Linear Vibration Equation

In engineering practice, actions such as closing and reversing valves can cause the flow of liquid to stop suddenly. At this time, the liquid in the pipeline will produce

water hammer phenomenon, and the cross-sectional area, length and liquid cross-sectional area of the pipeline will change. Due to the rapid pressure fluctuations, the

expansion and contraction of the pipeline causes axial stress waves on the pipe wall, and the stress waves in turn produce pressure fluctuations in the closed liquid (fluid-solid

interaction). For systems with weak constraints or few constraints, fluid-solid interaction is more important. In this case, the dynamic behavior of the liquid (liquid pulsation) and

the pipe system (pipeline vibration) cannot be studied separately, because the interaction is often caused by dynamic forces acting on the liquid and the pipe at the same time,

and the coupling mechanism between the liquid and the pipe always exists. Existing research conclusions show that[155]: Among the infinite wave modes in the pipeline, the one

corresponding to the basic wave of the liquid-filled pipeline is2The low-order modes are the fluid pressure wave and the pipeline axial stress wave, which is the dual-wave

coupling theory; the axial stress wave propagates along the pipeline, and the influence of the pipeline axial inertia or radial inertia on the long wave motion or short wave motion

respectively cannot be ignored, and radial vibration is important for short waves; the pressure wave in the fluid and the axial stress wave in the pipe wall have the main influence

on the long wave. At this time, the movement of the pipe system is described by the so-called water hammer model. Commonly used models are4- Equation model[156],6- Equation

model[157],8- Equation model[158]and14- Equation model[111]In this section, we will derive the extended water hammer considering the fluid-solid coupling phenomenon based on

the already derived nonlinear motion equations for the liquid-filled straight pipe coupling.14-Equation model.

Since water hammer occurs when the flow of liquid is obstructed, in addition to the motion equations for the liquid-filled pipe system

established earlier, several other descriptive equations are required.

(1)Transverse bending moment equation for the composite unit of pipe and liquid

Since the filling pipe isx,yThere is a slight bend in all directions, and the center of the unit body deviateszAxis (rotation axis), when rotating

Will be inx,yThe additional bending moment is generated in the direction.ϕexistx,yThe direction components are

ϕx=βzsinβcos(βz+γ),ϕy=βzsinβsin(βz+γ),existx,yThe bending moment equations in the directions are

my'ds+fxds+ρpJpϕyds=Iyβyds* (2.90a)

mx'ds+fdys+ρ J ϕxds=Ixβxds
*
p p (2.90b)

In the formula, the symbol (˙) =∂/∂t, (′)=∂/∂z.

(2)Pipe Shear Equation

Pipelinex,yThe total bending angles in the axial direction areu',xu' y , which are the combined effects of pipe bending moment and shear force

The bending momentmx,myThe resulting rotation angles areβy,βx, so the shear strain of the pipe unit is:

ϑx= arctan(u' x) −βy =u'x+O(u' x) −β y≈ux−' βy

36
 PhD dissertation from Huazhong University of Science and Technology

ϑy= arctan(u' y) −βx=uy+'O(u' y) −βx≈u' y−βx

Using the relationship between shear strain and shear force, the pipeline shear force equation can be obtained:

fx=κGApϑx=κGAp(u' x −βy),fy=κGApϑy=κGAp(u' y−βx ) (2.91a,b)

2．7．1Axial vibration equation

In the unsteady flow of liquid momentum equation (2.15)In the above equation, the velocity gradient of the liquid is neglected (∂V/∂z), the influence of liquid vibration,

and ignoring the change of pipe cross-sectional area and the influence of rotational inertia, considering the axial acceleration and pressure gradient of the liquid, the

momentum equation can be simplified to

U+p′ /ρf= −f/(4R) |U|U−gsinα (2.92)

The continuity equation for unsteady flow of liquids (2.14)In the equation, ignoring the liquid pressure gradient and higher-order traces, the equation

can be simplified to

p+ρaff2U′−2μρa2 ffu' z= 0 (2.93)

From the equation (2.3)EliminatefηIgnoring the influence of high-order small quantities, pipeline torsional vibration and pipeline lateral vibration, the simplified form of the pipeline

momentum equation can be obtained:

ρpApuz−F′+czuz= [ρfAff/(4R)] |U|U−ρpApgsinα (2.94)

When water hammer occurs, the axial load of the pipeF=F0+EApu' z + 2μ(pAf). Both sides of the timetDerivative, ignoring the tube wall

and the velocity gradient of the liquid, ignoring the cross-sectional area of the liquidAfAs time goes by, we can get

uz'−F/(EAp) +μR/(Ee)p=0 (2.95)

2．7．2xzTransverse vibration equations in a plane

When a liquid-filled straight tube vibrates horizontally, the tube and the filled liquid vibrate together, and the friction between them is very small and can

be ignored.2.8a)In this paper, only the pipe and liquid synthesis unit are considered.xIgnore the gyroscopic force and centrifugal force generated by the high-

speed movement of the liquid. Ignore the influence of axial vibration and torsional vibration, and we can get

fx' −cxux=mux (2.96)

In the equation (2.90a)Ignoring the influence of torsional vibration, we can get

my′ +f x =I*yβy (2.97)

37
 PhD dissertation from Huazhong University of Science and Technology

From the equation (2.91a)have to

fx=κGAp(u' x−βy) (2.98)

From the basic bending equation we get

my=EIpβ' y (2.99)

2．7．3yzTransverse vibration equations in a plane

In the equation (2.9a)In this paper, only the pipe and liquid synthesis unit are considered.yThe vibration in the axial direction, ignoring the gyroscopic force and centrifugal force

generated by the high-speed motion of the liquid, and ignoring the influence of axial vibration and torsional vibration, can be obtained.

fy' −cyuy−mgcosα=muy (2.100)

In the equation (2.90b)Ignoring the influence of higher-order trace and torsional vibration, we can get

mx′ +f y =I*xβx (2.101)

From the equation (2.91b)have to

fy=κGAp(u' y−βx) (2.102)

From the basic bending equation we get

mx=EIpβ' x (2.103)

2．7．4zAxial torsional vibration equation

From the equation (2.34)

mz'−cϕβz=ρpJpβz (2.104)

From elementary torsion theory, we obtain the following relation:

mz=GJpβ' z (2.105)

formula(2.92)~(2.105)Fluid-Structure Interaction Extended Water Hammer14-Equation model. If in equation (2.94),

(2.96)、(2.100)、(2.104)Ignoring the influence of pipeline structure damping, this model becomes the currently widely used14- Equation model. From the model

derivation process, it can be seen that fluid-structure coupling extended water hammer14-In the equation model, many nonlinear fluid-structure coupling factors

are ignored in the four equations describing the axial vibration of the system.

38
 PhD dissertation from Huazhong University of Science and Technology

2．8Chapter Summary

This chapter focuses onTimoshenkoBased on the beam theory, the coupled vibration differential equation of the non-steady flow liquid-filled pipe

(considering tension, compression, bending and torsion at the same time) is derived. Based on this, the axial tension and compression, torsion andxAxis direction

andyThe coupled vibration equations of axial bending and axial tension and compression of the liquid-filled pipe system ignoring the influence of rotational inertia

arexAxis direction andyThe coupled vibration equations of the two-end supported liquid-filled pipe system under the periodic pulsating liquid alone and the

periodic pulsating flow and basic simple harmonic motion are derived.xzflat,yzDifferential equation of motion in the plane; by setting dimensionless parameters

and variables, the dimensionless form of the coupled nonlinear motion equation of the non-steady flow liquid-filled pipe is obtained, which improves the

universality of the vibration equation and brings convenience to subsequent analysis and processing. Later, based on the derived coupled nonlinear motion

equation of the liquid-filled straight pipe, the fluid-solid coupling quasi-linear model of the axial vibration, lateral bending vibration and torsional vibration of the

liquid-filled straight pipe is derived - the extended water hammer14-equation.

39
 PhD dissertation from Huazhong University of Science and Technology

3Characteristic Line Analysis of Time Domain Response of Simple Liquid-Filled Pipe System

Used to describe the fluid-structure interaction of liquid-filled pipe systems (FSI)The motion equations of the system are partial differential equations, which usually

cannot be solved analytically and can only be calculated numerically.FSIThe motion equations of the liquid-filled pipe system are appropriately transformed. At present, the

main methods used by various countries to calculate the vibration response of the liquid-filled pipe system are the finite difference method (FDM、Characteristic line method(

MOC), Finite Element Method (FEM)and a combination of the two (MOC-FEM)For nonlinear coupled systems, the finite difference method and the finite element method are

both effective methods; for linear and quasi-linear systems, the characteristic line method is an effective tool for converting partial differential equations (groups) into ordinary

differential equations (groups), and the numerical solution of the original equations can be obtained by numerical calculation.CauchyTo solve the problem, it is necessary to

establish characteristic grids along the axial direction and time direction of the pipe in the solution domain, and use the finite difference method to perform differentiation and

solution along the characteristic line. Since water hammer is a hydraulic transient phenomenon that may often occur in liquid-filled pipe systems, and this phenomenon

contains all the dynamic characteristics of fluid-solid coupled vibration, this chapter still starts with the solution of water hammer response and studies the characteristics and

solutions of the time domain response of liquid-filled pipe systems.

3．1Water hammer phenomenon

For pipelines that transport liquids, under normal working conditions, when the liquid flows in the pipeline, it will only cause weak vibrations in the

pipeline. The operation of the system will induce hydraulic transient processes. In severe cases, an extreme hydraulic phenomenon called "water hammer" or

"water hammer" will occur. The liquid in the pipeline will make a heavy hammering sound, and the sudden change in pressure will propagate along the pipeline in

the form of a pressure wave. For pipe systems with few or weak constraints, it will induce self-excited vibrations of the pipeline, or even large oscillations. The

vibration will cause new hydraulic transient processes, resulting in the existence of multiple motion forms such as liquid flow, pressure fluctuations, and pipeline

vibrations in the pipe system at the same time. These motion forms with different characteristics are coupled with each other. This coupling effect is called fluid-

structure interaction, or fluid-solid interaction for short.

The impact pressure caused by water hammer can reach very high values. In mild cases, it affects the normal operation of the system, and in severe cases,

it damages the pipeline. It directly threatens the stability and safe operation of the system and is the main cause of pipeline rupture and other problems. In terms

of system safety and stability, its impact even exceeds corrosion, design load, welding technology and defects.[159]Fluid-solid interaction is an inherent mechanical

property in a less-constrained fluid-solid system. Therefore, studying this interaction phenomenon has important academic and practical value for understanding

the dynamic properties of the fluid-solid system, stabilizing system operation, improving operational reliability, and avoiding abnormal pressure, stress, vibration,

and noise.

40
 PhD dissertation from Huazhong University of Science and Technology

3．2Water hammer theory and calculation model

3．2．1Classic water hammer model

The classical water hammer theory considers the influence of pipe wall elasticity on pressure fluctuations, but does not consider the influence of pipeline dynamics on

fluid motion state, nor the effect of changes in fluid motion state on pipelines and the influence of pipeline layout spatial form. Assuming that the fluid in the pipe with uniform

cross-section has no viscosity, no internal and external energy exchange, and flows in one dimension; the pipeline has no axial and lateral motion, is subject to rigid constraints,

and does not consider the geometric shape of the pipeline layout, the water hammer motion equation is:[61]

ρfU+p′ =0 (3.1)

[1/Kf+ 2R/(Ee)]p+U′ =0 (3.2)

In the formula, the symbol (˙) =∂/∂t, (′)=∂/∂z.

3．2．2Coupled Vibration Model

The pipeline is placed horizontally, and the pipeline structure damping is ignored. The continuity equation, momentum equation of fluid motion and pipeline vibration

equation are used as the basis, and the movement of the two media is realized through the contact compatibility conditions of the fluid and solid structure on the boundary.

Dynamic coupling, then axial motion4-The coupled vibration model of equation is[156]

∂U 1∂p 2
+ =− τ0 (3.3)
∂t ρf ∂z ρfR

∂U ⎛1 2R⎞ ∂p 2μ∂σ
+⎜ +⎟ − z= 0 (3.4)
∂z ⎝Kf Ee⎠ ∂t E ∂z

∂uz 1∂σz= 1
− τ0 (3.5)
∂ t ρ p ∂z ρpe

∂uz− 1∂σz + μR∂p =0 (3.6)

∂z E ∂t Ee∂t
In the formula,uzis the axial movement speed of the pipe.

3．2．3This article14-Equation coupled vibration model

Create as shown3.1In the coordinate system shown, it is assumed that the straight pipe is placed horizontally and the pipe wall material is linear, uniform and isotropic.z

The axis coincides with the axis of the pipe before deformation.xAxis andyThe axes represent two mutually perpendicular lateral vibration directions of the pipeline;

41
 PhD dissertation from Huazhong University of Science and Technology

The transported fluid is a compressible Newtonian fluid, the fluid flows in one dimension, the pipe deformation is within the elastic range and vibrates slightly, the damping

between the pipe and the liquid is proportional damping, and the influence of gravity is ignored.

y
my,βy

x
fy,uy
mx,βx

mz,βz

picture3.1Pipeline coordinate system and forces

Axial vibration equation:

∂U 1∂p f
+ =− |vr|vr (3.7)
∂t ρf ∂z 4R
1 ∂p ∂U
+− 2μ ∂uz= 0 (3.8)
ρa 2
f f ∂ t ∂ z ∂z

∂uz 1 ∂fz cz ∂uz ρfAf f

− + = |vr|vr (3.9)
∂t ρpAp ∂z ρpAp ∂t ρpAp4R

1 ∂fz ∂uz− μR∂p

− =0 (3.10)
EAp ∂t ∂z Ee∂t

xzThe equation for in-plane lateral vibration is:

∂fx ∂ux ∂2ux

− cx −m =0 (3.11)
∂z ∂t ∂ t2
fx=κGAp(u' x−βy) (3.12)

∂my ∂2βy= 0
+ fx−I *
y (3.13)
∂z ∂t2
my=EIpβ' y (3.14)

42
 PhD dissertation from Huazhong University of Science and Technology

yzThe equation for in-plane lateral vibration is:

∂fy ∂uy ∂2uy

− cy −m =mgcosα (3.15)
∂z ∂t ∂t2
fy=κGAp(u' y+βx) (3.16)

∂mx ∂2
− fy − I x*∂t2βx= 0 (3.17)
∂z
mx=EIpβ' x (3.18)

zAxial torsional vibration equation:

∂mz ∂2βz ∂β
− ρJpp∂t2 − cϕ z =0 (3.19)
∂z ∂t
mz=GJpβ' z (3.20)

In the formula,fis the friction coefficient between the fluid and the pipe wall. When the liquid moves in laminar flow: For the water delivery system,

f=32υ/(R|vr|), for hydraulic systems,f=37.5υ/(R|vr|), for hose,f=40υ/(R|vr|);liquid

When the body is in turbulent motion,f=0.3164Re−0.25.vr=U−uz, which represents the relative velocity between the liquid and the pipe.

3．3Characteristic Line Equations of Coupled Vibrations

3．3．1Axial vibration characteristic line equation

The coupled equation (3.7)~(3.10)Written as follows:

⎡U⎤ ⎡U⎤
⎢p⎥ ⎢
∂ ⎢⎥ ∂ ⎢p⎥ ⎥
A +B =F1 (3.21)
1∂z⎢u⎥ z 1∂t⎢u⎥
⎢⎥ ⎢z⎥
⎣fz⎦ ⎣fz⎦

In the formula,A1,B1is the coefficient matrix,F1is the force vector, expressed as follows:

⎡0 1/ρf 0 0 ⎤ ⎡1 0 0 0 ⎤
⎢ 0 − 2μ 0 ⎥ ⎢0 1/(ρaff 2) 0 0 ⎥⎥
A1=⎢1 ⎥,B=⎢ 1 (3.22a,b)
⎢0 0 0 − 1/(ρA
pp⎥)⎥
⎢0 0 1 0 ⎥
⎢ ⎢ ⎥
⎣0 0 −1 0 ⎦ ⎢⎣0 − R/(Ee) 0 1/(EAp)⎥⎦

43
 PhD dissertation from Huazhong University of Science and Technology

⎡ ⎤ f
⎢ −
⎥ ⎡ |vr|v r F1 ⎤
4R
⎢ ⎥ ⎢ 0 ⎥
⎢ ⎥ ⎢ 0 ⎥
F1=⎢ ⎥=⎢ cz ⎥ (3.22c)
ρ c F3− uz⎥
⎢ fAff |vr|v r − z uz ⎥ ⎢ ρA
⎢4Rρ pAp ρpAp ⎥ ⎢ ⎥
pp

⎢ 0 ⎥ ⎢⎣ 0 ⎥⎦
⎣ ⎦
equation(3.23)It represents a first-order quasi-linear system of equations. Find the equation Δ＝|A1-λB1|=0The characteristic root of , we can get:

1 1
λ1,2 = ±af = ±ap2 (1+a/fa) − (1+a2f/a2)2− 4a2/af 2
2 2
p (3.23a)
2
1 1
λ3,4 = ±ap = ±ap2 (1+a/fa) + (1+a2f/a2)2− 4a2/af 2
2 2
p (3.23b)
2

In the formula,af,apare the classical wave velocities representing the liquid pressure and the axial stress of the tube wall, respectively;af,aprepresent the liquid pressure and

The actual wave velocity of the axial stress on the pipe wall includes the effect of Poisson coupling of fluid-solid interaction, while the classical wave velocity does not include this effect.

“+” indicates an upward wave, and “-” indicates a downward wave.

E Kf/ρ f ap2
ap=
2
,a2 f = ,a2= (3.24a,b,c)
ρp 1+ 2Kfϕ(R/e) /E 2μ2(R/e)(ρf/ρp) +1

From the equation system (3.21)The ordinary differential equation system can be obtained:

⎧dU 1 dp 2μ duz 1 2μ dfz

⎪dt + λρ dt + a2/λ2−1 dt − λ ρA(a2/λ2 − 1) dt
⎪ f p p p p

⎪⎪ 2μ[F−3 c/(ρA
z )upp
] z
C1:⎨ =F+1 a2/λ2 − 1 (3.25)
⎪ p

⎪dz
⎪ = λ= ± a f
⎪⎩dt
a2− 1)
⎧dU 1 dp ρe p( λ2 / f duz 1e(λ2/a2 f−1) df z
⎪ + − +
⎪dt λρ f dt ρ fR d t λRμρfAp dt
⎪ ρe(λ2/a2−1) =
⎪ f
C2:⎨ F−p1 [F3−cz/(ρpAp)uz] (3.26)
⎪ ρfR
⎪dz
⎪ =λ= ±ap
⎪dt
⎩
In difference format, the formula (3.25)、(3.26)Expand and organize, we can get the characteristic line equation:

44
 PhD dissertation from Huazhong University of Science and Technology

1 2μ
U (P) − U (A )+ 1
(p(P)−p(A1)) + a2/a2− 1 (uz(P)−u(Az1))
ρa
ff p f
(3.27)
2μ/af 2μ
) =∫
(P) (P)
− (f(P)z −f(A1) z F1dt+ App)z]d u
[F−3 c ρz/( t
App 2
(a/a−1)
p
2
f
(A)1 ap2/a2f−1∫ (A1)

1 2μ (u(P)
U (P) − U (A ) − 2
(p (P) − p(A2)) + z −u(A2z))
ρa
ff ap2/a2f−1
(3.28)
2μ/af (f(P)z −f(A2) (P) 2μ (P)
+ )=∫ F1dt+ 2/ 2 [F−3 c/(ρA
z )upp
]dt
ap af−1∫
z z
App
(a2/a2p−1)f (A2) (A2)

1 ρpe(ap2/a 2
f − 1)(u(P)
U (P)
−U (A
3)+ (p(P)−p(A3)) − z −u(A3z))
ρfap ρfR
(3.29)
2
1e(a2 p/af−1) (f(P) (P) ρpe(ap2/af−1)
2
(P)
+
ap
z −f(A3))z =
RμρfAp ∫(A)3
F1dt−
fR
ρμ ∫ (A)3
[F−3 c/(ρA
z )upp
]dt z

1 ρpe(ap/2a 2
f − 1)(u(P)
U (P)
−U (A4)
− (p(P)−p(A4)) − z − u(Az 4) )
ρfap ρfR
(3.30)
1e(a2 p/af−1)
2
ρpe(ap2/af−1)
2

(fz − fz ) =∫(A4) F1dt−

(P) (P)
∫
(A4)
− (P)
[F−c/(ρA
z )upp
]dt z
ap RμρfAp ρfR (A)43

In the formula, the superscript and subscriptA1~A4represents the intersection of the characteristic line and the space grid line,PIndicates the time intersection of the characteristic line, as shown in

the figure3.2shown.

Using different integral approximation calculation formulas, the integral term has different simplified formulas.3.27)~(3.30)Written in matrix

form, we have

[Tz]{ψz} ={Fz} (3.31)

In the formula, [Tz]、{ψz}、{Fz} are the coefficient matrices of the equations,PPoint unknown quantity vector and known quantity vector.

P
t J+1

C+2 C-2
C+1 C-1
A3 A1 A2 A4
J
Δz1
Δz2 z

picture3.2Characteristic line method calculation grid (•,Mesh Node)

45
 PhD dissertation from Huazhong University of Science and Technology

3．3．2Transverse vibration characteristic line equation

Using a similar method as before, transform equation (3.11)~(3.14)、(3.15)~(3.18)Convert it into a first-order quasi-linear equation, and then

obtain the characteristic line equation.

(1)xzCharacteristic line equation for in-plane lateral vibration:

⎧dfx dux
⎪ dt − asm dt − cxasux+κGApβy= 0
⎪
C3:⎨ (3.32)
⎪dz κGAp
=a=±
⎪⎩dt s m

⎧dmy dβy+
⎪ − I*b abxf=0
⎪dt dt
C4:⎨ (3.33)
⎪dz EI p
=a=±
⎪⎩dt b
I*
The difference format expansion is:

f(P)
x −f(A5)x − κGA pm(u(P)x−u(A5)x ) =∫ cx ( P

A5
κGAp/mux−κGApβy dt ) (3.34)

fx(P)−f(A )
6
x x −u(Ax6) ) = −∫ c
+ κGA pm(u(P) (
P

A6 x κGA/pmu x )
+ κGA pyβ dt (3.35)

− βy(A7) ) + EIp/I∫ *
P
* (P)
my(P)−m(Ay 7) − EIpI(β y fxdt= 0 (3.36)
A7

− βy(A8) ) − EIp/I∫ *
P
my(P)
−m(A y) 8
*
+ EIpI(β y
(P)
fxdt=0 (3.37)
A8

Will(3.34)~(3.37)Written in matrix form:

[Txz]{ψxz} = {Fxz} (3.38)

In the formula, [Txz]、{ψxz}、{Fxz} are coefficient matrices,PPoint unknown quantity vector and known quantity vector; superscript A5~A8is the

intersection point of the characteristic line and the space grid line.

(2)yzCharacteristic line equation for in-plane lateral vibration:

⎧dfy duy
⎪⎪dt
− asm − κGApβx−cyasuy−asmgcosα=0
C5: dt (3.39)
⎨
⎪dz
=as=± κGAp/m
⎪⎩dt

46
 PhD dissertation from Huazhong University of Science and Technology

⎧dmx dβ
⎪⎪ − abI * x−abfy= 0
C6:d ⎨ t dt (3.40)
⎪dz
=a b=± EIp/I *
⎪⎩dt
The difference format expansion is:

fy(P)−
fy
(A5) − 5
(
κ GApm(uy (P)− u(Ay ) ) − ∫ κGA βp
P

A5 x + cy κGA/pmu y ) dt (3.41)
− κGApmgΔtcosα=0

fy(P)−f(A )6
y + κGA pm(u(P)y − u(Ay 6) ) − ∫ κGA βp(
P

A6 x − cy κGAp/ muydt )
(3.42)
+ κGApmgΔtcosα=0

− βy(A7) ) − EIp/I∫ *
P
my(P)−m(Ay 7) − EI*pI(βy (P)
fydt= 0 (3.43)
A7

EI/pI*∫
P
my(P)
−m(A y) 8 + EI pI*(β(P)y−β(A8)) y+ fd
y t=0 (3.44)
A8

Will(3.41)~(3.44)Written in matrix form:

[Tyz]{ψyz} = {Fyz} (3.45)

In the formula, [Tyz]、{ψyz}、{Fyz} are coefficient matrices,PPoint unknown quantity vector and known quantity vector.

3．3．3Torsional vibration characteristic line calculation equation

⎧dmz dβ
⎪⎪ − atpρ J pd z−atc ϕβz =0
C7: dt t (3.46)
⎨
⎪dz
=at=± G/ρ p
⎪⎩dt
The difference format expansion is:

βz − βz(A ) ) − cϕ G/ρp∫
P
mz(P) − m(Az ) − GρpJp ((P)
9 9
βzdt=0 (3.47)
A9

− βz(A10) ) + cϕ G/ρp∫
P
(P)
mz(P)−m(Az 10) + GρpJp(βz βzdt=0 (3.48)
A10

Will(3.47)、(3.48)Written in matrix form:

[TTz]{ψTz} = {FTz} (3.49)

47
 PhD dissertation from Huazhong University of Science and Technology

In the formula, [TTz]、{ψTz}、{FTz} are coefficient matrices,PPoint unknown quantity vector and known quantity vector;A9,A10

is the intersection point of the characteristic line and the space grid line.

The equation (3.31)、(3.38)、(3.45)and(3.49)Taken together, it can be expressed as:

⎡[Tz] 0 ⎤ ⎧{ψz}⎫ ⎧{Fz}⎫

⎢ ⎥⎥ ⎪{
⎪ ψ⎪
⎢ [Txz] xz} ⎪ ⎪ Fxz}⎪ ⎪
⎪{
⎨ ⎬=⎨ ⎬ (3.50)
⎢ [Tyz] ⎥ ⎪{ψyz}⎪ ⎪{Fyz}⎪
⎢ ⎥
⎣0 [TTz]⎦ ⎩⎪{ψTz}⎭⎪ ⎩⎪{FTz}⎭⎪

3．4Characteristic Line Analysis and Experimental Verification of Coupled Vibration Time Domain Response

3．4．1Difficulties of the characteristic line method

Equation system (3.50)have10Different characteristic lines (axial vibration4Bar, lateral vibration4Strip, torsional vibration2), let the actual wave speeds

corresponding to each characteristic line be λi(i=1,2,…,10)In order to solve the unknown parameters at each time layer, each characteristic line intersects at the time

layerPSince the wave velocities are different and not in integer multiples, no matter how the pipeline is divided equally, the intersection of each characteristic line

and the space line cannot pass through the grid node. The characteristic line method requires the same time step. In order to ensure the stability of the

characteristic line method calculation, the time step Δtand spatial step length ΔzSatisfy consistency: Δt≤Δz/λi, which is difficult to achieve in practice, and the time

step ΔtOr the spatial step length ΔzTake necessary corrective measures.GoldbergandWylieAt1983The timeline interpolation method is used to improve the

characteristic line method. That is, when the characteristic line does not pass through the calculation grid point, the timeline interpolation method is used for

approximate calculation, but the interpolation result has a large error.LavooijandTijsseling[119]At1991The characteristic line method has been improved. By properly

adjusting the physical parameters of the liquid-filled pipe system (the speed of sound propagation in the pipe and liquid, the density of the pipe and liquid), each

characteristic line passes through or is very close to the calculation node, avoiding the use of interpolation method for intermediate nodes, thereby improving the

calculation accuracy. However, near the pipe boundary, since its positive or negative characteristic line intersects with the time coordinate axis, it is still necessary

to obtain the node parameters through interpolation, and the interpolation error still exists. This method is used to solve4-Equation ModelFSIIf this method is

applied to solve the problem of multiple sets of characteristic lines (such as14-Equation)FSIIf we want to subdivide the computational grid to ensure that all feature

lines pass through or are very close to the computational nodes, the spatial step size will be too small, there will be too many nodes, the computational process will

become complicated, and the amount of calculation will be too large. Otherwise, it will be difficult to ensure that all feature lines pass through or are very close to

the computational nodes.

48
 PhD dissertation from Huazhong University of Science and Technology

3．4．2Time step Δtand mesh encryption method

Time step ΔtMaximum allowed value Δtmax, which is mainly determined by the rate of the system transient process and the

calculation accuracy requirements.FSIIn the case oft≤(1/16~1/24)T1To obtain sufficiently accurate calculation results,T1Indicates

the round trip time of the water hammer wave from one end to the other.

The larger the number of pipeline segments, the higher the calculation accuracy, but the greater the amount of calculation.

Liquids also have pressure waves, and these waves have different speeds, so when usingMOCWhen calculating the vibration of a fluid-filled pipe,

Different wave velocities can be used to divide the pipeline into equal parts, and usually large or small wave velocities are used for grid division.

Small amount of calculation, and ensure the calculation accuracy requirements, Δt≤ Δti=L(Nλi) (N≥8)When using small wave velocity for meshing

In order to reduce the number of spatial interpolation, the number of pipeline segmentsNIt should also meet the following requirements:N≥2Round(λmax λmin)Therefore

Δt≤ Δti=L(Nλi) (3.51a)

N≥max{8, 2Round(λmaxλmin)} (3.51b)

In the formula, λmaxand λminare the large wave velocity and small wave velocity of the system,RoundIndicates roundness,maxIndicates taking big

value.

Considering that the sudden change of liquid pressure near the boundary position has a greater impact on the pipeline, the grid nodes are automatically encrypted

according to the velocity gradient near the boundary position based on the determined time step (the spatial step is also determined at the same time) (Figure3.3), reduce the

calculation interval, and start calculating the parameters of each node from the previous layer to better capture the changes in water hammer pressure. Introduce weight

coefficientϖ, so that it satisfies

ϖΔz*= Constant (3.52)

In the formula, Δz*It is the spatial step size after mesh encryption.

t P
B1 J+1 P t
B1 J+1
C+2 C2-
C+1 C-1 C+2 C+1 C-1 C2-
A3 A3
A1 A2 A1 A2
J J
B0 Δz1 B0
Δz* Δz1
Δ z*
Δz2 z Δz2 z

(a)The feature line passes through the left boundary time line (b)The feature line passes through the right boundary time line

picture3.3The feature line intersects the boundary time line at pointA3(•represents a grid node; | represents a subdivision node)

49
 PhD dissertation from Huazhong University of Science and Technology

3．4．3Experimental verification of model effectiveness

Experimental setup[175]As shown3.4As shown in the figure, the hydraulic system consists of a variable constant pressure pump-straight round pipe-electromagnetic reversing valve.

The oil delivered from the oil pump flows into the test pipeline through the overflow valve and accumulator, and the flow control valve is used to adjust the flow at the pipeline outlet; the

electromagnetic reversing valve at the end of the pipeline is suddenly closed, generating water hammer vibration. Due to the effect of the accumulator, the pressure at the inlet of the test

pipeline is constant. A strain gauge is set to measure the transient pressure change value at the reversing valve and the middle position of the pipeline, and the pressure response waveform is

displayed by a synchronous oscilloscope.

Test data: pipe length10.8m, inner diameter of tube0.016m, pipe wall thickness0.002m, longitudinal elastic modulus of the

pipe210 GPa, Density of hydraulic oil864kg/m3; Kinematic viscosity of hydraulic oil6.6×10-5m2/s,pressure1.236 MPa, the bulk

modulus of hydraulic oil1.4888 GPa,flow7.54×10-5m3/s.

Accumulation synchronous
Amplifier
able Oscilloscope

M Device
flow
electricity
Control valves
magnetic

Change

Towards
overflow
Test pipeline
Oil Pump
flow Strain gauge
valve

valve

picture3.4 Test system diagram

picture3.5Pipeline midpoint pressure curve picture3.6Pipeline end point pressure curve

Use small wave speed to divide the pipeline equally.30Divide the space grid equally (sampling interval Δt=0.28ms), the model adopts axial4-Equation

model. The hydraulic oil pressure curves at the midpoint of the pipeline and the reversing valve are shown in the figure3.5,picture3.6As shown, the tube

50
 PhD dissertation from Huazhong University of Science and Technology

The peak pressure at the midpoint of the channel is1.639MPa, and the experimental results[175]1.628MPaThe relative error is0.68%; the peak value of hydraulic oil

pressure at the reversing valve is1.645MPa.exist2sAt the end, the hydraulic oil pressure at the midpoint of the pipeline is1.273MPa, the fluctuation amplitude is

only the initial pressure3.0%; the hydraulic oil pressure at the reversing valve is1.291MPa, the fluctuation amplitude is only the initial pressure4.4%, the hydraulic

oil is basically stable. The hydraulic oil pressure coupling wave velocity isaf=1276.76m/s, the propagation period along the tube length isT=4L/afThe numerical

calculation result of the pressure wave period is33.84msThe test results are33.88msThe numerical calculation results are in good agreement with the

experimental results, which proves the correctness of the model and method in this paper.

3．4．4Reservoir - Straight pipe - Valve(RPV)Calculation and analysis of axial vibration response

In order to study the influence of pipeline constraints (connection coupling), pipeline materials, pipe wall thickness, pipeline space grid

division method and other factors on the vibration response of the liquid-filled pipe system, the literature [119]The provided reservoir-straight pipe-

valve system is taken as the research object, and the system is shown in Figure3.7As shown. LiquidU=1m/sThe water flows from the reservoir to the

valve at a speed of . The pipe can move freely in the axial direction.H=20m, tube lengthL=20m, the outer diameter of the tube is813mm, pipe wall

thicknesse=8mm, elastic modulus of tube wallE=210 GN/m2, wall densityρp=7900kg/m3, Poisson's ratioμ=0.3, liquid densityρf= 1000kg/m3, the bulk

modulus of the liquidKf=2.1 GN/m2, friction coefficientf=0.002, the pressure after the valve is0Pa, the valve closes suddenly.

o
y z
A

picture3.7Schematic diagram of reservoir-pipeline-valve system

(1)Research on the Space Grid Division Method

According to the known conditions, the structural damping of the pipeline is ignored.3.8,picture3.9The pipeline is divided into two types: large wave speed and wave speed.10The Small

simulation results of the liquid pressure and pipeline velocity at the valve when the pipeline is divided equally. The solid line and the dotted line are the results of dividing the pipeline equallySmall

according to the maximum and minimum wave velocities. By comparison, it can be seen that the liquid pressure response and pipeline velocity response when the pipeline is divided equally according to the maximum wave v

51
 PhD dissertation from Huazhong University of Science and Technology

exist1.3sThe simulation value decays too quickly, and the high-frequency response almost disappears, which does not conform to the actual situation.

picture3.8Liquid pressure curve at valve picture3.9Pipeline velocity curve at the valve

picture3.10Liquid pressure response at valve when dividing pipeline according to maximum wave velocity

picture3.11Pipeline vibration velocity response at the valve when dividing the pipeline according to the maximum wave velocity

picture3.10,4.11The following are the pipelines according to the maximum wave velocity:10Equally divided,30Equal Sum70Equal time

52
 PhD dissertation from Huazhong University of Science and Technology

Step ΔtThey are0.378ms,0.126msand0.054ms)Liquid pressure response at the valve and pipeline vibration velocity response. As can be seen from the figure, the number of

pipeline segments has a great influence on the simulation results; when the number of segments is small, the simulation results have a large error and cannot correctly reflect the

vibration response of the system. When the number of pipeline segments is large, the attenuation speed of the simulation value is reduced. At the same time, the system

response can show more details, and the high-frequency components can be more clearly displayed, which is closer to the actual situation.

picture3.12,picture3.13The following are the pipelines according to the small wave velocity:10Equally divided,30Equal Sum70When the time step is equal (ΔtThey are1.922ms,0.641ms

and0.275ms)Liquid pressure curve at the valve and pipeline vibration velocity curve. It can be seen from the figure that when the pipeline is divided into30,70In the period, the corresponding

curves almost overlap, and the peak values of the responses are not much different; only10The simulation results of equal time division are70The deviation is slightly larger when the

segmentation is equal, but the peak value of the liquid pressure response is not much different, and the simulation results are obviously better than the results when the segmentation is based

on the large wave velocity. Similarly, the increase in the number of segments makes the high-frequency components more obvious and prominent.

picture3.12Liquid pressure curve at the valve when the pipeline is divided into sections according to the minimum wave velocity

picture3.13Pipeline vibration velocity curve at the valve when the pipeline is divided into sections according to the small wave velocity

picture3.14,picture3.15The pipeline is70Equally divided (time step Δt=0.054ms)and the pipeline at a small wave speed10When the time step is

equal (Δt=1.922ms)Comparison of simulation results at the valve. It can be seen that in addition to the difference in phase, the pipeline is10The

simulation results of equal division and the maximum wave velocity70The simulation results when divided equally are not

53
 PhD dissertation from Huazhong University of Science and Technology

Very close, but in the same length of time, the amount of calculation and data is much larger than the speed of the wave.70When the equal2.19%, so it is better to use small wave

velocity to divide the grid and determine the time step. The subsequent simulation calculations are all carried out according to the small wave velocity.

picture3.14Comparison curve of liquid pressure at valve

picture3.15Comparison curve of pipeline vibration velocity at the valve

(2)System vibration response analysis

The damping ratio of the pipeline structure is taken as0.001, according to the small wave speed, the pipeline40Equally divided (time step Δt=0.488ms),

using length3s,μ=0.3The simulation results of liquid pressure, pipeline velocity and displacement are shown in Figure3.16,picture3.17and Figure

3.18Due to Poisson coupling, the liquid pressure wave velocity changes from the classical wave velocity1049.5m/sReduced to1024.7m/s, the pressure fluctuation

cycle is from76.23msbecomes78.10ms, the vibration period is extended; The pipeline stress wave velocity is changed from the classical wave velocity5155.8m/s

Increase to5280.5m/s, the cycle is shortened.

After the valve is closed, due to the generation of water hammer, liquid pressure wave and pipe stress wave are generated simultaneously and propagate upstream. As

can be seen from the figure, the high-frequency component is not obvious in the liquid pressure response, about0.4sThe pressure response then vibrates periodically with the

hydrostatic pressure as the equilibrium position, and the period is approximately79.9ms,correspondFSIThe pressure fundamental wave; in the pipeline velocity response and

displacement response, the high-frequency component is obvious in the initial stage, mainly including two periodic components, the periods are79.9ms and31.7ms,

corresponding toFSIPressure fundamental and3Subharmonics, as time goes by, due to liquid damping and pipe

54
 PhD dissertation from Huazhong University of Science and Technology

Due to the influence of structural damping, the high-frequency components decay quickly and the response shows a periodic attenuation pattern.

picture3.16Liquid pressure response at the valve

picture3.17Pipe velocity response at the valve

picture3.18Pipe displacement response at the valve

3．5Factors affecting the time-domain response of coupled vibration

The analysis in this section is based onRPVsystem as an example.

3．5．1Effect of connection coupling on vibration response

The valve is suddenly closed and the pipeline20Equally divided, sampling length3s, ignoring all damping and ignoring the effect of Poisson coupling

55
 PhD dissertation from Huazhong University of Science and Technology

The liquid pressure response at the valve is shown in the figure3.19As shown in the figure, the solid line represents the liquid pressure response when the valve is fixed, and the dotted line represents the liquid pressure respo

The line shows the liquid pressure response when the valve is axially free. It can be seen from the figure that when the valve is axially free, the flow of the pipeline

The dynamic arouses and increases the amplitude of the liquid pressure wave, the increase is22.9%, the vibration period is prolonged.

picture3.19Comparison of liquid pressure response at valve

picture3.20,picture3.21The figures show the velocity response and displacement response of the pipeline at the valve when the valve end is axially free. As can be seen

from the figure, the high-frequency components in the response are more obvious. When the valve end changes from fixed to axially free, the vibration condition of the pipeline

at the valve changes greatly, from static to strong vibration, and the maximum velocity of the pipeline reaches0.46m/s, large displacement reaches3.7mmIt can be seen that the

axial freedom constraint has a great influence on the vibration response of the system, and the impact on the vibration response of the pipeline is particularly significant.

picture3.20Pipe velocity response at the valve picture3.21Pipe displacement response at the valve

3．5．2Effect of connection coupling + Poisson coupling on system vibration response

Ignore all friction factors, ignore Poisson coupling or take Poisson's ratioμ=0.3, the valve is suddenly closed, the pipeline20The liquid pressure response at

the valve when the valve end is fixed is shown in the figure3.22When the valve end is axially free, the liquid pressure response at the valve and the pipeline velocity

response are shown in the figure.3.23,picture3.24; The solid line in the figure represents the response when Poisson coupling is ignored.

56
 PhD dissertation from Huazhong University of Science and Technology

The dotted line indicatesμ=0.3Response when.

picture3.22Comparison curve of liquid pressure at valve (valve end fixed)

picture3.23Liquid pressure comparison curve at the valve (valve end axially free)

picture3.24Comparison curve of pipeline velocity response at the valve (axial freedom at the valve end)

When the valve end is fixed, the liquid pressure response becomes complicated and the peak value increases significantly, with an increase

of67.6%, and the vibration period decreases. It can be seen that the influence of Poisson coupling is very significant and cannot be ignored.

When the valve end is axially free, the peak value of the liquid pressure response increases when the Poisson coupling effect is

considered.19.9%, effective value increase7.6%, while the vibration period is reduced; the pipeline velocity response is greatly reduced

57
 PhD dissertation from Huazhong University of Science and Technology

1.89%, the effective value decreases13.46%. In short, when the valve end is fixed, due to the influence of Poisson coupling, the pressure response amplitude increases

dramatically, and the system energy is mainly concentrated in the liquid; when the valve end is axially free, the impact of the liquid causes the vibration and pressure

fluctuation of the pipeline, and the vibration of the pipeline in turn affects the vibration of the liquid. The two interact with each other, and the pipe wall and the liquid share the

vibration energy. At this time, the axial freedom constraint converts part of the pressure energy of the liquid into the vibration energy of the pipe wall, but the Poisson coupling

effect converts part of the vibration energy of the pipe wall into the pressure energy of the liquid. Poisson coupling and connection coupling play the role of energy converters.

3．5．3Influence of structural performance parameters on vibration response

(1)Combined effects of connection coupling, Poisson coupling, and friction coupling

Take the liquid damping coefficientfTake separately0.01,0.1and1, ignoring structural damping, ignoring Poisson coupling or taking Poisson's ratioμ=0.3,

the valve end is axially free, the valve is suddenly closed, the pipeline20When Poisson coupling is ignored, the liquid pressure response at the valve is shown in

the figure3.25Poisson's ratioμ=0.3When the valve is closed, the liquid pressure response is shown in the figure3.26shown.

picture3.25μ=0The liquid pressure response at the valve picture3.26μ=0.3The liquid pressure response at the valve

It can be seen that under low-frequency vibration conditions, the viscous friction of the liquid has an attenuation effect on the amplitude of the liquid pressure response.

When the friction coefficient is large, the pressure response decays quickly. The velocity response of the pipeline has the same law, and the high-frequency components decay

quickly.

(2)The combined effect of connection coupling, Poisson coupling and pipeline structure damping is taken as the liquid viscous damping

coefficientf=0, structural damping ratioξTake separately0,0.005and0.1, Poisson's ratioμ=0.3, the valve end is axially free, the valve is suddenly

closed, the pipeline20The liquid pressure response at the valve is shown in the figure3.27As shown in the figure; the pipeline velocity response at the

valve is shown in the figure3.28As shown in the figure, "-" indicatesξ=0The response ofξ=0.005 The response ofξ=0.1It can be seen that the liquid

pressure response isξ=0.005Attenuation, butξ=0.1When the valve end is fixed, it increases instead, which is similar to the case where the valve end is

fixed (Fig.3.22), from the figure3.28It can also be seen that at this time

58
 PhD dissertation from Huazhong University of Science and Technology

The pipeline velocity is very small, the pipeline is basically in a static state, and the structural damping plays a role of fixed constraint. The pipeline velocity

response decays rapidly with the increase of the pipeline structural damping ratio, and the high-frequency component decays quickly.ξ=0.1The pipe velocity is

very small. The attenuation effect of structural damping on system response is much greater than that of liquid viscous damping.

picture3.27Liquid pressure response at the valve

picture3.28Pipe velocity response at the valve

3．5．4Effects of pipe wall thickness and pipe material on system response

Since the structural damping of the pipeline and the viscous damping of the liquid have an attenuation effect on the system response, especially the attenuation of high-frequency

components is very fast, the influence of the pipeline structural damping and the viscous damping of the liquid should be considered when studying the system response.

(1)Effect of Pipe Wall Thickness on Vibration Response

Liquid Viscous Damping Coefficient0.002, the damping ratio of the pipeline structure is0.005, Poisson's ratio is0.3, the pipe wall thickness is 8mm,10mm,

12mm,14mm,16mmand18mm,pipeline20The valve is equally divided, the axial direction is free, and the other parameters are the same as before. The maximum

values of the liquid pressure response at the valve, the pipeline velocity response, and the pipeline displacement response when the pipeline wall thickness is

different are shown in Figure3.29~Picture3.31, the liquid pressure response and pipeline velocity response are3sThe effective values are shown in Figure3.32and

Figure3.33; The period of the main components in the liquid pressure response and pipeline velocity response is shown in Figure3.34shown.

59
 PhD dissertation from Huazhong University of Science and Technology

picture3.29Liquid pressure response at the valve Large value picture3.30Maximum value of pipeline velocity response at the valve

picture3.31Pipe displacement response at the valve Large value picture3.32Effective value of liquid pressure response at the valve

picture3.33Effective value of pipeline velocity response at the valve picture3.34Periodicity of the main components in the system response

From the figure3.29~Picture3.34It can be seen that the maximum value and effective value of the liquid pressure response increase with the increase of pipe wall thickness.

60
 PhD dissertation from Huazhong University of Science and Technology

The maximum value of pipeline velocity and displacement decreases with the increase of pipeline wall thickness, but the effective value of pipeline velocity does not change

monotonically with the pipeline wall thickness. As the pipeline wall thickness increases, the period of the main vibration component in the system response decreases

monotonically. The change in response reflects the energy distribution of the liquid-filled pipe system: as the pipeline wall thickness increases, the pipeline vibration energy

decreases and the liquid pressure energy increases. The conversion of system vibration energy is mainly attributed to the axial freedom constraint (connection coupling) and

the pipe wall Poisson coupling.

For elastic constraints (between the axial free and fixed ends), take the relative spring stiffnessk=k/(EAp),ink

is the spring stiffness of the elastic constraint, then the effective value of the liquid pressure and pipeline velocity within the adopted time when the pipe wall thickness is different

With relative spring stiffnesskThe changes in3.35and Figure3.36; ①〜⑥ respectively represent the pipe wall thickness 8mm,10mm,12mm,14mm,

16mmand18mmThe effective value of the response. As can be seen from the figure,k As the value increases, the effective value of liquid pressure

increases, that is, the liquid vibration increases. On the contrary, the effective value of pipeline velocity decreases, that is, the pipeline

In addition, in the samekThe thicker the pipe wall, the stronger the liquid vibration and the weaker the pipe vibration.

picture3.35Effective value of liquid pressure response at the valve picture3.36Effective value of pipeline velocity response at the valve

(2)Effects of different material pipes on vibration response

According to the material characteristic parameter data, for steel pipes, take the density7900 kg/m3, elastic modulus210GPa

, Poisson's ratio is0.3; For copper (alloy) tubes, take the density8900 kg/m3, elastic modulus120GPa, Poisson's ratio is0.4;forPVC

Tube, take density1430 kg/m3, elastic modulus3GPa, Poisson's ratio is0.38;forPETube, take density935 kg/m3, elastic modulus

0.7GPa, Poisson's ratio is0.43; Structural damping ratio0.01and the fluid friction coefficient0.002, the remaining conditions

61
 PhD dissertation from Huazhong University of Science and Technology

Same as above. The comparison of the effective values of the liquid pressure response and pipeline velocity response at the valve under different pipe material conditions is shown in the figure

3.37, picture3.38shown.

From the figure, we can see that withkAs the value of the liquid pressure response of the steel pipe and copper pipe filling system increases, PVCGuan He

PEThe effective value of the liquid pressure response of the tube does not change much becausePVCGuan HePETensile and compressive stiffness of the tube

is smaller, and the effective values of the pipeline velocity response of the four pipelines are reduced.kWhen the liquid pressure response is the same, the

comparison of the effective value is: copper pipe> steel pipe>PVCTube>PEThe comparison of the effective values of the pipeline velocity response is:PETube>PVC

Tube>Copper Tube>Steel Tube.

In short, improvekIt can effectively reduce the pipeline velocity response.PVCGuan HePEThe effect of the liquid pressure response in the pipe is small,

but for copper and steel pipes, it can significantly increase the liquid pressure response. In the liquid-filled system using copper and steel pipes, the energy

during vibration is mainly concentrated in the liquid, while in thePVCGuan HePEIn the liquid-filled system of the pipe, the energy during vibration is mainly

concentrated on the pipe wall.

picture3.37 The effective value of the liquid pressure at the valve picture3.38 The effective value of pipeline velocity at the valve

Pipe wall thickness relationship Pipe wall thickness relationship

3．6Chapter Summary

This chapter studies the vibration response and calculation method of a simple liquid-filled pipe system considering the coupling between liquid and

pipe, mainly including the following contents and conclusions:

(1)Established the coupled vibration of the liquid-filled tube14- Characteristic line equations of the equation model to better capture the water hammer pressure

Based on the change of force, a method for determining the time step and the number of pipe segments of a simple liquid-filled pipe system and a grid encryption method are proposed.

(2)A hydraulic system was subjected to a water hammer vibration test.4- Equation model

62
 PhD dissertation from Huazhong University of Science and Technology

The liquid pressure response after water hammer in the system was numerically calculated, and the error between the calculated value and the experimental result was less

than 0.7%, which proves the effectiveness of the model in this paper.

(3)Taking the reservoir-straight pipe-valve system as an example, the axial vibration response of the system is calculated and analyzed.

The influence of spatial grid division method on the calculation results is shown in the results.MOCWhen calculating the time domain response of a liquid-filled pipe system, the pipe should be

divided equally according to the minimum wave velocity.

(4)When the valve end is fixed, due to the influence of Poisson coupling, the pressure response amplitude increases sharply, and the system energy is mainly concentrated

In the liquid; when the valve end is axially free, the impact of the liquid causes vibration and pressure fluctuations in the pipeline. The vibration of the pipeline in turn affects the

vibration of the liquid, and they interact with each other. The pipe wall and the liquid share the vibration energy. At this time, the constraint of axial freedom converts part of

the pressure energy of the liquid into the vibration energy of the pipe wall, but the Poisson coupling effect converts part of the vibration energy of the pipe wall into liquid

pressure energy. Poisson coupling and connection coupling act as energy converters.

(5)Liquid friction coupling only affects the attenuation rate of system vibration, while structural damping has no significant effect on the attenuation of pipeline velocity response.

The effect is much greater than that of liquid viscous damping, and can quickly attenuate the high-frequency components in the system response. However, the larger

structural damping constrains the system and will increase the liquid pressure response.

(6)When the outer diameter of the pipeline is the same, as the pipeline wall thickness increases, the pipeline vibration energy decreases and the liquid pressure energy increases.

(7)Increase relative spring ratekIt can effectively reduce the pipeline velocity response. For copper and steel pipe systems,

It can significantly increase the liquid pressure response, butPVCGuan HePEThe influence of the pressure response of the liquid in the pipe is very small. When using the liquid-

filled system of copper and steel pipes, the energy of vibration is mainly concentrated in the liquid, while when usingPVCGuan HePEIn the liquid-filled system of the pipe, the

energy during vibration is mainly concentrated on the pipe.

63
 PhD dissertation from Huazhong University of Science and Technology

4Prediction of coupled vibration response of a typical liquid-filled pipe system

Liquid-filled pipe systems are composed of typical subsystems. Typical subsystems are composed of basic components such as straight pipes and valves. They are often composed of

straight pipes, curved pipes, elbow units and some discontinuous components, such as valves, branch pipes, pumps and other components. Therefore, studying the vibration characteristics of

basic components is the basis for studying complex liquid-filled pipe systems. In complex liquid-filled pipe systems, elbows and branch pipes play a connecting role, and their coupling effect can

affect and reflect the vibration response of the system. When using the characteristic line method to solve the time domain response of the system, the compatibility equations of the

discontinuous elements and the two ends of the connection are combined with the characteristic line equations by establishing the force balance equation and the continuity equation between

the pipeline and the liquid. The fluid-solid coupling vibration equation of the liquid-filled straight pipe and its vibration response and calculation method in the time domain have been studied

previously. This chapter first establishes the motion model of the bend and elbow.

On this basis, the time domain response of the liquid-filled system with curved pipes and its calculation method are studied.

4．1Coupled Vibration Equations of Bend Pipe

For the bent pipe, since its movement involvesBourdonConsidering the coupling problem caused by the elliptical cross section of the curved pipe, the

derivation process of the equation is very complicated. This chapter directly gives the specific form of the motion equation according to the needs. The original

form can be found in the literature [160]. Assume the curvature radius of the curved pipe isRc, the elbow is located atyzIn the plane, the axial vibration of the

elbow xzIn-plane,yzThe equations for lateral and torsional vibrations in a plane are:

Axial vibration equation:

∂U 1∂p f
+ =− |vr|vr−gsinα (4.1)
∂t ρf∂s 4R

1 ∂p ∂U ∂u ∂mx− 1 ∂u
+− 2μ z+Y11 y= 0 (4.2)
ρa
ff 2∂t ∂s ∂s ∂t Rc ∂t

∂uz 1 ∂fz cz ∂u fy = ρfAf f

− + z− + |vr|vr−gsinα (4.3)
∂t ρpAp ∂s ρpAp ∂t ρpApRc ρpAp4R

1 ∂fz ∂uz− μR∂p 1∂u

− + y= 0 (4.4)
EAp ∂t ∂s Ee∂t Rc ∂t

xzThe equation for in-plane lateral vibration is:

∂f ∂ux ∂2ux
x−c x −m =0 (4.5)
∂s ∂t ∂t2

64
 PhD dissertation from Huazhong University of Science and Technology

∂ux 1
− βy− fx=0 (4.6)
∂s κ GAp

∂my ∂2β
+ fx− I * y =0 (4.7)
∂s ∂t2
∂βy 1
− Y13my− βz= 0 (4.8)
∂s Rc

yzThe equation for in-plane lateral vibration is:

∂fy ∂uy ∂2uy Afp−f

− cy −m + z=mgcosα (4.9)
∂z ∂t ∂t2 Rc

κGApu ∂u
fy+ z =κ GAp( y+βx) (4.10)
Rc ∂s

∂mx−f−I* ∂2βx
y =0 (4.11)
∂s ∂t2
∂βx−Y13mx−Y12p=0
(4.12)
∂s
zAxial torsional vibration equation:

∂mz ∂2βz ∂βz 1

− ρpJp∂ − cϕ + my= 0 (4.13)
∂s t2 ∂t Rc

∂β 1
GJ p∂s z − mz+ βy= 0 (4.14)
Rc

1 R22−R2⎡1 R⎤
In the formula,sis the centerline coordinate of the elbow,Y11= − Y12,Y12= 2
⎢ 3(1−μ) − c ⎥,
πRcR2R1 E2 2
⎣ R2R1⎦

R 3(1−μ2)
Y13 =1 πEe2R2 ,R1,R2They are the short radius and long radius of the elbow section, respectively.yzIn plane.
2Rc

Obviously, equal diameter elbow,Y11=Y12=0,BourdonThe coupling effect disappears; for straight pipes, the curvature radius of the curved pipe Rc=∞, the bent pipe

becomes a straight pipe, and its equation is consistent with the straight pipe equation.

65
 PhD dissertation from Huazhong University of Science and Technology

4．2Mechanical model of short elbow

literature[58]The method for dealing with common components that ignore the coupling effect between liquid and pipe is provided in . Here, we only study the

mechanical model of right-angle bends when considering the coupling effect. Non-right-angle bends can be dealt with by similar methods.

For the elbow, the connected pipe plays the role of elastic constraint, and the shear force of the pipe is replaced by the force of the spring. The force and

displacement of the elbow are shown in the figure.4.1shown.

fz1
k1
mx1
p1
uy1 c1k2
uz1
θx1
fz1 c2
uy2

uz2

fz2 θx2 fz2

p2 mx2

Figure 4.1 Schematic diagram of force and displacement of elbow

Assume the mass of the elbow ismp0, the mass of the liquid in the elbow ismf0(When the size of the elbow is very small compared to the connected pipe, the mass of

the liquid in the elbow can be ignored, and the elbow can be regarded as a massless unit or a rigid unit), and the increase in flexibility and additional stress caused by the

deformation of the elbow can be ignored; the out-of-plane motion of the elbow does not exist.FSIThe coupling mechanism is not considered here. The front and rear nodes of

this unit are1,2According to the force balance relationship and continuity equation at the elbow, the nodes before and after the elbow (discontinuous node) can be established.

1and2The relationship between each state parameter:

Af1(U1−uz1) =Af2(U2−uz2),p1=p2 (4.15a)

mx1=mx2,θx1=θx2 (4.15b,c)

uz1=uy2,uz2= −uy1 (4.15d,e)

p1Af1−fz1−k2uz1−c2uz1= (mp0+mf0)uz1 (4.15f)

66
 PhD dissertation from Huazhong University of Science and Technology

fz2−k1uz2−c1uz2−p2Af2= (mp0+mf0)uz2 (4.15g)

k1= 3E1Ip1/L3 1,k=32I E 2 p2/L2 3 (4.15h,i)

In the formula,k1,k2Respectively with the node1,2The bending stiffness of the connected pipes, if the pipe1or pipe2If the other end of is

not a fixed end,k1=0ork2=0On the contrary, if the pipeline1or pipe2The other end is the fixed end, thenk1andk2As shown in the formula (

4.15h,i)As shown;E1Ip1,L1Respectively with the node1Connected pipes (pipes1)The wall section modulus and length of the pipe; E2Ip2,L2

Respectively with the node2Connected pipes (pipes2)The wall section modulus and length of the pipe;c1andc2Equal to pipeline1and

pipeline2Lateral external damping.

4．3Time step Δ of complex liquid-filled pipe systemtand optimization of the number of pipeline segments

4．3．1Time step Δ of complex liquid-filled pipe systemtTreatment method

The characteristic line method uses differential calculation. For complex pipe systems, when the characteristic line method is used to solve the unsteady flow problem

of a pressurized pipe system, it is required that not only the number of segments of any pipe in the systemNiis a positive integer, and the time step Δ corresponding to each

pipeline in the system is requiredtequal, so that the characteristic line compatibility equations at the intersection of adjacent pipe endpoints in the system can be solved

simultaneously. In order to ensure the stability of the characteristic line method calculation, the time step Δtand spatial step length Δzisatisfy:

Δt≤ Δti=Δziai(i=1,2,…,k), that is, there should be

Δt≤ Δti=Li(Niai) (i=1,2,…,k) (4.16)

In the formula,Kis the number of single-characteristic pipelines in the system;Li,aiThe systemiThe length of the pipe and Small wave speed.

For a complex pipe system consisting of multiple pipe sections and pipes with different characteristics, the lengths of the pipes vary.

together,aiIt may also be different. It is extremely difficult to use the characteristic line method to satisfy all pipelines with the same time step.

Therefore, the appropriate time step Δ must be determined in combination with the number of pipeline segments.t.

Existing time step processing methods include the rigidification method, the wave velocity adjustment method, the interpolation method, and the re-divided damping

coefficient method. Theoretically, the rigidification method cannot strictly satisfy the Bernoulli head balance equation; the wave velocity adjustment method may cause different

wave velocities to be used for pipes with the same characteristics but different lengths in the same complex pipe system; although the interpolation method can interpolate and

convert between pipes with different time steps to meet the requirements of various time steps without changing the wave velocity and actual length of the pipe, it brings great

inconvenience to the calculation. For large linear interpolations, the numerical solution will quickly lose accuracy; the re-divided damping coefficient method continuously

adjusts the time step according to the needs of calculation accuracy, divides the pipe into integer segments according to the time step, and

67
 PhD dissertation from Huazhong University of Science and Technology

The damping of the original pipeline is redistributed to the adjusted calculation pipeline so that the damping loss of the entire pipeline remains unchanged.

4．3．2Damping Redistribution Pipeline Tempering Optimization Method

Combining the advantages of the "rigidification method" and the "redistribution damping coefficient method", and combining with the optimization method, the "damping

, establish
redistribution tempered pipeline optimization the time
method" step ΔtThe basic idea is to optimize the pipeline segmentation model to obtain the number of segments and time steps of
is proposed.

each pipeline. For pipelines that cannot be divided into integers, integers are used to divide them into equal parts, and the excess or shortened length is converted intoεiAfter

tempering, the damping of the original pipeline is redistributed to the optimized equivalent pipeline. The objective function of the optimization model is the minimum value of the

sum of the remaining or shortened lengths (absolute values) of each pipeline. The model is as follows:

K
minεz=∑|εi| (4.17a)
i=1

⎧εi=Li−Ni⋅aiΔt ⎪
st ⎨Ni,min≤Ni≤Ni,max (4.17b)
⎪⎩0 < Δt≤min{Li/(Ni⋅ai)}

In the formula,Ni,max,Ni,minandNiThey are the upper limit, lower limit and optimized number of pipeline segments respectively.

4．4Prediction and experimental comparison of quasi-linear coupled vibration response of a typical liquid-filled pipe system

In order to verify the vibration response of the complex liquid-filled pipe system in this paperMOCThe validity of the prediction is tested by

using the literature [156]The experimental device is designed and the experimental results are simulated and analyzed.4.2As shown,AFixed water

pressure0.5MPa,BThe in-plane displacement at is restricted,CThe valve can vibrate freely in the plane.DFixed to the ground.U0=

1.2m/sThe water flows from the reservoir to the valve at a rate of26mm, pipe wall thicknesse=1.27mm, elastic modulus of the

tube wall E=117GPa, wall densityρp=8940kg/m3, Poisson's ratioμ=0.34, liquid densityρf=998kg/m3, the bulk modulus of the liquidK

f=2.1GPa, friction coefficientf=0.025, the pressure after the valve is0Pa; The valve closes suddenly.

y1 z1
A 28.02m
B
U0=1.2m/s y2
y3 z3 z2 7.65m

C uz3
D 12.27m

uz2

picture4.2Schematic diagram of a typical liquid-filled pipe system

68
 PhD dissertation from Huazhong University of Science and Technology

(1)Pipeline segment number and step size

The three pipes have the same material, wall thickness and diameter, so their coupled wave velocities are also the same.

Space step length Δz1=Δz2=Δz3=0.51m,ABpart55Equally divided, elongated0.03m;BCDuan Zhenghao15Equal parts;CDpart

twenty fourEqualize, shorten0.03m.a=af=1246.99m/s, time step Δt=0.409ms.

(2) MOCPrediction and experimental comparison

picture4.3Is adopted8-Equation model of the valve pressure simulation results and literature [156]Comparison of experimental results of4.4and Figure

4.5It is a bent pipeCDepartmentz3(literature[156]ofz1)andz2Comparison of the simulation results and experimental results of the directional pipeline velocity

(reference [156]See the Appendix for the experimental results.A)From the figure4.3~Picture4.5It can be seen that the simulation results are basically consistent

with the experimental results, but there are slight differences in amplitude and phase, mainly due to8The -equation model is a quasi-linear model, which ignores

many factors and the difference between the actual wave velocity and the coupled wave velocity.

picture4.3Comparison of simulation results and experimental results of pressure at the valve

picture4.4 CPipeline velocityz3Comparison of directional simulation results with experimental results

69
 PhD dissertation from Huazhong University of Science and Technology

picture4.5 CPipeline velocityz2Comparison of directional simulation results with experimental results

4．5Prediction and experimental comparison of nonlinear coupled vibration response of a typical liquid-filled pipe system

4．5．1Calculation method:MOC-FDM

The vibration system to be solved is located atyzIn the plane, ignoring high-order small quantities, the coupled vibration equations of the system can be expressed as

(the dimensionless form of the equation is not used to facilitate comparative analysis):

muy+cuyy+2U m′f +Uy m′ +f U m

y 'u′ f+ (pA)'
y u′ +Uf2u'' y f y − (F0−pAf)u'' y
(4.18)
+ E ipy
′′′′′+ (F−0pA)(uf ''u′yz+u'u′′)yz −EA(u'u w'u′′ +3yu'2
p ′′+yz y u''y/ 2) = 0

muz+cuzz+2U m′f +Uz+U mf ′ +U m

f ′+U
z m'fu′ +U2 f z f uz''+ (pAf)'
(4.19)
− E'' pz+ (F0−EAp−pAf)u' yu''y−EIp(u' yu''''
y+u''yu'''
y) = 0

2RAf(p+Up′) + μRAp[u'
Af+UA′ −
f +u' yu'y+U(u'' z+u' yu''y)] = 0
z (4.20)
Ee e
U+p′ /ρ+ff|U−u| (U−z u) /(4Rz) = −[UU′+u+2UU′ z+U2u′′+z pA' z f/(ρfAf)] (4.21)

p+ρaff2U′ −2μρa2ffz
u′ =2μρa2 ff(u'u′yy+UU′′ +zUU'u''yy) −Up' (4.22)

It can be seen that the equation (4.18)and(4.19)Describe the lateral and axial vibrations of the pipeline respectively, equation (4.20)Describing the

coupled vibration between the radial direction of the tube wall and the liquid, the equation (4.21)and(4.22)describes the vibration of the liquid, and there is

coupling between the pipe vibration and the liquid vibration. If the equation (4.21)and(4.22)The right side of the equation is the same as the equation describing

the liquid motion in the extended water hammer model; now replace equation (4.21)and(4.22)Becomes as follows:

70
 PhD dissertation from Huazhong University of Science and Technology

U+p′ /ρ+f UU ′ = −f|U − uz| (U−uz) /(4 R) −[uz+ 2UU′z +U2u''z+pA' f/(ρfAf)] (4.21')

' ′ ′ yuy+UU''z+UU′y′′uy)
p+ρaff2U′ +Up′ =2μρa2ff(uz+u (4.22')

For equation (4.21')and(4.22')useMOCSolve, and then use the finite difference method (FDMSolve the

equation (4.18)~(4.20).useMOCThe equation (4.21')and(4.22')Converted to characteristic equation form:

⎧dU 1 dp f pAf '

⎪dt + ρa dt + 4R |U−u|z (U−u) +z ρfAf
ff
⎪⎪
C+:⎨ − 2μaf(u′ z+u'uyy′ +UU′′ z+UU'uyy′′) +u+2
z UU′ +zU2 uz''= 0 (4.23)
⎪
⎪dz
=U+af
⎪⎩dt

⎧dU 1 dp f pAf'
⎪dt − ρa dt + 4R |U−u|z (U−u) +z ρfAf
⎪ ff

C-⎪:⎨ ′ ′ + UUz′′ +UU'yyu′′) + uz + 2UUz' + U2 uz''= 0

+ 2μaf(u'z+ uu
yy
(4.24)
⎪
⎪dz
=U−af
⎪⎩dt

In the equation (4.18)~(4.20)、(4.23)and(4.24)In this case, the partial derivatives of each order take the following forms:

i
⎛ ∂p⎞i pi+1−pi ⎛ ∂U⎞i Ui+1− Uj i
⎛ ∂U ⎞ Uij+1 − Uj−1,⎜ ⎟
i
⎛ ∂p⎞i pi − pji−1,
⎜⎟ = j j
,⎜ ⎟ = j , ⎜ ⎟= = j +1
⎝ ∂t⎠j Δt ⎝ ∂t⎠j Δt ⎝ ∂z⎠j 2Δz ⎝ ∂z⎠j 2Δz

i
⎛ ∂u⎞i uij+−
1 uij1− ⎛ ∂u2 ⎞ (uij+− i
j+1− uij−
1 uj−1) − (ui−1
1
−1) ⎛ ∂2u⎞i uij+−
1 2uij+uj1i −
⎜⎟ = ,⎜ ⎟ = , ⎜⎟ = ,
⎝ ∂z⎠j 2Δz ⎝ ∂z∂t⎠ j 2Δz⋅Δt ⎝ ∂z2⎠j (Δz)2

i i
⎛ ∂3u⎞ uij+−2 3uji+1+ 3uij− uij−1 ⎛ ∂4u⎞ uij + 2− 4ui j + 1+ 6ui j− 4uji−1+uj−2i
⎜ 3⎟ = , ⎜ ⎟= ,
⎝ ∂z ⎠ j (Δz)3 ⎝ ∂z4⎠ j (Δz)4

⎛ ∂Af⎞⎟i Afi+1
j Ai
,− ⎛ ∂A⎞i Afi , j1+ − Afi , j1−
⎜ = f ,j
, ⎜ f⎟ = (4.25)
⎝ ∂t⎠j Δt ⎝ ∂z⎠j 2Δz

In the formula,urepresentuzanduy,irepresents the number of time steps,jRepresents the node number.

i
uz,i j − 2uz,i−1j + uz,i−2j ⎛ ∂u
2
⎞
In order to solve the equation (4.23)and (4.24)In, take⎜ z⎟ = ,
⎝ ∂t2 ⎠j (Δt)2

71
 PhD dissertation from Huazhong University of Science and Technology

uz,i j−uz,ji−1 ui+1 − 2uji+u1 i − i

⎛ ∂uz⎞⎟i ⎛ ∂2u⎞
⎜ = , in the equation (4.18)and(4.19)middle, ⎜ ⎟ = j j .
⎝ ∂t⎠j Δt ⎝ ∂t2⎠j (Δt)2

From the initial conditions through the equation (4.23)and(4.24)ObtainUi+1

j ,p+ i1
j , and then from the equation (4.18)~(4.20)Available
uz,i+1j,u+ i1
y,jandAfIn order to8-Comparison of the calculation results of the equation model and the experimental results, through the formula

(∂u/∂t)i=j (ui−u
j i−1 j) / ΔtInversely calculate the pipeline vibration velocity.

4．5．2Experimental comparison of numerical predictions

Still using4．4The number of segments and spatial step length of the pipe are the same as before, but af=1269.82m/s, time step Δt=0.402ms.picture4.6is

a comparison between the simulation results of the valve pressure using the coupling model and the experimental results.4.7and Figure4.8It is a bent pipeC

Departmentz3andz2Comparison of the simulation results and experimental results of the directional pipeline velocity. It can be seen that the simulation results

are in good agreement with the experimental results and are significantly better than8Simulation results of the equation model.

picture4.6Comparison of simulation results and experimental results of pressure at the valve

picture4.7 CPipeline velocityz3Comparison of directional simulation results with experimental results

72
 PhD dissertation from Huazhong University of Science and Technology

picture4.8 CPipeline velocityz2Comparison of directional simulation results with experimental results

4．6Chapter Summary

This chapter studies the vibration response and calculation method of a typical liquid-filled pipe system, mainly including the following contents:

(1)The motion equations of the curved pipe and elbow were established.

(2)The "damping redistribution pipeline tempering optimization method" was proposed, the absolute value of the remaining or shortened length of each pipeline after segmentation

The minimum value of the sum is the objective function, and the time step Δ of the complex pipe system is established.tThe optimization model of the number of pipeline segments is

established, and the effectiveness of the algorithm is verified by comparing the predicted results of a typical liquid-filled system response with the experimental results.

(3)PerfectMOC-FDM, and applied it to predict the coupled vibration response of a typical fluid-filled system.

The comparison between the calculated results and the experimental results verifies the effectiveness of the proposed algorithm. It is also found that the calculated results of the coupling model

are better than those of the8The equation model is more accurate.

73
 PhD dissertation from Huazhong University of Science and Technology

5Frequency Domain Analysis of Coupled Vibration of Liquid-Filled Pipe System

The coupling between pipeline and liquid often leads to completely different results from the classical water hammer theory. For weakly constrained systems, as the

water hammer wave forms and propagates, the interaction between the pressure wave and the stress wave in the pipeline intensifies, which is accompanied by resonance,

abnormal pressure, stress and noise in the system, which causes a series of adverse consequences such as pipeline leakage and even rupture, instrument inaccuracy, and

deterioration of the working environment. In addition, the liquid transported by the pipeline is often non-constant, so it is necessary to useFSIThe frequency domain analysis of

the liquid-filled pipe system is carried out based on the theory of the effect in order to reveal the dynamic characteristics of the system and ensure the safe, reliable and precise

operation of the system.14- The wave equation and matrix transformation are derived from the equation model and then solved.

5．1Wave Equation for Frequency Domain Analysis of Interaction of Fluid-Filled Tubes with Beam Model

5．1．1Overview of Frequency Domain Analysis of Fluid-Filled Pipe Interaction

The frequency domain analysis method of liquid-filled pipes has always been widely valued, and there are many effective methods: impedance method

and transfer matrix method;LaplaceTransformation method, etc.Doebelin[161]The transfer matrix of classic water hammer under various pipeline topological

forms was established, and a relatively comprehensive analysis and research was conducted.[162]Based on the classical wave equation of the longitudinal vibration

of a liquid-filled pipe system, the transfer matrix of the pipe system composed of different components and the method for calculating the natural frequency are

derived, but the system'sFSIeffect.Wilkinson[163]The transfer matrix that can take into account the axial, lateral and torsional motions of the connection coupling is

derived, but the Poisson coupling and friction coupling are not considered.NanayakkaraandPerreira[164]The transfer matrix describing the motion of straight and

curved pipes is derived, and the obtained model can consider connection coupling, but cannot consider Poisson coupling and friction coupling. Kuiken[74]The

transfer matrix of the axial motion of the straight tube considering the Poisson coupling effect is derived, but the friction coupling cannot be considered. Lesmez

[129][165],Tentarelli[84]andde Jong[166]et al. used the transfer matrix method to study the one-dimensional fluctuation problem in the frequency domain of the

pipeline. In their model, Poisson coupling, joint coupling and friction coupling were considered, and the correctness of the proposed method was verified

through single-pipe device tests.Svingen[167]proposed a transfer matrix method based on the finite element method, and the model he established took into

account frequency-dependent damping.CharleyandCaignaert[130]Data obtained using a test rig with a pump demonstrate that even for simple systems,FSIThe

pressure spectrum calculated by the transfer matrix of the effect is much better than that calculated by the classical water hammer transfer matrix.Zhang[131]-[133]

A Laplace transform based L-MOCThe method solves the problem of single-tubeFSIFrequency domain analysis of the problem.

Create as shown5.1In the coordinate system shown, the straight pipe is placed horizontally; the pipe wall material is linear, uniform and isotropic.z

74
 PhD dissertation from Huazhong University of Science and Technology

The axis coincides with the axis of the pipe before deformation.xAxis andyThe axes represent two mutually perpendicular lateral vibration directions of the pipeline; the

transported fluid is a compressible Newtonian fluid, the fluid flows in one dimension, without segmentation or cavitation, and is freely placed; the pipeline deformation is within

the elastic range and vibrates slightly.

y
my,βy

x
fy,uy
mx,βx

mz,βz

Figure 5.1 Pipe unit coordinate system and forces

5．1．2Wave equation for axial vibration of liquid-filled straight tube unit

The unsimplified axial vibration equation considering friction coupling and Poisson coupling can be expressed as:

∂2uf 1∂p Cfυ⎛ ∂uf ∂uz⎞

+ + − ⎟ =0 (5.1)
∂t2 ρf ∂z 4R⎝2⎜∂t ∂t⎠

1 ∂p ∂2uf ∂2uz= 0
+ − 2μ (5.2)
ρa
f 2f ∂t ∂t∂z ∂z ∂t

∂2uz 1 ∂fz cz ∂uz ρf RCfυ⎛ ∂uf ∂uz⎞

− + − 2⎜
− ⎟ =0 (5.3)
∂t2
ρpAp ∂z ρpAp ∂t ρp e8R⎝ ∂t ∂ t⎠

1 ∂fz ∂2uz− μR∂p

− =0 (5.4)
EAp ∂t ∂z∂t Ee∂t

In the formula,ufrepresents liquid displacement;uzIndicates the displacement of the pipeline;Cfis the coefficient related to the fluid. When the liquid moves in laminar flow:

For water delivery systems,Cf=32, for hydraulic systems,Cf=37.5, for hose,Cf=40; When the liquid is in turbulent motion, according to the

literature [168]For unsteady turbulence, the laminar friction coefficient can be approximated as10times, so, at this timeCf

Can be taken separately320,375and400.fzFor pipelinezAxial force in direction.

75
 PhD dissertation from Huazhong University of Science and Technology

By transformation and simplification, the equation (5.1)~(5.4)Can be transformed into:

∂3uz ∂2uz 1 ∂2p Cf ∂p 1∂p2

2μ + ( 2 μ −1 )
C − − + =0 (5.5)
∂z∂t2 f∂z∂t ρf2af ∂t2 ρfaf2 ∂t ρf ∂z2

∂3uz ⎛ c ρfRCf−μ ρfR ⎞ ∂2uz−p∂z ∂3uz+ RCf ∂p μR ∂2 p

+ ⎜⎜ z + Cf ⎟⎟ a2 3 − =0 (5.6)
∂z∂t2 ⎝ρpAp ρpe2 ρp e⎠ ∂z∂t e2ρpaf ∂t ρpe∂z 2
2

In the formula,Cf =Cfυ/(4R).2

Using the separation of variables method, letuz=Uz(z)est,p=P(z)est, substitute into the formula (5.5)、(5.6)have to

∂Uz(z) s2+sC 1 ∂2P(z)

⎣⎡2μ(s2+sC) f−sC⎤ f⎦ − f
P(z) + =0 (5.7)
∂z ρa
f 2f ρf ∂z2

∂3Uz(z) ⎡2s 2+ 2cz s/(pp

ρA) (1 2+) − μbC⎤ ∂f⎥U z(z) μb∂2 P(z) B Cfs
a2p −⎢ + − P(z) = 0 (5.8)
∂z3 ⎢⎣ 2 ⎥⎦ ∂z ρp ∂z2 2ρpaf
2

In the formula,b=R/e,d=ρf/ρp.

The formula (5.7)Substitution formula (5.8), we get the wave equation

∂4P(z) ⎛s2 s2 2μ2bd C s cs Bc(0.5 + 2μ2− 2μ) ⎞ ∂2P(z)

− ⎜⎜a2 ++ s + f + z+
2 f
s ⎟⎟
∂z4 ⎝f ap2 ap2 af2 EAp ap2 ⎠ ∂z
2

(5.9)
⎛s4 (Bc+2f C)ρAf3+ 2ppc(s+C)s2⎞z f
+ ⎜⎜ + ⎟P(z) = 0
a 2EApa2f ⎟
f two
⎝atwenty p ⎠

makePz=Ceλη,η=z/L, substitute into the equation (5.9), we get the characteristic equation

λ4− (α+β+γ+ξ)λ2+ (αβ+ϑ) = 0 (5.10)

equation(5.10)The root is

λ1,2
2=α+(β+γ+ξ )/2− (α+β+γ+ξ)2/ 4 − (αβ+ϑ) (5.11)

λ32,4= ( α + β + γ+ξ) /2 + (α+β+γ+ξ) /4 −2 (αβ+ϑ) (5.12)

In the formula,α=s2L2/a2 f, β=s2 L2/ ap2 ,γ=2μ2bds2L2/a2= p 2μ2bdβ,

76
 PhD dissertation from Huazhong University of Science and Technology

⎡Cfs czs Bcf(0.5 + 2μ2 − 2μ)⎤ (Bc+2f C)ρAf3+ 2ppc(s+C)s2 z f

ξ= ⎢ + + s⎥L2,ϑ= L4.
⎢⎣a2f EAp ap2 ⎥⎦ 2EApaf
2

5．1．3Wave equation for transverse vibration of liquid-filled straight tube unit

(1)xzWave equation for transverse vibration in a plane

xzThe in-plane lateral vibration equation is:

∂fx ∂2u
− cx ∂ux− (ρAff+ρ A) p p x= 0 (5.13)
∂z ∂t ∂t2
∂ux−βy)
fx =κGAp( (5.14)
∂z
∂my ∂2β
+ f−
x(ρ
ff I+ρ I )
p p y =0 (5.15)
∂z ∂t2
∂βy
my=EIp (5.16)
∂z
Using a similar method as before, letux=Uxexp(st), we can obtain the wave equation:

∂4Ux ⎛s2 s2 cxs ⎞ ∂2U x ⎛ cxs ms2 cxs s2 s2 s2 ⎞

− ⎜⎜ + + ⎟ + ⎜⎜ + + ⋅+⋅ Ux = 0 (5.17)
∂z4 ⎝a2s a2b κGAp⎟ ⎠z ∂2 ⎝EIp EIp κGAp a2b a2s a2b⎠⎟⎟

The characteristic equation is:

λ4−(α+β+ξ)λ2+(αβ+γ+ϑ+ξ⋅β)=0 (5.18)

equation(5.18)The root is:

λ1,2
2=α+(β+ξ )/2− (α+β+ξ)2/ 4 − (ϑ+ξβ+αβ+γ) (5.19)

λ32,4= ( α + β+ξ) /2 + (α+β+ξ) /42− (ϑ+ξβ+αβ+γ) (5.20)

s2L2 s2L2 ms2L4 cL2 cxsL4 κGA EIp

In the formula,α= ,β= ,γ= ,ξ=x ,ϑ= ,a2=s p,a2 =
b .
as2 ab2 EIp κGAp EI p m I*

(2)yzWave equation for transverse vibration in a plane

yzThe equation of lateral vibration in the plane (without considering the gravity of the liquid):

∂fy ∂t ∂2uy
− cy ∂uy− (ρAff+ρ A) pp ∂t2 =0 (5.21)
∂z

77
 PhD dissertation from Huazhong University of Science and Technology

∂uy+β)
fy =κGAp( ∂z x (5.22)

∂mx−f− (ρI+ρ I) ∂z ∂2βx= 0

y ff pp (5.23)
∂t2
∂βx
mx=EIp∂z (5.24)

Using a similar method as before, letuy=Uyexp(st), we can obtain the wave equation:

∂4Uy ⎛ s2 s2 csy ⎞ ∂2U y ⎛c ys ms2 cys s2 ss2 2 ⎞

− ⎜⎜ 2 + + ⎟ + + + ⋅+⋅ U y= 0 (5.25)
∂z4 ⎝ as ab2 κGAp⎟⎠ ∂ z2 ⎜⎜⎝EIp EIp κGAp ab2 a2s ab2⎟⎟
⎠

The characteristic equation is:

λ4−(α+β+ξ)λ2+(αβ+γ+ϑ+ξ⋅β)=0 (5.26)

equation(5.24)The root is:

(α+β+ξ) − (α+β+ξ)2− 4(ϑ+ξβ+αβ+γ)

λ1,2
2 = (5.27)
2

(α+β+ξ) + (α+β+ξ)2− 4(ϑ+ξβ+αβ+γ)

λ3,4
2 = (5.28)
2

s2L2 s2L2 ms2L4 cL

y 2 cL4 κGA EIp.
In the formula,α= ,β= ,γ= ,ξ= ,ϑ=y ,a2=s p,a2 =
b
as2 ab2 EIp κGAp EI p m I*

5．1．4Wave equation for torsional vibration of liquid-filled straight tube element

zThe axial torsional vibration equation is:

∂mz ∂2βz ∂β
− ρJpp − cϕ z= 0 (5.29)
∂z ∂t2 ∂t
∂β
mz=GJ p z (5.30)
∂z

Using a similar method as above, we can obtain the wave equation (βz= Βzexp(st)）

∂2Βz−⎜⎜⎛s2 cϕs⎞
+ ⎟Β =0 (5.31)
∂z2 ⎝a2t GJ⎟pz⎠

78
 PhD dissertation from Huazhong University of Science and Technology

The characteristic equation is:

⎛s2L2 cL2⎞
λ2−⎜⎜ + ϕ ⎟ =0 (5.32)
⎝a2 t GJ p ⎟⎠

equation(5.24)The root is:

s2 cs
λ1,2=±L + ϕ (5.33)
at2 GJp

In the formula,a2 t =G/ρp.

5．2Transfer Matrix of Liquid-Filled Pipe System of Beam Model

5．2．1Transfer Matrix of Axial Vibration of Liquid-Filled Straight Tube Unit

In order to study the dynamic characteristics of the pipeline under free vibration, it is convenient to establish the transfer matrix and perform modal analysis, ignoring

the influence of liquid viscous damping and pipeline structure damping, that is, let the formula (5.11)、(5.12)The damping coefficient is0,equation(5.10) becomes

λ4− (α+β+γ)λ2+αβ=0 (5.34)

equation(5.31)The solution isλ= ±jλ1,±jλ2

λ12=α+( β+γ )/2−

2
(α+β+γ/4 −)αβ (5.35)

λ22= (α+β+γ )/2+ (α+β+γ)2/ 4 −αβ (5.36)

equation(5.9)The solution can be expressed asP(z) =C1cos(λ1η) +C2sin(λ1η) +C3cos(λ2η) +C4sin(λ2η),make

fz=Fz(z) exp(st),uf=Uf(z) exp(st),uz=Uz(z) exp(st),butFz,Uf,UzBoth haveP(z)

Same form.
To facilitate the solution, let

F(z) =A1cos(λ1η) +A2sin(λ1η) +A3cos(λ2η) +A4sin(λ2η) (5.37)

Available

79
 PhD dissertation from Huazhong University of Science and Technology

− L1[Asin(λη) −A2cos( EAp L2[A3sin(λ2η) −A4cos(λ2η)] EA

U(zz) = β 1 1 λη
1 ) ]− pβ (5.38)

β+λ21[A1cos(λ1η) +Asin(λ1η)]+ β+λ22[A3cos(λ2η) +A4sin(λ2η)]

Pz(z) = 2 (5.39)
βbApβ βbApβ

L1(β+λ1)[ 2 L2(β+λ2)[A23sin(λ2η) −A4cos(λ2η)]

U f( )z = A1sin(λη
1) −A 2 cos( λη ]
1 ) +
μbαβ KfAp μbαβ KfAp

(5.40)

So there is

[Uz,Pz,Uf,Fz] T =[B(η)][A1,A2,A3,A4]
T
(5.41)

⎡B1sin(λ1η) −B1cos(λ1η) B2sin(λ2η) −B2cos(λ2η)⎤

⎢Bcos(λη1) B3sin(λη1) B4cos(λ η2 ) B4sin(λ η
2 )⎥ ⎥ L1 ,
In the formula,[B(η)]= ⎢3 ,B1= −
⎢B5sin(λ1η) −B5cos(λ1η) B6sin(λ2η) −B6cos(λ2η)⎥ EβAp
⎢ ⎥
⎣cos(λ1η) sin(λ1η) cos(λ2η) sin(λ2η) ⎦

L2 β+λ21 β + λ2 2 L1(β+λ1 ,B2=) KfαβμB L(β2 + λ22)

B2= − ,B= 3 ,B= 4 ,B5 = p 6 .
EβAp βμBp βμBp KfαβμBp

T
For the left node of the pipe element (η=0),have[Uz,Pz,UfL,Fz]=[B(0)][A1,A2,A3,A4] T , for tube unit

,Pz,Uf,Fz] =[B(1)][A1,A2,A3,A4] T,so

T
For the right node (η=1),have[U z
R

[Uz,Pz,Uf,Fz]=[TRT' axial ][Uz,Pz,U f,zLF] T (5.42)

In the formula,

[T']=[B(1)][B(0)]
−1
axial

⎡B1sin(λ1) −B1cos(λ1)B2sin(λ2) − B2cos(λ2)⎤ ⎡0 −B10 −B⎤−1 2

⎢ B3sin(λ1) B4cos(λ2) B4sin(λ2)⎥ ⎢⎥B⎢3 0 B4 0⎥ ⎥
= ⎢B3cos(λ1)
⎢B5sin(λ1) − B5cos(λ1) B6sin(λ2) −B6cos(λ2)⎥ ⎢0 −B50 −B⎥ 6⎥
⎢ ⎥⎢
⎣cos(λ1) sin(λ1) cos(λ2) sin(λ2) ⎦ ⎣1 0 1 0⎦

80
 PhD dissertation from Huazhong University of Science and Technology

T
P Uf, F⎤ ⎡Uz
Using dimensionless processing: Φaxial = ⎡⎣U z , Pz,U f , F⎤⎦
z T=⎢ , z , ⎥,Picks=jω, can be obtained
z

⎢⎣L Kf LApE⎥⎦
Axial transfer matrix of a straight tube element:

⎡ μb[ μb ⎤
⎢ C0−βC2 (α+β+γ)C3−C1] − αC 2 C1− (β+γ)C3 ⎥
h h
⎢ ⎥
⎢ −2μβαC3 C0− (α+γ)C2 α[C1− (α+γ)C3] − 2μαC2
⎥(5.43)
[T]=⎢ [(α+γ ) + βγ]C−3 (α+γ)C
2 ⎥
2μ[C1− (α+β+γ)C3] ⎥
axial
⎢ −2μβC 2
1
C0− (α+γ)C2
⎢ α ⎥
⎢ μb μb ⎥
⎢β(βC3−C1) ⎣ βC2 αβC3 C0−βC2 ⎥
h h ⎦

In the formula,α= (ωL)2/a2 f, β= (ωL)2/a2 p, γ=2 μbdβ

2
,b=R/e,d=ρf/ρp,h=E/Kf,

C0 = (λ12−λ2)−2[λ21 2
2
cos(λ1) −λ1cos( λ2)] ,C= (1λ2−λ21)−1[λ22 ( 2/ λ1sn(
) λ) −1 (λ2 1/λ2) sin(λ2)],

C2 = (λ12−λ2)−2[cos(
1
λ1) − cos(λ2)] , C3= (λ12−λ2)−2[sin(
1
λ1) /λ1− sin(λ2) /λ2] ,

(α+β+γ ) − (α+β+γ)2− 4αβ (α+β+γ) + (α+β+γ)2− 4αβ

λ1=
2
,λ2 2= .
2 2

5．2．2Transfer Matrix of Transverse Vibration of Liquid-Filled Straight Tube Unit

(1)xzIn-plane lateral vibration transfer matrix

Ignoring the influence of pipeline structure damping, the formula (5.18)The structural damping coefficient in is0, and takes=jω,equation

(5.18)becomes

λ4+ (α+β)λ2+ (αβ−γ) =0 (5.44)

In the formula,α=ω2L2s/a2,β=ω2L2/a2 b,γ=mωL/(EIp). twenty four

equation(5.44)The solution isλ= ±λ1,±jλ2

1 α+β 1 α+β
λ12= (α−β) +2γ− ,λ2=2 (α−β)2+γ+ (5.45, 5.46)
4 2 4 2

equation(5.44)The solution can be expressed as

Ux(z) =C1cosh(λ1η) +C2sinh(λ1η) +C3cos(λ2η) +C4sin(λ2η)

81
 PhD dissertation from Huazhong University of Science and Technology

makefx=Fx(z) exp(jωt),my=My(z) exp(jωt),βy= Θy(z) exp(jωt),butFx,My, Θy

Both haveUx(z) in the same form.

To facilitate the solution, let

Fx(z) =A1cosh(λ1η) +A2sinh(λ1η) +A3cos(λ2η) +A4sin(λ2η) (5.47)

Available

λL3 λL3
U(xz) = −1 [A1sinh(λ1η) +A2cosh(λ1η)]+ 2 [A3sin(λ2η) −A4cos(λ2η)] (5.48)
EIp γ EI pγ

L2(λ21+α) L2(λ22−α)
Θy(z) = − [A1cosh(λ1η) +A2sinh(λ1η)]+ [A3cos(λ2η) +A4sin(λ2η)]
EI pγ EIpγ

(5.49)

L(λ21+α) λ1 L(λ22−α)λ2[A3sin(λ2η) −A4cos(λ2η)]

My(z) = − [A1sin h(λ1η) +A2cosh(λ1η)]−
γ γ

(5.50)

Mode(5.47)~ (5.50)It can be written in matrix form:

T
=[B(η)][A1,A2,A3,A4]
T
⎡⎣Ux,Θy,My,F⎤ x⎦

⎡B1sinh(λ1η) B1cosh(λ1η) B2sin(λ2η) − B2cos(λ2η)⎤

⎢B osh(λη1 ) B3s inh(λη
1) B4cos( λ2η
) B4sin(λ2η ) ⎥ λ1L3
( ) [B]=⎢3c
In the formula, ⎥ ,B = − ,
⎢B λ1η) B5cosh(λ1η) B6sin(λ2η) − B6cos(λ2η)⎥ 1
EIpγ
⎢5sinh( ⎥
⎣ cosh(λ1η) sinh(λ1η) cos(λ2η) sin(λ2η)⎦

λ3 L2(λ+1α
2
) L2(λ22−α) L(λ21+α)λ1,B= − L(λ22−α)λ2.
B2=2L ,B3= − ,B4 = ,B= 5− 6
EIpγ EI pγ EIpγ γ γ

For the left node of the pipe element (η=0),have⎡⎣Ux, Θy,My,Fx⎦L ⎤T =[B(0)][A1,A2,A3,AT; 4For
] single
T
For the right node of the element (η=1),have⎡⎣Ux,Θy,My,F⎤ x⎦R =[B(1)][A1,A2,A3,A] 4 T. We can get:

T ⎡ T
=[B(1)][B(0)]
−1
⎡⎣Ux,Θ,M
y ,F⎤y ⎦
x R ⎣Ux,Θy,My,F⎤ ⎦
x L

82
 PhD dissertation from Huazhong University of Science and Technology

T ⎡Ux MLy FxL 2⎤T

][ ]
1
make[xzT']=[ B(1)B(0)−, and is dimensionless, that is ⎡⎣Ux,Θy,My,F⎤ x⎦ = ⎢ ,Θy, , ⎥,
⎢⎣L EIp EIp⎥⎦

butxzThe lateral vibration transfer matrix of the straight tube in the plane is:

⎡C−αC
0 2 C−1 (α+β)C3 C2 γ−1[αC(1γ− + α2 )C3]⎤
⎢ ⎥
⎢ γC3 C0−βC2 C2−βC3 −C2 ⎥
⎡T⎤ = (5.51)
⎣yz⎦ ⎢ γC2 (γ+β2)C3−βC1 C0−βC2 (α+β)C3−C1 ⎥
⎢ ⎥
⎢⎣γ(αC3−C1) −γC2 −γC3 C0−αC2 ⎥⎦

In the formula,α=ω2L2s/a2,β=ω2L2/a2 b , γ=ωm2 L4/(EI p

2
),C0=Δ[λ2cosh(λ1) +λ1cos(λ2 2)],

C1=Δ [(λ2/λ1) sinh(λ1) + (λ12/λ2) sin(λ2)],C2=Δ[cosh(λ1) − cos(λ2)],Δ=1/(λ2 1+λ2 2),

C3=Δ[sinh(λ1) /λ1− sin(λ2) /λ2] , λ12 = (α−β) /42 +γ− (α+β) /2 ,

λ22= 2
(α−β) /2 +γ+ (α+β) /2.

(2)yzIn-plane lateral vibration transfer matrix

Using the same method as before, we can obtainyzDimensionless state vector of a straight tube in a plane

2⎤T
⎡U TMLx FyL
⎡⎣Uy,Θx,Mx,F⎤ y⎦ = ⎢y ,Θx, , ⎥
⎢⎣L EIp EIp⎥⎦

The lateral vibration transfer matrix is:

⎡C−αC
0 2 (α+β)C− 3 C1 −C2 γ−1α
[ C1 − (γ+α2 ) C3] ⎤
⎢ ⎥
−γC3 C0−βC2 C2−βC3 C2
⎡⎣Tyz⎤⎦ = ⎢ ⎥ (5.52)
⎢ −γC2 (γ+β2)C3−βC1 C0−βC2 C1− (α+β)C3 ⎥
⎢ ⎥
⎢⎣γ(αC3−C1) γC2 γC3 C0−αC2 ⎥⎦

2 2
In the formula,α=ω2L2/a2 s,β=ω2L/a2 b , γ=mω2L4/(EI p),C0=Δ[λ2cosh(λ1) +λ1cos(λ2 2)],

C=Δ[(
1 λ2/λ2) sinh(
1 λ) + 1(λ2 1 /λ2) sin(λ2)],C2=Δ[cosh(λ1) − cos(λ2)],Δ=1/(λ 1
2
+ λ2),

C3=Δ[sinh(λ1) /λ1− sin(λ2) /λ2] , λ12 = (α− β)2/ 4 +γ− (α+β) /2 ,

λ22= 2
(α−β) /2 +γ+ (α+β) /2.

83
 PhD dissertation from Huazhong University of Science and Technology

5．2．3Transfer Matrix of Torsional Vibration of Liquid-Filled Straight Tube Unit

Ignore the effect of torsional damping and takes=jω,equation(5.32)Can be changed to

λ2+ω2L2/a2 t= 0 (5.53)

equation(5.53)The solution is±jλ=±jωl/at.

So, the equation (5.53)The solution can be expressed asΘz(z) =C1cos(λη) +C2sin(λη).

makemz(z) =Mz(z) exp(jωt), butMz(z)haveΘz(z)The same form.

Mz(z) =A1cos(λη) +A2sin(λη),but

Θz(z) = [A1sin(λη) −A2cos(λη)][L/(GJpλ)] (5.54)

so:[Θz,Mz] T =[B(η)][AA1T,2] , can be obtained

⎡sin(λη)L cos(λη)L⎤ ⎡sin(λ)L cos(λ)L⎤

− ⎡0 − 1⎤ −
[B(η)]= ⎢GJpλ GJpλ ⎥⎥,[ B(0)]= ⎢ GJ p ⎥
⎢ ⎣1 0⎥,⎦[B(1)]= ⎢GJ ⎢
p
⎥
⎢⎣cos(λη) sin(λη) ⎥⎦ ⎢⎣cos(λ) sin(λ) ⎥⎦

make[Θz,MzT]=
R
[T' tz ][Θ z,MTz]L ,but[T'tz]=[B(1)][B(0)] − 1. Dimensionless processing is performed, that is,

T
⎡⎣Θz,M⎤zT⎦ = ⎡⎣Θz,MzL/(GJp)⎤⎦

The transfer matrix of torsional vibration of liquid-filled straight tube unit is obtained

⎡−cos(λ) − sin(λ) /λ⎤

[Ttz]=⎢ (5.55)
⎣λsin(λ) − cos(λ)⎥ ⎦

In the formula,λ=ωL/at.

5．2．4Field transfer matrix of the vibration of a liquid-filled straight tube unit

For a liquid-filled pipe system, each pipe can be represented by the previous transfer matrix. If the axial tension and compression, lateral bending, and

torsional vibration of the pipe are considered at the same time, these transfer matrices can be combined to form the field transfer matrix of each pipe. The state

equation of the liquid-filled straight pipe unit is

{Φ}R= [T]{Φ}L (5.56)

84
 PhD dissertation from Huazhong University of Science and Technology

Where {Φ} is the state vector,{Φ}= ⎡⎣Uz,Pz,Uf,Fz,Ux,Θy,My,Fx,Uy,Θx,Mx,Fy,Θz,M⎤

T
z ⎦,or

T
⎡ MLy FLx 2 U y MLx FLy 2
{Φ}= ⎢ ULz , KPzf, ,ULAEL
f Fz U x
, , Θy, ,
EIp EIp L
, , Θx, ,
EIp EIp
, Θz,
MzL⎤
GJp⎥⎦
⎥ (5.57)
⎢⎣ p

[T]is the field transfer matrix

⎡[Taxial] 0 ⎤
⎢ ⎥
[Txz] ⎥
[T]=⎢⎢ ⎡⎣Tyz⎤⎦ ⎥ (5.58)
⎢ ⎥
⎢⎣ 0 [Ttz]⎥⎦
5．2．5Point transfer matrix and boundary conditions for vibration of liquid-filled pipe system

In addition to straight pipe sections, liquid-filled systems usually also contain discontinuous elements such as bends, branch pipes, pumps, valves, and

supports. At these elements, the pipe sections or liquid state parameters become discontinuous, leading to fluid-solid interaction. Therefore, it is necessary to

establish a transfer matrix between the nodes on both sides of these discontinuous elements, which is called a point matrix.

The straight pipe units before and after each node and the liquid in them should satisfy the force balance equation and displacement continuity equation, which can be obtained

{Φi}TR=[P]{Φ
i
i}T L (5.59)

Where:P]iShort pipe nodeiThe point transfer matrix at .

5．2．6Transfer Matrix for Bend Pipe

Elbows are commonly encountered components in actual piping systems. Since the liquid has a strong coupling effect with the pipe at the bend, the

vibration analysis of the liquid and the elbow is very complicated. There are two main ways to analyze the elbow: one is to establish the differential equation of

motion of the pipe and the liquid, and then establish the elbow transfer matrix through the finite element method or solving the analytical solution. This method

is called the continuous model of the elbow; the other is to regard the elbow as a group of short pipes connected end to end, with a certain angle between them,

and only consider the force coupling between the liquid and the pipe at the node where the two short pipes are connected. This analysis method is called the

discrete model of the elbow.

WilkinsonA discrete processing method for bent pipes is proposed[163],LesmezUsing this method, the transfer matrix of the elbow is derived.

[129][165],De Jong[166]The natural frequencies of a curved pipe were calculated using two models and compared withANSYSThe results of the analysis

were compared and it was found that the calculation results of the continuous model were slightly larger than those of the discrete model.

85
 PhD dissertation from Huazhong University of Science and Technology

For curved pipes, the discrete model is better than the continuous model.De JongIt is also pointed out that when using the discrete model for calculation, the number of short straight pipe units

divided only needs to satisfy the requirement that the length of each short straight pipe is greater than the average radius of the pipe segment, and further subdivision has little effect on the

results.

This paper uses a discrete model to study the transfer matrix of the elbow. Ignore all damping and gravity effects, the liquid fills the elbow, there is no

cavitation and liquid separation at the elbow, and the discrete unit is regarded as a massless point. Since the critical frequency and critical flow rate of liquid in

the general liquid-filled pipe system are much higher than the frequency range and flow rate commonly used in practical applications, the influence of the liquid

centrifugal force, which has a greater impact on dynamic instability, is ignored.

The discrete model of the bent pipe and the forces of the discrete unit are shown in the figure5.2As shown, supposeiThe center line of the discrete unit

zThe axis angle isαi(radians), the unit satisfies the force balance condition, where the liquid satisfies the continuity condition.

uy,2
uz,1 uy,1 fz,2 uz,2
fz,1 fy,2 p2
p1 fz,2
fz,1
fy,1

y
z
αi

Figure 5.2 Discrete model of bent pipe

The force balance equation of the discrete element of the bent pipe:

p1Af−fz,1=p2Afcosαi−fz,2cosαi+fy,2sinαi (5.60)

fy,1=fz,2sinαi+fy,2cosαi−p2Afsinαi (5.61)

mx,2−mx,1= 0 (5.62)

βy,2−βy,1= 0 (5.63)

Continuity conditions:

p2−p1= 0 (5.64)

86
 PhD dissertation from Huazhong University of Science and Technology

uf,2−uz,2=uf,1−uz,1 (5.65)

uz,1=uz,2cosαi−uy,2sinαi (5.66)

uy,1=uy,2cosαi+uz,2sinαi (5.67)

The formula (5.60)~(5.66)Written in matrix form:

⎡uz⎤ ⎡cosαi 0 0 0 − sinαi 0 0 0 ⎤ ⎡uz⎤

⎢⎢p⎥ ⎢ ⎥⎢⎥
z⎥
⎢ 0 1 0 0 0 0 0 0 ⎥ ⎢pz⎥
⎢u⎥f ⎢cosα−1
i 0 1 0 − sinαi 0 0 0 ⎥ ⎢u⎥
⎢⎥ ⎢ ⎥ ⎢f⎥
⎢fz⎥ = ⎢ 0 Af(1− cosαi) 0 cosαi 0 0 0 − sinα i⎥ ⎢fz⎥ (5.68′)
⎢u⎥ ⎢ sinαi 0 0 0 cosαi 0 0 0 ⎥ ⎢u⎥
⎢y⎥ ⎢ ⎥ ⎢y⎥
⎢βx⎥ ⎢ 0 0 0 0 0 1 0 0 ⎥ ⎢βx⎥
⎢mx⎥ ⎢ 0 0 0 0 0 0 1 0 ⎥ ⎢ mx⎥⎥
⎢⎥ ⎢ ⎥⎢
⎢⎣fy⎥⎦1 ⎢⎣ 0 − Afsinαi 0 sinαi 0 0 0 cosαi⎦ ⎥⎢⎣ fy⎥⎦2

⎡Uz⎤⎡ cosαi 0 0 0 sinαi 0 0 0 ⎤ ⎡Uz⎤

⎢⎢P ⎢
⎥ 0 1 0 0 0 0 0 0 ⎥⎥ ⎢⎢P⎥ z⎥
z⎥ ⎢
⎢U f ⎥ ⎢cosα−1i 0 1 0 sinαi 0 0 0 ⎥ ⎢U f⎥ ⎥
⎢ ⎥ ⎢ ⎥⎢
0 Af(1− cosαi) 0 cosαi 0 0 0 sinαi⎥ ⎢Fz⎥ (5.68)
or ⎢Fz⎥ =⎢
⎢U y ⎥ ⎢ − sinαi 0 0 0 cosαi 0 0 0 ⎥ ⎢U y⎥⎥
⎢ ⎥ ⎢ ⎥⎢
⎢Θx⎥ ⎢ 0 0 0 0 0 1 0 0 ⎥ ⎢Θx⎥
⎢M⎥x⎥ ⎢ 0 0 0 0 0 0 1 0 ⎥ ⎢M⎥
⎢ ⎢ ⎥ ⎢x⎥
⎢⎣Fy⎥⎦ 2 ⎢⎣ 0 Afsin αi 0 − sinαi 0 0 0 cosαi⎥⎦ ⎢⎣Fy⎥⎦1

The formula (5.68)Convert to dimensionless form:

{Φi}T2=[T]{Φ
i
i}T 1 (5.69)

T
⎡U z, PU Fz U M'x F'y2⎤
In the formula,{Φ }= ⎢
i z,f, , y,Θ ,x , ⎥ ;l'Represents the centerline arc of the discrete unit of the bent pipe

⎢⎣l' Kfl'ApE l' (EIp)′ (EIp)′⎥⎦

long,l′ =αiRc;(EIp)'Indicates the bending modulus of the bent pipe, (EI '
) =EIp/kp,kpis the flexibility coefficient, reflecting the bending
p

Bending andBourdonIn this paper, the coupling effect is adoptedDe JongFlexibility coefficient[166]:k p ReR
=1.65 /( 2 c).

In this way,iThe point transfer matrix of a discrete unit can be expressed as

87
 PhD dissertation from Huazhong University of Science and Technology

⎡ cosαi 0 0 0 sinαi 0 0 0 ⎤
⎢ 0 1 0 0 0 0 0 0 ⎥
⎢ ⎥
⎢cosαi−1 0 1 0 sinαi 0 0 0 ⎥
⎢ ⎥
0 ψ(1− cosαi) 0 cosαi 0 0 0 ϑ − 1sinα i⎥
[T]=⎢i ⎢ −sinα i ⎥
(5.70)
0 0 0 cosαi 0 0 0
⎢ ⎥
⎢ 0 0 0 0 0 1 0 0 ⎥
⎢ 0 0 0 0 0 0 1 0 ⎥
⎢ ⎥
⎢⎣ 0 ψϑsinαi 0 −ϑsinαi 0 0 0 cosαi ⎥⎦

In the formula, =AfKf/(EAp),ϑ=A(α pp Rc) /2Ip.

i

Transfer matrix[T]iCan be expanded to14×14Size, includingxzIn-plane transfer matrix and torsional transfer matrix. In particular, for the connection point

between the curved pipe and the straight pipe, it is equivalent to a length of0The straight pipe, at this time, the left and right nodes coincide,

T
αi=0, {Φ }T i2Should be consistent with {Φi}1Equal, that is, the transfer matrix [T]iShould be the identity matrix.αi=0Substitution formula (5.70)

is exactly a unit matrix, so the formula (5.70)The same applies to the connection points between elbows and straight pipes.

The transfer matrix of the entire elbow can be expressed as:

1[T]
[Tcurve ]= ∏ i
(5.71)
i=N

In the formula,Nis the number of segments of the elbow.

5．2．7Transfer Matrix of Common Units in Liquid-Filled Pipe Systems

(1)Transfer matrix of elastic support

Elastic support is a commonly used constraint unit in liquid-filled pipe systems.yzThe force balance equation in the plane is:

fz,L=fz,R+K2zuz,fy,L=fy,R+K2yuy (5.72,5.73)
Therefore, the transfer matrix of the elastic support is

⎡ 1 0 0 0 0 0 0 0⎤
⎢ 0 1 0 0 0 0 0 0⎥⎥
⎢
⎢ 0 0 1 0 0 0 0 0⎥
⎢ ⎥
⎢−LK2z/(EAp) 0 0 1 0 0 0 0⎥
⎡⎣TSpring ⎤⎦ = (5.74)
⎢ 0 0 0 0 1 0 0 0⎥
⎢ ⎥
⎢ 0 0 0 0 0 1 0 0⎥
⎢ 0 0 0 0 0 0 1 0⎥
⎢ ⎥
⎢⎣ 0 0 0 0 −L3K2y/(EIp) 0 0 1⎥⎦

88
 PhD dissertation from Huazhong University of Science and Technology

(2)Transfer Matrix for Concentrated Mass

The force balance equations on the left and right of the concentrated mass node are:

fz,L=fz,R+m0uz,fy,L=fy,R+m0uy (5.75,5.76)

Therefore, the transfer matrix of the concentrated mass node is

⎡ 1 0 0 0 0 0 0 0⎤
⎢ 0 1 0 0 0 0 0 0⎥⎥
⎢
⎢ 0 0 1 0 0 0 0 0⎥
⎢ ⎥
⎢Lm0ω 2/(EAp) 0 0 1 0 0 0 0 0⎥
[Tm]= ⎢ 0 0 0 1 0 0 0⎥
(5.77)
⎢ ⎥
⎢ 0 0 0 0 0 1 0 0⎥
⎢ 0 0 0 0 0 0 1 0⎥
⎢ ⎥
⎢⎣ 0 0 0 0L3m2 0ω /(EIp) 0 0 1⎥⎦

In the formula,m0It is concentrated mass.

5．2．8Overall transfer matrix of the liquid-filled pipe system

Assume that the whole pipe system hasnThere are pipe sections, and adjacent pipe sections are connected by discontinuous elements.

The field matrices (with subscriptf) and the point matrix (with subscriptpCalculate the overall transfer of the liquid-filled pipe system.

When passing the matrix, it is necessary to start from the system output end to the starting end, that is, the state vector of the system output end satisfies

out n
{Φout
p}R = [Tout]{Φp}L,nThe transfer matrix of the pipe segment unit satisfies {Φ }fn= [Tf]n{Φf}R, the pipe section unit

out
} = {Φp}L
The state vector of the output terminal of the system should be the same as the state vector of the left end of the output node of the system, thatf is,R{Φn , so there is

R = [Tout ][Tfn
{Φ p}out ] {Φ }n, and so on, until the beginning node of the liquid-filled pipe system:
f

R = [Tout ][Tfn
{Φ p}out ] [T] p n-1 [Tf]1[T]p{Φ
0 }0p L (5.78)

Therefore, the overall transfer matrix of the liquid-filled pipe system is

[Tsystem] = [Tout][Tf]n[Tp]n-1 [Tf]1[Tp]0 (5.79)

5．2．9Boundary Conditions for Liquid-Filled Pipe Systems

(1)Fixed connection end

Uf=Uz=Ux=Uy= 0,Mz=Mx=My= 0, Θx= Θy= Θz= 0

89
 PhD dissertation from Huazhong University of Science and Technology

(2)Axial free closed end

Uf=Uz,Ux=Uy= 0

(3)Elastic Constraints

Uf=Uz,PAf=Fz+kzUz,Fy=kyUy,Fx=kxUx

(4)Other constraints

It is often necessary to establish boundary conditions based on the force balance equation and continuity equation between the pipe and the liquid.

5．2．10Boundary Conditions in the Middle of a Fluid-Filled Pipe System

There may be rigid constraints, hinge constraints, elastic constraints and other constraint states in the middle of the liquid-filled pipe system. The processing of these

intermediate constraints is also very important for solving the system. According to the principle of transfer matrix, these intermediate constraints are processed into

discontinuous node units, so that the constraint is located at a certain position in the same pipe, and the parts connected by the constraints are artificially treated as two units

for processing. The boundary conditions are established according to the force balance equation and continuity equation between the pipe and the liquid, and then the

boundary conditions are expressed as state equations to obtain the transfer matrix of the constraint.

5．3Modal Analysis of Liquid-Filled Pipe System in Beam Model

5．3．1Calculation of natural frequency and modal vibration shape of liquid-filled pipe system

(1)Calculation of Natural Frequency of Liquid-Filled Pipe System

To perform modal analysis on a liquid-filled pipe system, we first calculate the transfer matrix of each component based on the composition of the system and all

boundary conditions from the input end to the output end of the pipe system. Then, we use the formula (5.79)Determine the overall transfer matrix of the system, and get the

system state vector equation[174]

{Φ} { }
R L
= [Tsystem] Φ (5.80)
out 0

[Tsystem]Each element in is a circular frequencyωThe function, for eachωvalue, starting from the state vector at the input, using

Use formula (5.80), the state vector of the output end can be calculated, where each of the specified boundary conditions is satisfiedωThe value is the natural

frequency of the system.

In order to calculate the modal vibration shape at each natural frequency, it is also necessary to calculate the equation (5.80)Make some adjustments.

Obtain the overall transfer matrix of the system [Tsystem], according to the boundary conditions at the input end, the overall state equation (5.80)To reorganize,

90
 PhD dissertation from Huazhong University of Science and Technology

Separate the known state parameters from the unknown state parameters and transform the state parameter vector into the following form:

{Φ}' = {{Φ } ,{Φ }}T

T
K T UK (5.81)

In the formula, {ΦK} is the known state parameter vector, {ΦUK} is the unknown state parameter vector.

At the same time, the overall transfer matrix [Tsystem] also make row and column adjustments: First, according to the known parameters in the output state parameter

vector in [Tsystem] in the corresponding row pair [Tsystem] to make adjustments, and then adjust the known parameters in the input state parameter vector in [Tsystem] in the

corresponding column pair [Tsystem] to adjust the column, the system state parameter equation becomes the following form:

⎧ {Φ K}⎬⎫R ⎡ [TK,K ] [TK,UK ]⎤ ⎧ {Φ K} ⎫L

⎨ =⎢ ]⎥ ⎨ ⎬ (5.82)
⎩{Φ }⎭
UKout ⎣[TUK,K ] [TUK,UK⎦ ⎩{ΦUK}⎭0

R
In the formula, the submatrix [TK,K] The first part of the subscript of each element represents the original overall transfer matrix with {Φ } The corresponding row,
K out

The second part represents the original overall transfer matrix with {Φ }L 0The corresponding columns, and so on for other sub-matrices.
K

R L
In fact, if the boundary condition can be transformed into {ΦK}out= 0, {Φ } = 0, then when the system resonates, the frequency equation is
K 0

det[TK,UK] = 0,begdet[TK,UK]The root of can also be used to obtain the natural frequency of the system.

(2)Calculation of the modal vibration shapes of a liquid-filled pipe system

Obtain the natural frequency of a certain order of the systemωrAfter that, the frequency function matrix at this frequency can be obtained [Fre], suppose that one of the input terminals

} = {ΦK}out − [TK,K]{ΦK}0
R
Unknown state parameter is unit value1,according to[TK,UK]{Φ UK 0L L , we can find the full frequency

The input state vector {Φ(ωr)}0, calculate the intermediate transfer matrix of each node of the system

at this natural frequency [T]i, we can get the relative state vector {Φ(ωr)}i,Right now

{Φ(ωr)}i= [T]i{Φ(ωr)}0 (5.83)

5．3．2Frequency Response Calculation of Forced Vibration of Liquid-Filled Pipe System Under Periodic Excitation

The transfer matrix method can be used to conveniently calculate the forced vibration response of the system under simple harmonic excitation. After obtaining the overall transfer

matrix of the system at the excitation frequency, the state of the system at the starting end is obtained according to the boundary conditions at the starting and ending ends of the system.

Parameter {Φ}0, the process is similar to the modal vibration calculation, and then from the beginning, the transfer matrix of each node is combined with {Φ}0Mutually

By multiplying, we can get the response amplitude of each node. When the system is subjected to simple harmonic excitation of multiple frequencies, we can first find the response value of each

frequency component, and then get the total response result by superposition.

91
 PhD dissertation from Huazhong University of Science and Technology

When using the transfer matrix method to calculate the frequency response, it is assumed that the system is subjected to a force with amplitude of unity.1The response of each node

of the pipeline at a specific frequency is calculated by taking the excitation as an example (this process is the same as the forced vibration response calculation), and then repeating this process

at a certain frequency step within the frequency range under study to obtain the frequency response of each node of the pipeline.

5．3．3Numerical experiment on modal analysis of straight pipe system

Here we still use the literature [119]The water tank-straight pipe-valve system provided by the manufacturer is used as an example to conduct a modal analysis

numerical experiment (see Figure4.4)For this system, in order to obtain the dynamic characteristics of the axial vibration and lateral vibration of the pipeline, the axial vibration

modal analysis and the lateral vibration modal analysis are performed separately, which can also reduce the complexity of the calculation.

The dimensionless form of the boundary condition is:

Starting end:Pz=P0/Kf,Uz= 0,Ux= 0,Uy= 0, Θy= 0, Θx= 0

Valve end:Uf=Uz,PKfAf=EApFz,My= 0,Mx= 0,Uy= 0,Ux= 0,

(1)Axial vibration modal analysis

① Calculate the natural frequency of the pipeline axial vibration

The state equation of axial vibration can be expressed as [transfer matrix reference formula (5.43)]:

⎧Uz⎫ ⎡T11 T12 T13 T14⎤ ⎧U⎫

⎪ ⎪ ⎥ ⎪ z⎪
⎪ Pz ⎪ ⎢T T T ⎥ ⎪ Pz⎪
⎨ ⎬=⎢
T
⎨ ⎬ (5.84)
twenty one twenty two twenty three twenty four

⎪U⎪f ⎢ T T32 T33 T34⎥ ⎪Uf⎪

⎢⎣T
31
41 T42 T43 T44⎦ ⎪ ⎪
⎥
⎩⎪F⎪z⎭ out ⎩Fz⎭0
For ease of calculation, the equation (5.84)Transformation: The difference between the first and third rows

Construct the first row of the new matrix usingKfAfMultiply by the second row minusEApMultiplying by the difference of the fourth row forms the second half of the new matrix

Since the known input parameters areUzandPz, no column adjustment is required. Equation (5.84)becomes

⎧Uz−U f ⎫ ⎧0⎫ ⎡T11−T31 T12−T32 T13−T33 T14−T34 ⎤ ⎧Uz⎫

⎪ ⎪ ⎪0⎪ ⎢ ⎥⎪ ⎪
⎪αPz−βF z⎪ ⎪ ⎪ ⎢αT −βT αTtwenty two−βT42 αTtwenty three−βT43 αTtwenty four−βT44 ⎥ ⎪ Pz⎪⎬ (5.85)
⎨ ⎬ =⎨ ⎬ = ⎨
twenty one 41

⎪Uf ⎪ ⎪U f⎪ ⎢ T31 T32 T33 T34 ⎥ ⎪U⎪f

⎪⎩Fz ⎪ ⎪ ⎢ ⎥
⎭ out ⎪⎩ F⎭z out ⎣ T41 T42 T43 T44 ⎦ ⎩⎪ F⎪z⎭0

In the formula,α=KfAf,β=EAp.

Under known conditions, the equation (5.85)Simplified to

92
 PhD dissertation from Huazhong University of Science and Technology

⎡T13−T33 T14−T34 ⎤ ⎧U⎫f ⎡ (T−12 T32)P0 /K f ⎤

⎢ ⎥⎨⎬ = −⎢ (5.86)
⎣αTtwenty three−βT43 αTtwenty four−βT44⎦ ⎩Fz⎭0 ⎣(αTtwenty two−βT42)P0/ K⎥f⎦

In order to facilitate the solution, takeP0is a smaller value, then the equation (5.86)Right side is about0, which becomes a frequency equation, and we can find

T13 − T33 T14−T34

untie =0, the natural frequency of the system can be obtained.

αTtwenty three−βT43 αTtwenty four−βT44

② Calculate the axial vibration mode shape of the pipeline

Find a certain order natural frequencyωrAfter that, in equation (5.86)In, orderFz=1, we can getUf0The relative value ofUf0.

The state parameter of the starting end at this natural frequency is {Φ}0={0, 0,Uf0,1}. Start from the starting point and calculate each node in turn.

The intermediate transfer matrix at this frequency [T]i, multiplied by {Φ}0, then the corresponding mode of each node at this natural frequency can be obtained

Modal parameters.

③ Calculation results and analysis

The modal analysis results are shown in Table5.1As shown, for comparison, the literature [169]Results, liquid pressure fluctuation frequency

and pipeline stress fluctuation frequency.

surface5.1Main axial natural frequency of the reservoir-straight pipe-valve system (unit:Hz)

Transfer Matrix Method literature Liquid pressure fluctuation frequency

Modal Order Pipeline stress fluctuation frequency

FSIfrequency [169] μ=0.3 Ignore Poisson coupling

1 12.53 12 13 13 -
2 32.81 32 39 38 -
3 54.83 56 66 64 -
4 74.21(p) 73 - - 66
5 95.82 97 92 90 -
6 116.01 116 118 115 -
7 141.06(p) 141 144 141 132
8 161.42 161 171 167 -
9 183.87 185 197 192 -
10 203.26(p) 202 - - 198
11 224.48 226 223 218 -
12 244.58 245 249 244 -

93
 PhD dissertation from Huazhong University of Science and Technology

By table5.1It can be seen that the results obtained by using the transfer matrix method are consistent with those in the literature [169]The results are basically

consistent, with large relative errors4.4% (first-order natural frequency); the liquid pressure wave frequency considering Poisson coupling is higher than the wave frequency not

considering Poisson coupling, while the natural frequency value considering solid-liquid coupling is different from them, indicating that solid-liquid coupling causes the natural

frequency of the liquid-filled pipe system to change.

(2)Lateral vibration modal analysis

① Calculate the natural frequency of the transverse vibration of the pipeline

byxzTaking the lateral vibration of the pipeline in the plane as an example, the lateral vibration modal analysis of the pipeline is carried out.xzThe state equation of

plane vibration can be expressed as [transfer matrix reference formula (5.51)]:

⎧Ux⎫
⎪⎪ ⎡T11 T12 T13 T14⎤ ⎧Ux⎫ ⎪
⎥⎪
⎪Θy⎪ ⎢T T T T ⎥ ⎪Θy ⎪
=⎢
twenty one twenty two twenty three twenty four

⎨⎬ ⎨ ⎬ (5.87)
⎪M⎪y ⎢T T32 T33 T34⎥ ⎪My⎪
⎪ ⎪ ⎢31 ⎥ ⎪
⎩ Fx
⎭out ⎣ T 41 T42 T43 T44⎦ ⎪ ⎩Fx ⎭0
When the pipeline is in free lateral vibration, according to the boundary conditions, equation (5.87)becomes

⎧Ux⎫ ⎧0 ⎫
⎪ ⎪ ⎡T11 T12 T13 T14⎤ ⎧0⎫
⎪ ⎪ ⎥ ⎪0 ⎪
⎪ Θ y⎪ ⎪Θ y⎪
=
⎢T
⎢
T T ⎪
⎬ =⎨ ⎬
twenty one twenty two twenty three
T ⎥⎪
⎨ ⎨ ⎬
twenty four
(5.88)
⎪M⎪y ⎪0 ⎪ ⎢T T32 T33 T34⎥ ⎪M y⎪
⎪ ⎪ ⎪⎩F⎭ ⎪ ⎢31 ⎥
⎩Fx ⎭ out x out ⎣T41 T42 T43 T44⎦ ⎪⎩Fx ⎪⎭ 0

equation(5.88)Simplified to

⎧0⎫ ⎡T T14⎤ ⎧My⎫

⎨⎬ = ⎢ 13 ⎥⎨⎬ (5.89)
⎩0
⎭out ⎣T33 T34⎦ ⎩Fx⎭0

Solve the frequency equation, that is, solveT13T34−T14T33= 0, the natural frequency of the system can be obtained.

② Calculate the transverse vibration mode shape of the pipeline

Find a certain order natural frequencyωrAfter that, in equation (5.89)In, orderFx=1, we can getMy0The relative value ofMy0.

The state parameter of the starting end at this natural frequency is {Φ}0= {0, 0,My0,1}. Start from the starting point and calculate each node in turn.

The intermediate transfer matrix at this frequency [T]i, multiplied by {Φ}0, then the corresponding mode of each node at this natural frequency can be obtained

Modal parameters.

③ Natural frequency calculation results and analysis

94
 PhD dissertation from Huazhong University of Science and Technology

RPVThe calculation results of the main lateral natural frequencies of the system are shown in Table5.2As shown. It can be seen that for a liquid-filled pipe with one end

fixed and the other end hinged (axial freedom), the Poisson's ratio also has an effect on the transverse vibration natural frequency of the pipe. The effect is small in the low-

frequency part, but becomes significant in the high-frequency part, and the higher the frequency, the greater the effect. As a comparison, the modal analysis results of the

transverse vibration natural frequency of an empty pipe under the same constraint conditions are also given (air density

1.29kg/m3, bulk modulus0.149MPa)and the theoretical value of the natural frequency of the lateral vibration of an empty pipe. It can be seen that the influence of Poisson's ratio on the natural

frequency of the lateral vibration of an empty pipe follows the same law as when the pipe is filled with liquid, and the coupling effect of the liquid significantly increases the order of the lateral

vibration frequency of the pipe, and the corresponding natural frequency value also changes greatly. The influence of Poisson's ratio on the natural frequency of the pipe is mainly achieved

through the relationship between the shear modulus and the elastic modulus of the pipe and the distribution coefficient of the shear force on the circular cross-section. The error between the

calculated value and the theoretical value of the natural frequency of the lateral vibration of an empty pipe is mainly due to the fact that the moment of inertia, the influence of shear

deformation and the coupling effect of air are ignored in the theoretical calculation.

surface5.2 RPVThe main transverse natural frequency of the system (unit:Hz)

1Step 2Step 3Step 4Step 5Step 6Step 7Step 8Step 9Step

Full of water,μ=0 4.4 13.9 28.3 46.9 69.0 93.9 121.1 150.0 180.4

Full of water,μ=0.3 4.4 13.9 28.0 46.2 67.5 91.4 117.2 144.4 172.8

Full of air,μ=0 8.9 - 28.2 57.2 - 94.6 138.9 - 188.8

Full of air,μ=0.3 8.9 - 28.0 56.6 - 93.1 136.0 - 183.9

Null value 9.0 - 29.1 60.7 - 103.9 156.4 - 224.7

5．4Modal Analysis of Single Bend Liquid-Filled Pipe System

The single elbow filling system is shown in the figure5.3The pipe parameters are
B
as follows: Material density of straight pipe and elbow9000kg/m3, elastic modulus

157GPa, Poisson's ratio0.34, outer diameter0.114m, inner diameter0.102m, bending

angle of elbow 90°, radius of curvature0.102m,AEnd fixed,BEach straight pipe section is

y
z divided into two parts, each part is free0.457m, the curved pipe part is divided into
A
three equal parts, fromAarriveBThe direction of each tube unit is setzdirection,y

0.914m Direction as shown. Liquid parameters: Density872kg/m3, bulk modulus

Figure 5.3 Single elbow system

1.95GPa,AEnd closed,BEnd open to atmosphere.

(1)Overall transfer matrix

95
 PhD dissertation from Huazhong University of Science and Technology

This system has7Pipe section unit,AAs a starting point,BAs the end point; according to the method described above, the transfer

matrix of each pipe segment unit and node can be written. The system can be obtained inyzThe overall transfer matrix and the overall

Equation of state:

⎧Uz⎫ ⎡T11 T12 T13 T14 T15 T16 T17 T18⎤ ⎧U z⎪⎫
⎪⎪ ⎢ ⎥⎪
⎪Pz⎪ ⎢T T T T
twenty one T T T T ⎥ ⎪P ⎪
twenty two twenty three twenty four 25 26 27 28 z

⎪U f ⎪ ⎢T31 T32 T33 T34 T35 T36 T37 T38 ⎥ ⎪U⎪

⎪ ⎪ ⎢ ⎥ ⎪f⎪
⎪Fz⎪ ⎢T41 T42 T43 T44 T45 T46 T47 T48⎥ ⎪F⎪ z⎬
⎨⎬ = ⎥⎨U (5.90)
⎢T51 T52 T53 T54 T55 T56 T57 T58
⎪Uy⎪ ⎢ ⎥ ⎪ y⎪
⎪Θ x ⎪ ⎢T61 T62 T63 T64 T65 T66 T67 T68⎥ ⎪Θ x⎪
⎪
⎪ ⎪ ⎢ ⎥⎪
⎪Mx⎪ ⎢ T71 T72 T73 T74 T75 T76 T77 T78⎥ ⎪ M x⎪
⎪F⎪
⎩ y⎭B ⎢⎣T
81 T82 T83 T84 T85 T86 T87 T88 ⎥ ⎪⎦F⎩⎪y⎭A

(2)Boundary conditions

Aend:Uz= 0,Uy= 0,Uf= 0, Θx= 0;Bend:Pz= 0,Fz= 0,Mx= 0,Fy= 0

(3)Natural frequency

Substituting the boundary conditions into the equation (5.90)Available(5.91), when the system resonates,det([Fre]) = 0, from which we can calculate

The natural frequency of the system.

⎧0⎫ ⎧Pz⎫ ⎡Ttwenty two Ttwenty four T27 T28⎤ ⎧Pz⎫

⎪0⎪ ⎪⎪ ⎪
⎪⎪ ⎪F⎪ ⎢T42 T44 T47 T48
⎥ ⎥⎪ ⎪ Fz⎪
⎨ ⎬ =[Fre]⎨z⎬ = ⎢ ⎨ ⎬ (5.91)
⎪0⎪ ⎪Mx⎪ ⎢T72 T74 T77 T78 ⎥ ⎪Mx⎪
⎪F⎪ ⎢ ⎥
⎪⎩0⎪⎭ B ⎩y⎭A ⎣T82 T84 T87 T88⎦ ⎪⎩Fy⎭⎪A

(4)Mode Shape

Find a certain order natural frequencyωrAfter that, in equation (5.91)In, orderFy=1, we can getPz,Fz,MxThe relative value ofPz,FzandM

The state parameter of the starting end at this natural frequency is {Φ}0= {0,Pz, 0,Fz, 0, 0,Mx0,1}. Start from the starting end and calculate
x

the intermediate transfer matrix of each node at this frequency [T]i, multiplied by {Φ}0, we can get each section

The modal vibration parameters corresponding to this point at this natural frequency.

(5)Calculation results

The modal analysis results are shown in Table5.3As shown, for comparison, the literature [88]The results (ref.88]The result

is ignoringFSIIn the case of effectFEMresult).

96
 PhD dissertation from Huazhong University of Science and Technology

From the table5.3It can be seen that except for the first two natural frequencies, the calculation results of the two methods are quite different: IgnoreFSI

When the natural frequency order of the system is less than the consideredFSIThe natural frequency order of the effect is the natural frequency of the liquid

vibration.FSIWhen the effect is present, the fifth to ninth order natural frequencies are all greater than the neglectedFSIThe value of the effect isFSIThe effect has a

great influence on the system. The calculation results of this example prove that the transfer matrix algorithm in this paper is also effective for calculating the

liquid-filled system with curved pipes.

surface5.3Main natural frequencies of single elbow system (unit:Hz)

Modal Order Transfer Matrix MethodFSIfrequency literature[88] (neglectFSI)

1 22.21 twenty two

2 48.35 48
3 193.04(F) -
4 298.93 305
5 393.01 391
6 516.34(F) -
7 788.38 758
8 859.22(F) -
9 970.41 929

5．5Natural frequency of the liquid-filled pipe systemMOC-FFTSolution

In a liquid-filled pipe system, when the pump is stopped or the valve is suddenly closed, causing the liquid flow to stop suddenly, the system will produce water hammer,

the liquid will produce pressure waves, and the pipe will produce stress waves. The pressure waves and stress waves interact with each other through Poisson coupling and

connection coupling, and the system will vibrate. Water hammer is equivalent to applying an excitation to the system. Only when the frequency of the fluctuation is the same as

the natural frequency of the system can it arouse stronger vibration. Therefore, throughMOCAfter obtaining the time domain response of the system vibration,FFTAnalysis shows

that the desired result should be the natural frequency of the system.

In order to facilitate comparative analysis, the literature [119]ProvidedRPVIn order to retain the higher frequency components in the vibration response (

3The research in this chapter shows that when the number of pipeline segments is large, the calculation results of the time domain response are more accurate,

the attenuation of the system response is less, and the high-frequency components in the response can be better reflected.100Equally divided (Δt= 0.2 ms, which

is equivalent to the sampling frequencyfs=5000Hz), sampling length3s, only consider Poisson coupling and connection coupling, ignore the influence of friction

coupling and pipeline structure damping (when considering friction coupling and pipeline structure damping, they will greatly attenuate the vibration

97
 PhD dissertation from Huazhong University of Science and Technology

The high-frequency components in the response), the time domain waveforms of the liquid pressure response at the valve and the pipeline vibration velocity response are

shown in the figure5.4,5.5 As shown in Figure 2, their amplitude spectra are5.6,picture5.7As shown (frequency resolution Δf=0.3127Hz)The required frequency components are

shown in the table5.4shown.

picture5.4Liquid pressure response at the valve

picture5.5Pipe velocity response at the valve

surface5.4Main frequency components of liquid pressure and pipeline velocity (unit:Hz)

System response frequency

Liquid pressure 12.51;31.27;55.04;72.55;96.32;115.08;139.47;159.49;183.25;

response 223.28;243.29
Pipeline speed 12.51;31.27;55.04;72.55;96.32;115.08,139.47;159.49;183.25;
response 200.14;223.91;242.67
12.53;32.81;54.83;74.21;95.82;116.01;141.06;161.42;183.87;
Transfer Matrix Method

203.26;224.48;244.58

Due to the fluid-solid coupling effect, the liquid pressure wave velocity changes from1049.5m/sReduced to1024.7m/s, the fundamental frequency of pressure fluctuation changes from

98
 PhD dissertation from Huazhong University of Science and Technology

13.12 Hzbecomes12.81 Hz, other frequencies should be odd multiples of the fundamental frequency; the pipeline stress wave velocity is from5155.8m/sIncrease to

5280.5 m/s, the fundamental frequency of stress fluctuation changes from64.45Hzbecomes66.01Hz, other frequencies should be odd multiples of the fundamental

frequency. It can be seen that there are mainly two frequency components in the amplitude spectrum of the liquid pressure response, and the first1The frequency

component is very strong, much larger than the2There are five main frequency components and several high-frequency components with small amplitudes in the

amplitude spectrum of pipeline velocity response. The time domain response shows that the vibration is mainly in the medium and low frequency range. The

waveform is more complex than the liquid pressure response, which means that the high-frequency vibration frequency component has little effect on the pipeline.

In summary, for this system, the vibration of the liquid is mainly low frequency, the vibration response of the pipeline is mainly in the medium and low frequency

range, and the high-frequency component has little contribution to the vibration response of the system.

picture5.6Liquid pressure amplitude spectrum at the valve picture5.7Pipeline velocity amplitude spectrum at the valve

The table5.4The results and tables listed5.1By comparing the analysis results inMOC-FFTThe solution results of the method are consistent

with the modal analysis results and the literature [169]The results are not much different and are in good agreement with the literature [169]The

maximum relative error is4.25% (first order natural frequency), mainlyMOCThe difference and interpolation in the calculation process also bring

certain errors in frequency resolution.MOC-FFTThe method is feasible to solve the natural frequency of the liquid-filled pipe system, and it also

proves that3The chapter deducedMOCThe model and algorithm are effective and correct.

MOC-FFTThe advantages of this method are obvious.MOCThe calculated data can be used to examine the time domain response of the

system, the frequency composition of the time domain response of the system, and the natural frequency of the pipe system. MOC-FFTThis method

can only clearly determine the lower-order natural frequencies of the system. The amplitude of the high-frequency components is too small.

99
 PhD dissertation from Huazhong University of Science and Technology

The higher natural frequency of the system can only be obtained by dividing the system into a large number of equal parts through the pipeline to reduce the attenuation of high-frequency

components, which results in a large amount of data and prolonged calculation time; in addition,MOC-FFTThis method cannot obtain the vibration mode of the system.

picture5.8,picture5.9Considering the damping condition (liquid viscous damping coefficient0.002, pipeline structure damping coefficient 0.01,pipeline100Equally

divided, using length3s)Liquid pressure and pipeline velocity amplitude spectrum.5.6,picture5.7By comparison, we can see that the amplitude of the low-frequency component

is significantly reduced, and the attenuation of the high-frequency component is significant.

picture5.8Liquid pressure amplitude spectrum at the valve picture5.9Pipeline velocity amplitude spectrum at the valve

5．6Chapter Summary

This chapter derives the calculation formula for the overall transfer matrix of the liquid-filled pipe system of the beam model and studies the

modal analysis method; modal analysis is performed on two typical liquid-filled pipe systems, and the results are compared with those in the literature.

The two are in good agreement, indicating that the transfer matrix and modal analysis method derived in this paper are effective and correct.

useMOC-FFTMethod for liquid-filled straight pipe systemMOCTime domain simulation resultsFFTThe spectrum of the system time domain response is

obtained by analysis. The calculated results are in good agreement with the modal analysis results and the results of the literature, which proves the

effectiveness of this method and also proves the effectiveness of the first3chapterMOCThe effectiveness and correctness of time domain analysis methods.

The following conclusions can be drawn from the research in this chapter:

(1) FSIThe effect on the vibration mode of the liquid-filled pipe system is very significant and cannot be ignored.FSIThe effect of

There are frequency orders (within a certain frequency range) that are significantly more than negligibleFSIThe natural frequency order of the effect, and the natural frequency

value changes significantly;

(2)For a liquid-filled pipe with one end fixed and the other end hinged, the Poisson's ratio is effective for the natural frequency of the lateral vibration of the pipe.

There is an impact, which is small in the low-frequency part, but becomes significant in the high-frequency part, and the higher the frequency, the greater the impact;

100
 PhD dissertation from Huazhong University of Science and Technology

The influence of Poisson's ratio on the natural frequency of the empty pipe vibration is the same as that when the pipe is filled with liquid. In addition, the fluid-solid coupling

effect significantly increases the order of the transverse vibration frequency of the pipe, and the corresponding natural frequency value also changes greatly.

(3)Ignore the damping effect of pipes and liquids.MOC-FFTThe method can be used to solve the natural frequency of the liquid-filled pipe system.

However, it should be noted that the number of pipeline sections should be larger to reduce the attenuation of high-frequency components; the calculation results show that the vibration of the

liquid is mainly low-frequency, the vibration response of the pipeline is mainly medium and low-frequency, and the high-frequency component contributes very little to the vibration response of

the system; when damping is considered, the amplitude of the medium and low-frequency components in the response is significantly reduced, and the high-frequency component decays quickly.

101
 PhD dissertation from Huazhong University of Science and Technology

6Verification test and vibration suppression of liquid-filled pipe system vibration response

The vibrations generated by liquid-filled pipes are mostly harmful, not only affecting the quality of work, generating noise and polluting the

environment, but also having a certain impact on the safety and life of the pipes. In severe cases, the pipes will be damaged, and even cause huge economic

losses and personal injuries. If effective vibration measures can be implemented to control such vibrations, so that the pipes are kept in a stable working state at

a balanced position as much as possible, many unnecessary losses can be avoided.

6．1Verification test

The test hydraulic system consists of a variable constant pressure pump, a round pipe, an electro-hydraulic proportional valve, an accumulator, a throttle valve, etc. The oil delivered

from the oil pump flows into the pipeline through the overflow valve, and enters the test pipeline through the accumulator and the electro-hydraulic proportional valve. The flow rate is adjusted

by the flow control valve; when the electro-hydraulic proportional valve is switched, water hammer vibration will be generated. The part from the electro-hydraulic reversing valve to the oil

cylinder is taken as the test subsystem, as shown in the figure.6.1As shown, the length of each pipe section is as shown in the figure. In the figure, ○ represents the pipe clamp support, which

has no bolt connection with the ground and can only limit the movement in the vertical direction of the ground. Due to the periodic reversal of the electro-hydraulic reversing valve, the water

hammer process lasts for a short time, so this test mainly compares the peak value of the water hammer instant calculation result with the test result.

Cylinder
Pipe clamp support

1m
1.13m 0.3m
Electrohydraulic A
Proportion

valve
1.13m 1.4m 1m

picture6.1Test subsystem diagram

Pump Model:A7V1070R1LPFHO, rated pressure10MPaThe oil working temperature is40 ~ 45°CThe pressure

sensor has been calibrated with an accuracy of1%,model:KYB2003G10VP2G2, Range:0~15MPa, output voltage

range:0~5VDC. Test system:DH5938Vibration test system, can test simultaneously8Point data.

System parameters: Total length of test pipeline7.76m, outer diameter of tube0.024m, pipe wall thickness0.002m, longitudinal elastic modulus of the pipe

102
 PhD dissertation from Huazhong University of Science and Technology

-
quantity210 GPa, density of hydraulic oil900 kg/m3; Kinematic viscosity of hydraulic oil6.2× 5m2/s, system steady-state pressure

10 10 MPa, the bulk modulus of hydraulic oil1.2 GPa,flow0.65×10-3m3/s.

The spatial grid is constructed using small wave speed, and the sampling interval is Δt=0.44ms, the model adopts8-Equation model, according to the test

data, the steady-state pressure of hydraulic oil is2.44MPa. Proportional valveAThe peak value and steady-state value of hydraulic oil pressure at the6.1 As shown

in the figure, the hydraulic oil pressure test curve6.2As shown in the figure, the calculation result curve of this paper is6.3As shown, the test results of the

hydraulic oil pressure peak are4.46MPaThe calculation results of this model are4.42MPa, the deviation is -0.9%. According to the calculation results,1sAt the end,

the hydraulic oil pressure amplitude is small and basically tends to be stable.

Due to the periodic reversal of the proportional valve, the hydraulic oil immediately flows into the cylinder to push the piston after the reversal. The calculation model

gives the change of water hammer pressure over a long period of time after the valve is reversed. So the test curve is different from the calculated result curve.

However, since both results are caused by water hammer, the peak values of their instantaneous impact loads should be basically the same. The comparison between the test

results and the calculation results proves this point and also verifies the correctness of the model in this paper.

picture6.2Pipeline end point pressure test curve picture6.3Pipeline end point pressure simulation curve

surface6.1Proportional valveAPeak value and steady-state value of hydraulic oil pressure

Serial number Test file name Test peak value (MPa) Test steady-state value (MPa) Calculation results

1 test1-1a 4.42 2.44

2 test1-1b 4.37 2.45
3 test1-1c 4.38 2.44 Peak4.42MPa
4 test1-2a 4.52 2.40 (Steady-state pressure

5 test1-2b 4.51 2.38 2.44MPa)

6 test1-2c 4.57 2.45
average 4.46 2.43

103
 PhD dissertation from Huazhong University of Science and Technology

6．2Suppression strategy for vibration response of liquid-filled pipe system

For the liquid-filled pipe system, in addition to the vibration of the pipeline caused by the foundation vibration, the impact vibration of the liquid pressure

and the pulsation of the liquid flow are the main causes of its vibration. The pulsation of the liquid flow can be weakened and eliminated by connecting a

pulsation attenuator in the pipeline; but changes in the direction of the pipeline, the closing and closing of the valve, and the start and stop of the power pump

will cause the impact vibration of the liquid pressure. Therefore, changes in the liquid flow state and flow direction are the main causes of liquid pressure shock.

Liquid water hammer vibration causes axial vibration of the pipeline, and the existence of the elbow causes the axial vibration of the pipeline to cause lateral

vibration of another pipe connected to the elbow. The primary exciting force for the liquid pressure vibration of the liquid-filled pipeline is the hydraulic impact

force, followed by the periodic flow pulsation caused by the inconstancy or discontinuity of the flow.

Corresponding to the two major types of problems in the vibration field (vibration response and dynamic stability), there are two types of vibration

control problems:1)Control of vibration response: that is, controlling the response of the controlled object under a specific external disturbance so that the

predetermined requirements are met. There are two methods: direct method and indirect method. The former designs the control law based on the response of

the controlled object, while the latter achieves the above purpose by controlling the modal parameters (modal frequency, modal damping, vibration shape, etc.).

2)Dynamic stability control: that is, controlling the stability of each mode of the controlled object, such as making the original unstable mode become a stable

mode, or making the original stable mode have the required stability margin. In a broad sense, vibration control includes two aspects, namely, vibration

utilization and vibration suppression. In view of the research purpose and task of this topic, this chapter studies the problem of suppressing vibration response in

the liquid-filled pipe system.

For the liquid-filled pipe system, due to different factors such as pipe materials and constraint forms, the distribution of the vibration energy of the pipe

system is different, so the suppression strategy of the system response should also be different.

forPVCTube,PEFor pipes and similar liquid-filled pipe systems with small axial stiffness, the energy of the system is mainly concentrated on the pipes during vibration.

Arranging elastic constraints in the axial direction of the pipes can significantly reduce the axial vibration of the pipes, and the increase in liquid pressure energy is very small,

thereby achieving the purpose of controlling the vibration response of the pipe system.

For steel pipes, copper pipes and similar liquid-filled pipe systems with large axial stiffness, the distribution of system energy during vibration is related to

the constraints at both ends of the pipe. The smaller the stiffness coefficient of the constraint, the more liquid pressure energy is converted into pipe kinetic

energy. As the constraint stiffness increases, the pipe vibration energy decreases and the liquid pressure energy increases. When both ends of the pipe are fixed,

the system's vibration energy is almost entirely concentrated in the liquid. Therefore, simply increasing the constraint stiffness can only reduce pipe vibration, but

does not eliminate the system's vibration energy, and the system is still in potential danger. For long-distance liquid-filled pipe systems, the control of liquid

pressure energy is more difficult than the control of pipe vibration, so control measures should be taken to consume pipe vibration energy.

The oilfield water injection system includes the subsystem within the joint station and the pipeline network outside the station. This chapter discusses the water injection within the joint station from two aspects.

104
 PhD dissertation from Huazhong University of Science and Technology

Suppression of subsystem responses: constraint suppression and damping material suppression.6.1The comparison between the test results and the model calculation results has proved the

effectiveness of the prediction model in this paper. The following mainly uses the model in this paper to predict and analyze the vibration response of the water injection subsystem, the

vibration response suppression measures and their suppression effects.

6．3Constraint suppression of vibration response of water injection subsystem

6．3．1Water injection subsystem

As shown6.4Shown is a simplified diagram of the water injection subsystem within a joint station of an oil field production plant. The water storage tank

stores wastewater from the treatment station.A~DFor the connection of the pipeline,a~jThese supports only limit the lateral movement of the pipeline. The pipeline

length, support spacing, and coordinate system are shown in the figure. The outer diameter of the pipeline is159mm, wall thickness8mm, elastic modulus 210G N/

m2,density7900kg/m3, Poisson's ratio0.3, structural damping ratio0.002; Static head of water storage tank10m, water density1000kg/m3, water bulk modulus2.1

GN/m2, pump flow0.1m3/s, pump output pressure16MPa; The pump stops suddenly due to some reason (such as2005Year7moon25An earthquake occurred in

Daqing on the 28th, causing some transfer stations, joint stations and gas injection stations to shut down and stop pumping).

B
Water storage tank
zB
xB Note
a b c B water

Tube
A 5m 6m 6m 2m 1.5m
d 6m net
e
6m D
f h i j Note
C 1.5m
zC C 2m g 9m
water

xC 9m 9m 2m Pump

picture6.4Schematic diagram of water injection subsystem of joint station

When the pump stops suddenly, the water injection subsystem of the joint station is at the elbowB,CPumpDThe liquid pressure and pipeline velocity

response at the location are shown in the figure6.5~Picture6.9shown.xBThe maximum value of pipeline velocity in the direction reaches0.63 m/s,xCThe maximum

displacement of the pipeline in the direction reaches9.84 mm,DThe maximum value of the liquid pressure response reaches13.03 MPaThrough spectrum

analysis, the main frequency of the system response is5.2113Hz,14.9825Hz,35.8277Hz(p).

105
 PhD dissertation from Huazhong University of Science and Technology

(a)Liquid pressure response (b)Liquid Pressure Amplitude Spectrum

(c)Pipeline velocity response (d)Pipeline velocity response amplitude spectrum

picture6.5elbowBDepartmentzBDirectional Liquid Pressure Response and Pipe Response

(a)Liquid pressure response (b)Liquid Pressure Amplitude Spectrum

106
 PhD dissertation from Huazhong University of Science and Technology

(c)Pipeline velocity response (d)Pipeline velocity response amplitude spectrum

picture6.6elbowBDepartmentxBDirectional Liquid Pressure Response and Pipe Response

(a)Liquid pressure response (b)Liquid Pressure Amplitude Spectrum

(c)Pipeline velocity response (d)Pipeline velocity response amplitude spectrum

picture6.7elbowCDepartmentxCDirectional Liquid Pressure Response and Pipe Response

107
 PhD dissertation from Huazhong University of Science and Technology

(a)Liquid pressure response (b)Liquid Pressure Amplitude Spectrum

(c)Pipeline velocity response (d)Pipeline velocity response amplitude spectrum

picture6.8elbowCDepartmentzCDirectional Liquid Pressure Response and Pipe Response

(a)Liquid pressure response (b)Liquid pressure response amplitude spectrum

picture6.9 DLiquid pressure response and pipeline response

6．3．2Analysis of Constraint Suppression Effects on System Vibration Response

The distances from the elbow to the adjacent constraints are1m,0.5mand0.3m, the liquid pressure response and

108
 PhD dissertation from Huazhong University of Science and Technology

The comparison between the pipeline velocity response and the system response under the original constraint state is shown in Figure6.10~Picture6.16,surface6.2~Table6.3shown.

picture6.10elbowBComparison of liquid pressure response at

picture6.11elbowBDepartmentzBDirectional Pipe Velocity Response Comparison

picture6.12elbowBDepartmentxBDirectional Pipe Velocity Response Comparison

109
PhD dissertation from Huazhong University of Science and Technology

picture6.13elbowCComparison of liquid pressure response at

picture6.14elbowCDepartmentxCDirectional Pipe Velocity Response Comparison

picture6.15elbowCDepartmentzCDirectional Pipe Velocity Response Comparison

110
 PhD dissertation from Huazhong University of Science and Technology

picture6.16 DComparison of liquid pressure response at

surface6.2Maximum values of liquid pressure response and pipe vibration response

Original Constraint Constraint Distance1m Constraint Distance0.5m Constraint Distance0.3m

Liquid pressure response,MPa 11.02 11.19 11.77 12.04

BDepartmentxB
Pipeline velocity response,m/s 0.51 0.46 0.34 - 0.23
direction
Pipe displacement response,mm 7.48 5.16 2.59 0.86
Liquid pressure response,MPa 11.02 11.19 11.77 12.04
BDepartmentzB
Pipeline velocity response,m/s 0.63 0.54 - 0.42 - 0.30
direction
Pipe displacement response,mm 9.04 3.70 1.69 0.50
Liquid pressure response,MPa 11.01 11.06 11.70 12.19
CDepartmentxC
Pipeline velocity response,m/s 0.52 0.46 0.43 0.28
direction
Pipe displacement response,mm 9.84 4.62 1.89 0.62
Liquid pressure response,MPa 11.01 11.06 11.70 12.19
CDepartmentzC
Pipeline velocity response,m/s - 0.40 - 0.43 - 0.49 - 0.36
direction
Pipe displacement response,mm 4.80 4.37 2.27 0.74
DLiquid pressure response,MPa 13.03 13.38 14.93 15.72

From the figure6.10~Picture6.16,surface6.2~Table6.3It can be seen from the figure that as the distance from the elbow to the adjacent constraint decreases, the

maximum value and effective value of the pipeline velocity response decrease: when the constraint distance is0.3mhour,BDepartmentzBThe maximum value of the directional

pipeline velocity response and2.5sThe effective values in52.38%and84.04%,zBThe maximum value of the pipeline displacement response in the direction is given by9.04mm

Reduce to0.5mm,xBThe maximum value of the directional pipeline velocity response and2.5sThe effective values in

55.90%and77.50%,xBThe maximum value of the pipeline displacement response in the direction is given by7.48mmReduce to0.86mm;CDepartmentzCThe maximum value of the

directional pipeline velocity response does not change much, but2.5sThe effective value decreases67.27%,zCDirectional Pipe Displacement Response

111
 PhD dissertation from Huazhong University of Science and Technology

The maximum value of4.80mmReduce to0.74mm,xCThe maximum value of the directional pipeline velocity response and2.5sThe effective

values in46.15%and85.00%,xCThe maximum value of the pipeline displacement response in the direction is given by9.84mmReduce to

0.62mmAt the same time, the liquid pressure response of the system increases as the distance from the elbow to the adjacent constraint

decreases. 0.3mhour,BThe maximum value of liquid pressure and2.5sThe effective values in9.26%and46.25%,CThe maximum value of

liquid pressure and2.5sThe effective values in10.72%and34.49%,DThe maximum value of liquid pressure and2.5s The effective values in

20.64%and36.02%.

surface6.3Liquid pressure response and pipe velocity response2.5sThe effective value within

Original Constraint Constraint Distance1m Constraint Distance0.5m Constraint Distance0.3m

BDepartmentxB Liquid pressure response,MPa 2.545 2.772 3.362 3.722

direction Pipeline velocity response,m/s 0.080 0.079 0.041 0.018
BDepartmentzB Liquid pressure response,MPa 2.545 2.772 3.362 3.722
direction Pipeline velocity response,m/s 0.094 0.066 0.033 0.015
CDepartmentxC Liquid pressure response,MPa 3.914 4.295 5.031 5.264
direction Pipeline velocity response,m/s 0.100 0.073 0.032 0.015
CDepartmentzC Liquid pressure response,MPa 3.914 4.295 5.031 5.264
direction Pipeline velocity response,m/s 0.055 0.051 0.037 0.018
DLiquid pressure response,MPa 5.333 5.847 6.890 7.254

In short, when the constraint distance is0.3mWhen elbowBThe maximum attenuation rate of the axial and transverse velocities at the50%,

2.5sThe attenuation rate of the internal effective value exceeds75%;elbowCThe maximum value of the axial velocity at the location does not change much, and the attenuation rate of the

maximum value of the lateral velocity exceeds45%,2.5sThe attenuation rate of the effective value exceeds65%. It can be seen that changing the constraint position to reduce the extension

distance of the elbow is equivalent to increasing the stiffness of the pipeline, which can significantly reduce the vibration speed and displacement of the pipeline. However, since the system

damping is not increased, the vibration energy of the system is not consumed but transferred to the liquid, so the pressure energy of the liquid increases.

6．4Using damping materials to suppress the vibration response of the water injection subsystem

If the effects of pipeline structure damping and liquid viscous damping are ignored, the liquid-filled pipe system will vibrate periodically after a short period of time

after water hammer occurs. If the effects of damping are taken into account, the liquid-filled pipe system will vibrate periodically with attenuation, and the liquid pressure,

pipeline velocity, pipeline displacement and pipeline internal force will resonate harmonically mainly at the first few modal frequencies.

Damping materials are also called viscoelastic damping materials or viscoelastic high damping materials. They have the properties of certain viscous liquids.

112
 PhD dissertation from Huazhong University of Science and Technology

The characteristics of energy loss in dynamic state and the characteristics of energy storage of elastic solid materials. Viscoelastic materials are between viscous liquids and

elastic solid materials. When it produces dynamic stress and strain, part of the energy is converted into heat energy and dissipated, while the other part of the energy is stored

in the form of potential energy. The phenomenon of energy conversion and dissipation is manifested as mechanical damping, which can be used to suppress the vibration and

noise of the structure.

6．4．1Damping loss factor

The characteristic of damped simple harmonic vibration is that a certain amount of energy must be lost in each vibration cycle to achieve steady-state vibration.

Action.m-k-cThe system response isx(t) =Xsin(ωt), then the speed isx(t) =ωXcos(ωt)In viscous damping

In the system, the damping force is:fd(t) =xx(t) =cωXcos(ωt), in one vibration cycle, the damping energy is equal to the damping

Work done by a force

fd(t)dx =∫
2π/ω 2π/ω
D= ∫ 0 0 fd (t)xd t = cπωX2 (6.1)

The vibration energy of a vibrating system at a certain moment includes kinetic energy and potential energy.

1 2 1 1 1
Evib=Ed+Ep= mx(ωt) + kx2(ωt) = mωX
2 2
2cos (ωt) + k 2
sin2(ωt) (6.2)
2 2 2 2
In one cycle, the vibration energy of the vibration system is

1 2π/ω 1 ∫ π ω sin (ωt)dt=πmω

2 / 1
∫ k X 2(r+
2 2
Evib=mωX cos2(ωt)dt+ 2 2
n ) (6.3)
2 0 2 0 r
In the formula,ωnis the natural frequency of the vibration system;r=ω/ωn.

Structural loss factorηfor

D cπωX2 cr2
η= = = (6.4)
Evib πmωnX(r2+1/r) m(r2+1)

In the formula,mis the mass of the vibrating system.

6．4．2Equivalent energy loss factor of damping material for pipeline

The energy lost per unit volume of the damping material in one cycle of pure tensile vibrationDfor[173]

D=πβ E'ε20 (6.5)

In the formula,βis the loss factor of the damping material,E'is the real part of the complex elastic modulus of the damping material,ε0for Large tensile strain.

The energy consumed per unit volume during one cycle of pure shear vibrationDfor

D=πβG'γ2 0 (6.6)

113
 PhD dissertation from Huazhong University of Science and Technology

In the formula,G'is the real part of the shear modulus,G′ =E′ /[2(1+μ)]≈E′ /3;γ0is the maximum shear strain amplitude.

The damping material is tightly attached to the pipe so that it moves and deforms with the pipe.

Tensile strainε0= ΔL/L=uz/L=εz,εzThe maximum axial tensile strain of the pipeline; the damping material dissipates

The energy consumed is the energy lost by the pipeline in one vibration cycle, so the equivalent energy loss factor of the damping material is

η=
∑n V'D i
=∑
n
A'Lπβ iEiε' z 2
=
∑n e′(2R+e′)β E' i i
(6.7)
E
i= 1 vib i=πmω
1 n(ri+1/ri)u2 z,max
i=1 e(2R−e)(ri+1/ri)E

In the formula,Ris the outer radius of the pipe;eande'are the thickness of the tube wall and damping material, respectively;Eis the elastic modulus of the pipe.

6．4．3Analysis of the suppression effect of system vibration response

Still take6.3The water injection subsystem in this section is the research object.3The order natural frequencies (also the main frequency components of

the vibration response caused by water hammer) are the main frequencies of the system response.5.21Hz,14.98Hz,35.83Hz(p)The damping material is the

viscoelastic high damping material developed and produced by Wuxi Shock Absorber Factory.3102[173], the ambient temperature is20℃, thickness

1mm,density1500kg/m3, which is20The resonant frequencies at ℃βE'Respectively (approximately)0.63×108N/m2,

1.1×108N/m2,1.74×108N/m2.
(1)Analysis of liquid pressure response suppression effect

B,C,DThe comparison of liquid pressure response is shown in the figure6.17~Picture6.19As shown; liquid pressure2.5sThe effective value and effective

value attenuation rate are shown in the table6.4shown.

From the figure6.17~Picture6.19And table6.4It can be seen that when the pipe surface is covered with damping material, the liquid pressure decays

slowly.2.5sThe decay rate of the effective value of the internal liquid pressure is less than15%, has a certain vibration reduction effect.

picture6.17 BComparison of liquid pressure response at

114
 PhD dissertation from Huazhong University of Science and Technology

picture6.18 CComparison of liquid pressure response at

picture6.19 DComparison of liquid pressure response at

surface6.4Comparison of effective values of liquid pressure response under the action of damping materials

Not covered with damping material Cover with damping material

BDepartment CDepartment DDepartment BDepartment CDepartment DDepartment

2.5sInternal effective value,MPa 2.545 3.914 5.333 2.172 3.405 4.665

Effective value attenuation rate, % 0 0 0 14.66 13.00 12.53

(2)Analysis of pipeline velocity response suppression effect

elbowB,CThe pipeline velocity response is shown in Figure6.20~Picture6.23As shown; the pipeline velocity response is2.5sThe effective value and effective value

attenuation rate are shown in the table6.5As shown in Figure6.20~Picture6.23And table6.5It can be seen that when the pipeline surface is covered with damping material, the

pipeline velocity response has a large attenuation.2.5sInternal elbowB,CThe attenuation rate of the effective value of the axial and transverse pipeline velocity response at the

location exceeds29%, the vibration reduction effect is significant.

115
 PhD dissertation from Huazhong University of Science and Technology

picture6.20 BDepartmentzBDirectional Pipe Velocity Response Comparison 6.21 BDepartmentxBDirectional Pipe Velocity Response Comparison

picture6.22 CDepartmentxCDirectional Pipe Velocity Response Comparison 6.23 CDepartmentzCDirectional Pipe Velocity Response Comparison

surface6.5Comparison of effective values of pipeline velocity response under the action of damping materials

Not covered with damping material Cover with damping material

zBTowards xBTowards zCTowards xCTowards zBTowards xBTowards zCTowards xCTowards

3sInternal effective value,m/s 0.094 0.080 0.055 0.100 0.051 0.050 0.039 0.057

Effective value attenuation rate, % 0 0 0 0 45.74 37.50 29.09 43.00

Based on the comparative analysis of the previous liquid pressure response and pipeline velocity response, it can be seen that covering the pipeline surface with

suitable damping materials can effectively reduce the vibration response of the liquid and pipeline in the liquid-filled pipe system.

116
 PhD dissertation from Huazhong University of Science and Technology

6．5Chapter Summary

This chapter firstly conducts a hydraulic pressure response test of the electro-hydraulic proportional valve during switching through the hydraulic system, and

compares the peak value of the pressure response test with the peak value of the calculation result of the model in this paper. The deviation between the two is only0.9%,

indicating the effectiveness of the proposed model in predicting the vibration response of the liquid-filled pipe system. On this basis, a water injection subsystem of a joint

station was used as the research object, and the proposed model was used to predict and analyze the system vibration response and vibration suppression effect of adjusting

the constraint position and using damping materials. According to the calculation results, the following conclusions can be drawn:

(1)Changing the restraint position to reduce the extension distance of the elbow is equivalent to increasing the rigidity of the pipe, which can significantly reduce

The vibration velocity and displacement of the pipeline. For the given system, when the constraint distance is0.3mWhen elbowBThe maximum attenuation rate of

the axial and lateral velocities at the50%,2.5sThe attenuation rate of the internal effective value exceeds75%;elbowCThe maximum value of the axial velocity at

the location does not change much, and the attenuation rate of the maximum value of the lateral velocity exceeds45%,2.5sThe attenuation rate of the effective

value exceeds65%. Since the system damping has not increased, the vibration energy of the system is not consumed but transferred to the liquid, so the pressure

energy of the liquid increases.

(2)The equivalent energy loss factor expression of damping material for pipeline is derived, and the pipeline surface covering resistance is calculated.

The vibration response of the liquid and pipes in the water injection pipe system after the nylon material is used. For the given system,2.5sInternal elbowB,CThe attenuation

rate of the effective value of the axial and transverse pipeline velocity response is29%〜45%, and the liquid pressure also decays. It can be seen that covering the pipeline

surface with suitable damping materials can effectively reduce the vibration response of the liquid and pipeline in the liquid-filled pipe system, but the control effect on the

system response is affected by factors such as the system's natural frequency and ambient temperature.

117
 PhD dissertation from Huazhong University of Science and Technology

7Summary and work prospects

7．1Summary

Non-constant flow liquid-filled pipe systems are widely used in oil pipeline engineering, power water power engineering, bioengineering, aerospace engineering, drilling engineering,

hydraulic systems, construction engineering, nuclear industry and other fields. The coupled vibration of the system will lead to vibration and noise pollution, and at the same time cause the

system reliability to decrease, affecting the safe and reliable operation of the system. This project is based on the oilfield water injection system, taking the non-constant flow liquid-filled pipe

system as the research object, studying its coupled vibration characteristics and its influencing factors, and proposing corresponding vibration suppression strategies. The research work has

important theoretical significance and practical value for the response prediction of the liquid-filled pipe system, vibration reduction and noise reduction, and ensuring the normal operation of

the liquid-filled pipe system.

The main research results and innovations of this paper are:

(1)byTimoshenkoBased on the beam theory, the unsteady flow filling considering tension, compression, bending and torsion is derived.

Coupled nonlinear vibration differential equations of liquid pipelines and quasi-linear vibration equations of fluid-solid coupling.

(2)The method of determining the time step and the number of pipe segments and the mesh encryption method for a simple liquid-filled pipe system are studied.

A new method and approach is provided for capturing water hammer pressure; the effects of connection coupling, Poisson coupling, pipe wall thickness,

structural damping and pipe material on vibration response are discussed.

(3)The "damping redistribution pipeline tempering optimization method" was proposed, the time step Δ of the complex liquid-filled pipe system is establishedtand pipeline

The optimization model of the number of segments solves the difficulty of characteristic line method calculation for complex liquid-filled pipe systems; the quasi-linear coupled vibration and

nonlinear coupled vibration responses of typical liquid-filled pipe systems are predicted and experimentally compared, verifying the effectiveness of this method.

(4)The modal analysis method of the liquid-filled pipe system is studied and appliedMOC-FFTMethod to solve simple liquid-filled pipe system

The natural frequency of a joint station was calculated and good results were obtained. The effectiveness of the research conclusions was verified by simulating the vibration suppression effect

of adjusting the constraint position and using damping materials in a joint station water injection subsystem.

7．2Job Outlook

The actual structure of the liquid-filled pipe system is complex and diverse. The system often contains strong fluid-solid coupling components such as

elbows, pumps, and rubber hoses. This makes the vibration research of the liquid-filled pipe system a comprehensive problem covering multiple dynamics fields.

Due to time and condition limitations, this paper only studies part of the problem. The following aspects need further research:

(1)The actual liquid-filled pipe system is usually complex, and the mutual influence of various coupling factors increases the difficulty of research;

118
 PhD dissertation from Huazhong University of Science and Technology

Predicting the response of more complex systems with consideration of fluid-structure interaction is worth studying both in terms of research methods and computational efficiency; at the same

time, experimental research on the vibration response of more complex systems with consideration of fluid-structure interaction is also worthy of attention.

(2)How to better solve the interpolation problem and non-integral term integration problem inherent in the characteristic line method calculation?

And the errors and error analysis problems caused by it; how to better combine the linear model and nonlinear model of the motion of the liquid-

filled pipe system and what better analysis method to use to study the response of the liquid-filled pipe system is also a direction worthy of attention.

(3)How to extend the response analysis of two-dimensional liquid-filled pipe system to three-dimensional liquid-filled pipe system to make more complex liquid-filled pipe

It becomes possible to calculate the system response; for the common rubber elements in the liquid-filled pipe system, it is necessary to study how to establish a more

reasonable and practical transfer matrix to facilitate modal analysis and even provide theoretical guidance for the design of rubber hose vibration isolation elements.

(4)The study of control methods to reduce the vibration caused by flow on the liquid-filled tube is also an aspect worthy of attention.

This paper only conducted a tentative study on passive control of pipeline vibration by adjusting the constraint position and using damping materials, and further research is

needed. There has been no major breakthrough in the theory of pipeline vibration control, especially active control methods, because the mathematical model of the coupling

between the control system and the liquid-filled pipe system has not been formed. For such a large system, not only the influence of damping should be considered, but also

factors such as the material, the properties of the liquid, the flow rate, and the time lag of the control should be considered.

119
 PhD dissertation from Huazhong University of Science and Technology

Acknowledgements

This paper was completed under the careful guidance of Professor Yi Menglin. During the doctoral study and the completion of the thesis, the supervisor's rigorous

academic attitude, profound academic attainments, far-sighted scientific insight, scientific research spirit of excellence, and open-minded, optimistic, peaceful and tolerant

attitude towards life have always been influencing the author and infecting the author, benefiting the author a lot. He is a model for the author's lifelong learning. Every bit of

progress made by the author in the past few years is the result of the hard work and earnest care of the supervisor. On the occasion of the completion of this thesis, I would like

to express my highest respect and sincere gratitude to my supervisor! At the same time, I would like to thank Professor Li Baoren and Associate Professor Luo Xiaoyu from the

School of Mechanical Science and Engineering of Huazhong University of Science and Technology for their guidance and help to the author!

During the doctoral study and thesis completion, fellow junior colleagues including Chen Bin, Deng Lixia, Hu Junhua, Yu Liang, Xu Jingjing,

and Liao Jinjun all gave the author enthusiastic support and help. I would like to express my deep gratitude to them!

While pursuing a doctorate degree, my wife Fan Shijuan gave me meticulous care, careful attention, understanding and support in

all aspects of life and study. My daughter Yang Dongyao also gave me great spiritual comfort. My parents and parents-in-law who are far

away in my hometown provided me with strong spiritual support, encouragement and support, which enabled me to successfully complete

my studies. I would like to express my sincere thanks to all the family members who support and care about me!

120
 PhD dissertation from Huazhong University of Science and Technology

References

[1]Zhou Yun, Liu Ji. Pipeline vibration and its vibration reduction technology[J].Journal of Harbin Institute of Civil Engineering,1994, 27(5):

108-114

[2] Paidoussis M P. Flow-induced Instability of Cylindrical Structures [J]. Applied

Mechanics Review, 1987, 40(2): 163-175
[3] Paidoussis M P. Pipes Conveying Fluid: A model Dynamical Problem [J]. Journal of Fluids

and Structures, 1993, 7: 137-204

[4]Dang Xiqi, Huang Youling. Pipeline vibration problems in engineering[J].Mechanics and Practice,1993, 15(4): 12-15

[5] Bourrieres F J. Surviving the phenomenon of fluids reels [M]. Publications

Scientifiques et Techniques du Ministere de l'air, 1939, 147: 57-65

[6] Ashley H, Haviland G. Bending Vibrations of a Pipe Line Containing Flowing Fluid [J].

Journal of Applied Mechanics, 1950, 17: 229-232

[7] Housner G. W. Bending Vibrations of a Pipe Line Containing Flowing Fluid [J]. Journal of

Applied Mechanics, 1952, 19: 205-208

[8] Long RH .Experimental and Theoretical Study of Transverse Vibration of a Tube

Containing Flowing Fluid [J]. Journal of Applied Mechanics, 1955, 22: 65-68

[9] Handelman G. H.A Note on the Transverse Vibration of a Tube Containing Flowing Fluid

[J]. Quarterly of Applied Mathematics. 1955, 13: 326-329

[10] Benjanin T B. Dynamics of a System of Articulated Pipes Conveying Fluid-I Theory [J].

Proceedings of the Royal Society (Longdon) Ser. A, 1961, 261: 457~486

[11] Gregory RW, Paidoussis M P. Unstable Oscillation of Tubular Cantilevers Conveying

Fluid-I Theory [J]. Proceedings of the Royal Society (longdon) A, 1966, 293: 512-527

[12] Chen S S. Forced vibration of a cantilevered tube conveying fluid [J]. Journal of the

Acoustical Society of America, 1970, 48: 773-775

[13] Chen S S. Dynamic stability of a tube conveying fluid [J]. ASCE Journal of the
Engineering Mechanics Division, 1971, 97: 1469-1485
[14] Chen S S. Vibration and stability of a uniformly curved conveying fluid [J]. Journal of

121
 PhD dissertation from Huazhong University of Science and Technology

the Acoustical Society of America, 1972, 51: 223-232

[15] Chen S S. Flow-induced in-plane instability of curved pipes [J]. Nuclear Engineering and

Design, 1972, 23: 29-38

[16] Chen S S. Out-of-plane vibration and stability of curved tubes conveying fluid [J]. Journal

of Applied Mechanics, 1973, 40: 362-368

[17] Chen S S. Parallel flow-induced vibrations and instabilities of cylindrical structures [J]. Shock

and Vibration Digest, 1974, 6(10): 1-11

[18] Paidoussis MP, Issid NT .Dynamics stability of pipes conveying fluid [J]. Journal of Sound

and Vibration, 1974, 33: 267-294

[19] Paidoussis MP, Deksnis EB. Articulated , models of cantilevers conveying fluid: the study

of a paradox [J]. Journal of Mechanical Engineering Science, 1970, 12: 288-300

[20] Paidoussis MP .Dynamics of tubular cantilevers conveying fluid [J]. Journal of

Mechanical Engineering Science, 1970, 12: 85-103
[21] Paidoussis MP, Denise J P. Flutter of cylindrical shells conveying fluid [J]. Journal of

Sound and Vibration, 1971, 16: 459-461

[22] Paidoussis MP, Issid NT .Dynamics stability of pipes conveying fluid [J]. Journal of Sound

and Vibration, 1974, 33: 267-294

[23] Paidoussis MP .Flutter of conservative sysrem of pipes conveying incompressible fluid[J].

Journal of Mechanical Engineering Science, 1975, 17: 19-25

[24] Paidoussis M P. Hydroelastic. AIAA Journal of Hydronautic, 1976, 14: 30-32

[25] Paidoussis MP, Issid N T. Experiments on Parametric resonance of pipes containing

pulsatile flow [J]. Journal of Applied Mechanics, 1976, 43: 198-202

[26] Paidoussis MP, Laitbier B E. Dynamics of Timoshenko beams conveying fluid[J]. Journal

of Mechanical Engineering Science, 1976, 18: 210-220

[27] Paidoussis MP, Flow-induced vibration in nuclear reactors and heat exchangers[M].

Practical experiences and state of knowledge. In Practical Experiences with Flow-

induced Vibration (eds. E. Naudascher & D. Rockwell), Berlin: Springer , 1980, 1-81

[28] Paidoussis M P. Flow-induced Instabilities of cylindrical structures[J]. Applied

122
 PhD dissertation from Huazhong University of Science and Technology

Mechanics Reviews, 1987, 40: 163-175

[29] Edelstein WS, Chen SS, Jendrzejczyk J K. A finite element computation of the flow-

induced oscillation in a cantilevered tube[J]. Journal of Sound and Vibration, 1986, 107:

121-129

[30] Sallstrom JH, Akesson B A. Fluid-conveying damped Rayleigh-Timoshenko beams in

transverse vibration analyzed by use of an exact finite element. Part I: theory[J]. Journal of

fluids and Structures, 1990, 4: 561- 572

[31] Sallstrom JH. Fluid-conveying damped Rayleigh-Timoshenko beams in transverse

vibration}analyaxd by use of an exact finite element. Part II: application[J]. Journal of

fluids and Structures, 1990, 4: 573-582

[32] Sallstrom J H. Fluid-conveying damped Rayleigh-Timoshenko beams in transient transverse

vibration studied by use of complex model synthesis[C]. In Proceedings 32nd

AIAA/ASME/ASCE/ASC structures, structural Dynamics& Material Conference,

Baltimore, MD, USA, April 1991
[33] Semler C, Li GX, Paidoussis M P. The nonlinear equation of motion of pipes conveying fluid[J].

Journal of Sound and Vibration, 1994, 169(5): 577-599

[34] Bajaj AK, Sethna P R. Effect of symmetry-breaking perturbation on flow-Induced

oscillations in tubes[J]. Journal of Fluids and Structures, 1991, 5: 651-679

[35] Li GX, Paidoussis M P. Stability, double degeneracy and chaos in cantilevered pipes

conveying fluid[J]. International Journal of Non-Linear Mechanics, 1994, 29(1): 83-107

[36] Makrides GA, Edelstein W S. Some numerical studies of chaotic motions in tubes

conveying fluid[J]. Journal of Sound and Vibration, 1992, 4: 655- 670

[37] Holmes P J. Pipes supported at both ends cannot flutter[J]. Journal of Applied Mechanics,

1978, 45: 619-622

[38] Namachchivaya N S. Non-Linear dynamics of supported pipe conveying pulsating 1:

Subharrnonic resonance[J]. International Journal of Non-Linear Mechanics, 1989, 24:

185-196

[39] Namachchivaya NS, Tien W M. Non-Linear dynamics of supported pipe conveying

pulsating 2: Combination resonance[J]. International Journal of Non-Linear Mechanics,

123
 PhD dissertation from Huazhong University of Science and Technology

1989, 24: 197-208

[40] Dupuis C, Rousselet J. The equations of motion of curved pipes conveying fluid[J].

Journal of Sound and Vibration, 1992, 153(3): 473-489

[41] Svetlisky V A. Statics, stability and small vibration of the flexible tubes conveying ideal

incompressible fluid[J]. Raschetv na Prochnost, 1969, 14: 332-351

[42] Unny TE, Martin EL, Dubey R N. Hydroelastic instability of a uniformly curved pipe-
fluid system[J]. Journal of Applied Mechanics, 1970, 37: 617-622
[43] Doll RW, Mote CD .On the dynamics of curved and twisted cylinders transporting

fluids[J]. ASME Journal of Pressure Vessel Technology, 1976, 98: 143-150

[44] Misra AK, Paidoussis MP, Van K S. On the dynamics of curved pipes transporting fluid. Part I:

Inextensible theory[J]. Journal of fluids and structures, 1988, 2: 211-244

[45] Misra AK, Paidoussis MP, Van KS .On the dynamics of curved pipes transporting fluid. Part II:

extensible theory[J]. Journal of fluids and structures, 1988, 2: 245-261

[46] Aithal R, Gipson G S. Instability of internally damped curved pipes[J]. ASCE Journal of

Engineering Mechanics, 1990, 116: 77-99

[47] Dupuis C, Rousselet J. Application of the transfer matrix method to non-conservative

systems involving fluid flow in curved pipes[J]. Journal of Sound and Vibration, 1985,

98: 415-429

[48]Wei Fayuan, Huang Yuying, et al. Migration matrix method for analyzing critical flow velocity of liquid-filled elbows[J].Chinese Journal of Solid Mechanics,2000, 21: 33-39

[49]Ni Qiao, Zhang Huilan, Huang Yuying, etc.DQMethod for the stability of semicircular liquid-filled elbows with elastic supports [J].Analytical

Engineering Mechanics,2000, 17(6): 59-64

[50]Ni Qiao, Huang Yuying. Application of incremental harmonic balance method to nonlinear vibration analysis of liquid-filled pipes[J].Journal of Huazhong University of Science

and Technology2000, 28(10): 43-45

[51]Ni Qiao, Huang Yuying, Chen Yiping. Analysis of critical velocity of liquid-filled tube with elastic support by differential quadrature method. Chinese Journal of

Computational Mechanics,2001, 18(2): 146~149

[52]Ni Qiao, Huang Yuying. Dynamic characteristics analysis of nonlinear constrained viscous fluid-filled tubes[J].J].Journal of Huazhong University of Science and Technology,

2001, 29(2): 87~89

[53]Ni Qiao, Huang Yuying. Vibration and stability analysis of orthogonal anisotropic liquid-filled tubes[J].Journal of Huazhong University of Science and Technology,2001,

124
 PhD dissertation from Huazhong University of Science and Technology

29(3): 95~97
[54]Zhang Lixiang, Huang Wenhu. Nonlinear dynamic stability analysis of fluid-solid coupling in liquid-filled pipes[J].Applied Mathematics and Mechanics,2002,

23(9): 951~960

[55] Young T .Hydraulic investigations, subservient to an intended croonian lecture on the

motion of the blood [J]. Philosophical Transaction of the Royal Society. 1808, 98, Part2,

Paper 13: 164-186.

[56] Korteweg DJ .On the velocity of propagation of sound in elastic pipes (inGerman)
[J].Annalen der physikund Chemie, New Series.1878, 5, (12): 525-542.

[57] Halliwell A R.Velocity of water hammer wave in an elastic pipe [J].ASCE Journal of the

Hydraulics Division, 1963, 89(HY4): 1-21

[58] Wylie EB, Streeter VL. Fluid Transients[M]. New York: McGraw-Hill, 1978

[59] Gromeka IS .On the Velocity of Propagation of Wave-like Motion of Fluids in

ElasticTubes(in Russian)[M]. Physical Mathematical Section of the Scientific Society of

the Imperial University of Kazan, Kazan, Russia, May 1883: 1 -19.

[60] Lamb H.On the velocity of sound in a tube, as affected by the elasticity of the walls

[J].Memoirs of the Manchester Literary and Philosophical Society, Manchester, 1898, 42(9):

1-16.

[61] Joukowsky N .On the hydraulic hammer in water supply pipes[A].1898, English

translation by OSimin: Water hammer.Proceedings of the American Water Works

Association[C].1904.24: 341-424

[62] Skalak R .An extension of the theory of water hammer[J].Transactions of the

ASME.1956, 78(1): 105-116
[63] Lin TC, Morgan GW. Wave propagation through fluid contained in a cylindrical elastic shell

[J]. Journal of Acoustical Society of America, 1956, 28(6): 1165-1176

[64] Herrmann G, Mirsky I. Three-dimensional and shell-theory analysis of axially symmetric

motion of cylinders [J]. ASME Journal of Applied Mechanics, 1956, 23(4): 563-568

[65] Spllier WR .Wave propagation in a thin cylindrical shell [J].ASME Journal of Applied

Mechanics, 1965, 32(2): 346-350

[66] Tang SC .Dynamic response of a tube under moving pressure [J].ASCE Journal of the

125
 PhD dissertation from Huazhong University of Science and Technology

Engineering Mechanics Division, 1956, 91(EM5): 97-122

[67] King WW, Frederick D.Transient elastic waves in a fluid-filled cylinder [J].ASCE Journal of

the Sanitary Engineering Mechanics Division.1968, 4(em5): 1215-1230

[68] Thorley ARD .A pressure transients in hydraulic pipe lines [J].ASME Journal of Basic

Engineering, September 1969, 91: 453-461

[69] De Aromond RP, Rouleau WT. Wave propagation in viscos, compressible liquids

confined in elastic tubes [J]. ASME Journal of Basic Engineering, 1972, 12: 811-817

[70] Rubinow SI, Keller JB .Wave propagation in a visco elastic tube containing a viscos fluid

[J]. Journal of Fluid Mechanics, 1978, 88, Part1: 181-203

[71] Kuiken GDC .Approximate dispersion equations for thin walled liquid-filled tubes [J].

Applied Scientific Research, 1984, 41: 37-53

[72] Kuiken GDC .Wave propagation in fluid line [J]. Applied Scientific Research, 1984, 41:

69-91

[73] Kuiken GDC .Wave propagation in a thin-walled liquid-filled initially stressed tube [J].

Journal of Fluid Mechanics, 1984, 141: 289-308

[74] Kuiken GDC .Amplification of pressure fluctuation due to fluid-structure interaction

[J]. Journal of Fluid and Structures, 1988, 2: 425-435

[75] Thkalkwijk JP, Kranenburg C.Cavitation in horizontal pipe lines due to water hammer

[J]. ASCE Journal of the Hydraulics Division.1971, 97(HY9): 1723-1725

[76] Thkalkwijk JP, Kranenburg C .Closure to “cavitation in horizontal pipe lines due to water

hammer” [J]. ASCE Journal of the Hydraulics Division, 1973, 99(HY3): 529-530

[77] Kot CA, Hsieh BJ, Youngdahl C K.Transient cavitation in fluid-structure interactions

[J]. ASME Journal of Pressure Vessel Technology, November 1981, 103: 345-351

[78] Wylie EB .Simulation of vaporous and gaseous cavitation [J]. ASME Journal of Fluids

Engineering, 1984, 106(3): 307-311

[79] Tijsseling AS .Fluid Structure Interaction in Case of Water hammer with Cavitation[D].

Ph.D.Thesis of Delft University of Technology, Delft, The Netherlands, 1993

[80] Brown FT .The Transient Response of Fluid Lines [J]. Journal of basic Engineering, 1962,

12: 546-553

126
 PhD dissertation from Huazhong University of Science and Technology

[81] Brown FT .A Quasi method of Characteristics with Application to Fluid Lines with
Frequency Dependent Wall Shear and Heat Transfer [J]. ASME Journal of Basic
Engineering, 1969, 6: 423-432
[82] D'Souza AF, Oldenburger R .Dynamic Response of Fluid Lines [J]. Journal of Basic

Engineering, 1964, 86: 589-598

[83] Holmboe EL, Rouleau WT .The Effect of Viscous Shear on Transients in liquid Lines

[J]. ASME Journal of Basic Engineering, 1967, 3: 174-180

[84] Tentarelli SC .Propagation of Noise and Vibration in Complex hydraulic Tubing

Systems[D]. Ph. D. Thesis of Lehing University, Department of Mechanical Engineering,

Bethlehem, USA, 1990

[85] Zielk M. Frequency-dependent Friction in transient Pipe Flow [J]. ASME Journal of Basic

Engineering, 1968, 90(1): 109-115

[86] Hino M, Sawamoto M and Takasu S. Study on the Transient to Turbulence and
Frictional coefficient in an Oscillatory Pipe Flow [J]. Transactions of JSCE, 1977, 9:
282-284
[87] Brunone B, Golia UM and Greco M. Some Remarks on the Momentum Equation for Fast

Transients[C]. international Meeting on Hydraulic transients with Column Separation,

9thRound Table, IAHR. Valencia, Spain, 1991: 140-148

[88] Davidson LC and Smith J E. Liquid-structure Coupling in Curved Pipes [J]. The Shock and

Vibration Bulletin, 1969, 40: 197-207

[89] Wood DJ and Chao S P. Effect of Pipeline Junctions on Waterhammer Surges [J]. ASCE

Transportation Engineering Journal, 1971, 97: 441-456

[90] Jones SE and Wood D J. The Effect of Axial Boundary Motion on Pressure Surge

Generation [J]. ASME Journal of Basic Engineering, 1972, 94(2): 441-446

[91] Ellis J A. Study of Pipe-liquid Interaction Following Pump-trip and Check-valve Closure in a

Pumping Station[C]. Proceedings of 3rd International Confernce on Pressure Surges. BHRA

Canterbury, March 1980: 203-220

[92] Tijessing AS, Vardy AE and fan D. Fluid Structure Interaction in a T-piece Pipe [J]. Journal

of Fluids and Structure, 1996, 10: 763-786

127
 PhD dissertation from Huazhong University of Science and Technology

[93] Tijessing AS, Vardy AE and Fan D. Fluid Structure Interaction and Cavitation in a single-

elbow Pipe System [J]. Journal of Fluids and Structure, 1996, 10: 395-420

[94] Kolsky H.Stress Waves in Solids[M]. Oxford: Clarendon Press, 1953

[95]Chen Yiming, Zhao Yongkai, Zhao Jingyi, et al. Vibration problem of hydraulic pipe flow[J].Journal of Northeast Heavy Machinery Institute,1994,

18(3): 275-282

[96] JIAO Xiu-wen, YAN Xiang-an, ZHANG Cheng-pu. A METHOD OF CALCULATING

PRESSURE DISTRIBUTION OF P ERIODIC PULSATION FLUID TRANSPORTED
IN PIPING NETWORK[J]. Transactions of Tianjin University, 1996, 2(2): 56-59

[97]Cao Shuping, Zou Zhanjiang, Yi Menglin. Finite element analysis of hydraulic pipeline forced vibration[J].Machine tools and hydraulics,1996, (4):

32-33, 46

[98]Jiao Xiuwen, Cao Yuping, Shi Xiaoqing, et al. Study on fluid pulsation in transmission pipeline network[J].Journal of Oceanography,1996, 18(6):

114-118

[99]Jiao Zongxia, Hua Qing, Yu Kai. Modal analysis of fluid-structure coupling vibration in transmission pipelines[J].Acta Aeronautica Sinica,1999,

20(4): 316-320

[100]Zhang Zhiyong, Shen Rongying. Analysis of solid-liquid coupling vibration response in liquid-filled straight pipe system[J].Journal of Vibration

Engineering, 2000, 13(3): 455-461

[101]Yang Chunli. A complex modal model of spatial pipeline and fluid-structure coupling vibration analysis[J].Irrigation and drainage machinery,2000, 18(2):

38-39

[102]Zhang Lixiang, Huang Wenhu,AS Tijsseling.Spectral analysis of fluid-solid combined vibration of weakly constrained pipeline induced by water hammer[J].

Engineering Mechanics,2000, 17(1): 1-12

[103] Ting EC, Hosseinipour A. A numerical approach for flow-induced vibration of pipe

structure[J]. Journal of Sound and Vibration, 1983, 88: 289-298

[104] Kohli AK, Nakra B C. Vibrainn analysis of straight and curved tubes conveying fluid by

means of straight beams finite elements[J]. Journal of Sound and Vibration, 1984, 93:

307-311

[105] Paidoussis MP and Li G X. Pipes conveying fluid: a model dynamical problem[J]. Journal

of Fluids and Structures. 1993, 8: 853-876

[106]Huang Yuying, Zou Shizhi, Qian Qin, et al. Nonlinear vibration, bifurcation and chaos of liquid-filled tubes: current status and prospects[J].Progress in

Mechanics,1998, 28(1): 30-42

128
 PhD dissertation from Huazhong University of Science and Technology

[107] Bajaj AK, Sethna P R. Effect of symmetry-breaking perturbation on flow-Induced

oscillations in tubes[J]. Journal of Fluids and Structures, 1991, 5: 651-679

[108] Ko CL, Bert C W. A perturbation solution for non-linear vibration of uniformly curved

pipes conveying fluid [J]. International Journal of Non-Linear Mechanics, 1986, 21:

315-325

[109] Wiggert DC, Hatfield FJ, Shtckenbruck S.Analysis of liquid and strctural transients in

piping by the method of characteristics. In Fluid Transients in Fluid-structure

interaction-1985 [J], ASME-FED 1985b, 30: 97-102

[110] Budny DD, Hatfteld FJ, Wiggert DC. An experimental study on the influence of

structural damping on internal fluid pressure during a transient flow [J]. ASME Journal

of Pressure Vessel Technology, 1990, 112: 284-290

[111] Wiggert DC, Hatfield FJ, Stuckenbruck S.Analysis of liquid and structural transients by

the method of charaeteristics [J]. ASME Journal of Fluids Engineering, 1987, 100:

161-165

[112] Elansany AS, Contractor DN .Valve Closure: Method for Controlling Transients [J].

Journal of Pressure Vessel Technology, 1994, 116: 437-442

[113] Vardy AE, Fan D. Fluid-structure interaction in a T-piece pipe [J]. Journal of Fluids and

Structures, 1996, 10: 763-786

[114]Cai Yigang. Fluid transmission pipeline dynamics[M].Zhejiang: Zhejiang University Press,1990

[115]Wang Xuefang, Ye Hongkai, Tang Rongming. Water hammer in industrial pipelines[M].Beijing: Science Press,1995

[116] Lee U, Joohong K .Dynamics of branched pipline systems conveying internal unsteady flow

[J]. Journal of vibration and Acoustics, 1999, 121: 114-122

[117] Soliman HO, Datta TK. The Seismic Response of a Piping System to Non-stationary Random

Ground Motion [J]. Journal of Sound and Vibration, 1995, 180(3): 459-473

[118] Misra AK, Paidoussis MP, Van KS .On the Dynamics of Curved Pipes Transporting Fluid.

Part I: Inextensible Theory [J]. Journal of Fluids and Structures, 1988, 2: 221-244

[119] Lavooij CSW, Tijsseling AS .Fluid-structure Interaction in Liquid-filled Piping

Systems [J]. Journal of Fluids and Structure, 1991, 5: 573-595
[120] Heinsbroek AGTJ, Lavooij CSW, and Tijsseling AS .Fluid-structure interaction in

129
 PhD dissertation from Huazhong University of Science and Technology

non-rigid piping-a numerical investigation[A]. Transactions of SMiRT 11, Tokyo, Japan,

1991, Paper B12/1, 309–314

[121] Gorman D G., Reese JM, and Zhang YL.Vibration of a Flexible Pipe Conveying Viscous

Pulsating Fluid Flow [J]. Journal of Sound and Vibration. 2000, 230(2): 379-392

[122] Everstine GC .Dynamic analysis of fluid-filled piping systems using finite element

techniques [J]. ASME Journal of Pressure Vessel Technology, 1986, 108: 57-61

[123] Jamnia MA,Jackson JE .A preliminary study for finite element analysis of two-
dimensional fluid-solid interaction[C]. In Proceedings of the 5thInternational
Conference on Pressure Surges, BHRA, Hanover,ermany, September 1986, 5l-62
[124] Hatfield FJ, Wiggert DC, Otwell RS. Fluid structure interaction in piping by
component symthesis [J]. ASME Journal of Fluids Engineering, 1982a, 104: 318-325
[125] Fujita K, Tanaka M .A coupled vibration analysis of piping system with contained

fluid[C]. In Proceedings of the 5thInternational Conference on Pressure Surges,

BHRA,Hanover, Germany, September 1986, 227-232

[126] Finneden S.Spectral finite element analysis straight fluid-filled pipes with flanges [J]. Journal

of Sound and Vibration, 1997,199(1): 125-154

[127] Sallstrom JH. Fluid-conveying damped Rayleigh-Tmoshenko beams in transient transverse

vibration studied by use of complex modal synthesis [J]. Journal of Fluids and Structures,

1993, 7: 551-563

[128] EI-Raheb M .Vibrations of three-dimensional pipe systems with acoustic coupling [J]. Journal

of Sound and Vibratian, 1981, 78(1): 39-67

[129] Lesmez MW, Wiggert DC, Hatfield FJ. Modal Analysis of Vibrations on Liquid-filled

Piping-systems [J]. Journal of Fluids Engineering, 1990, 112(3): 311-318

[130] J Charley and G. Gaignaert. Vibroacoustical Analysis of Flow in Pipes by Transfer Matrix

with Fluid-structure Interaction[C]. Proceedings of the 6th International Meeting of the

IAHR Work Group on the Behavior of Hydraulic Machinery under Steady Oscillatory

Conditions. Lausanne, Switzerland. September, 1993

[131] Zhang Li-xiang, AS Tijsseling, AE Vardy. Frequency Response Analysis in Internal Flows

[J]. Journal of Hydrodynamics, 1995, Ser. B. 3: 39-49

130
 PhD dissertation from Huazhong University of Science and Technology

[132] Zhang Li-xiang, Huang Wen-hu, AS Tijsseling, AE Vardy .Normal Modes of Fluid-
structure Interaction [J]. Journal of Hydrodynamics, 1998, Ser. B. 4: 71-89
[133] Zhang Li-xiang, AS Tijsseling and AE Vardy .FSI Analysis of Liquid-filled pipes [J]. Journal

of Sound and Vibration, 1999, 244(1): 69-99

[134] Otani A, Kobayashi H, Kobayashi N, Tadaishi Y. Performance of a viscos damper using

electrorheological fluid[C]. In: Ma DC ed. Proceedings of the 1994 ASME Pressure

Vessel and Piping Conference, Minneapolis, Minnesota, 1994- 06. New York: ASME,

1994. PVP-Vol. 287, MD-Vol. 47, 93-97

[135] Fang J, Lyons G J. Structural damping of tensioned pipes with reference to cables[J]. Journal

of Sound and Vibration, 1996. 193(4): 891-907

[136] Kwong AHM, Edge K A. Structure-borne noise prediction in liquid-conveying pipes

systems[A]. Proc of Institution of Mech Eng Part 1-J Syst. Control Eng, 1996, 210(3):

189-200

[137] Kwong AHM, Edge K A. A method to reduce noise in hydraulic systems by optimizing

pipe clamp locations[A]. Proc of Institution of Mechanical Engineers Part IJ

Syst Control Eng, 1998, 212(14): 267-280

[138] Tijsseling AS, Vardy A E. On the suppression of coupled liquid/pipe vibrations[A]. In:

Thomassen E. ed. Proc 18th International Symposium on Hydraulic Machinery and

Cavitation, Valencia, Spain, 1996-09. Netherlands: IAHR 1996: 945-954

[139] Koo GH, Part Y S. Vibration reduction by using periodic supports in a piping system[J].

Journal of Sound Vibration, 1998, 210(1): 53-68

[140] Tsai YK, Lin Y H. Adaptive modal vibration control of a fluid-conveying cantilever

pipe[J]. Journal of Fluid and Structure. 1997. 11: 535-547

[141] Chen YQ, Fan QS, Zhu Z G. Acquiring appropriate objective functions during optimal

vibration design of the piping system[M]. In: Chien Wei-Zang eds. Proceedings of the 4th

international conference on nonlinear mechanics, ICNM 4, China, 2002-08. Shanghai:

Shanghai University Press, 2002: 544-549

[142] Yau CH, Bajaj AK, Nwokah O D. Active control of chaotic vibration in a constrained
flexible pipe conveying fluid[C]. In: Ibrahim RA, Namachchivaya NS, Bajaj AK,

131
 PhD dissertation from Huazhong University of Science and Technology

eds. Proceedings of the Winter Annual Meeting of the American Society of Mechanical

Engineers, Anaheim, California, 1992-11. Now York: ASME, 1992, DE-Vol. 50, AMD, Vol. 144,

93-108

[143] Lin YH, Chu CL, Active flutter control of a cantilever tube conveying fluid using

piezoelectric actuators[J]. Journal of Sound and Vibration, 1996, 196(1): 97-105

[144] Semercigil CE, Turn OF, Lu S. Employing fluid flow in a cantilever pipe for the vibration

control[J]. Journal of Sound and Vibration, 1997, 205: 103-111

[145] Doke H, Hiramoto K. Active control of cantilevered pipes conveying fluid with

constraints on input energy[J]. Journal of Fluids and Structures, 1998, 12: 615-628

[146] Lin YH, Chu C L. Active modal control of Timoshenko pipes conveying fluid[J]. Journal of

Chinese Institute of Engineers, 2001, 24(1): 65-74

[147] Caillaud S, de Langre E, Philippe P. Measurement of critical velocities for fluid elastic

instability using vibration control[C]. In: Pettigrew MJ, Paidoussis MP eds. Flow-Induced

Vibration: Presented at the 1999 ASME Pressure Vessels and Piping Conference,

Boston, Massachusetts, 1999-08-01-05. New York: ASME, 1999. PVP-Vol. 389: 49-55

[148] Saroj KB, Ahmed N U. Optimal Control of Flow-Induced Vibration of Pipeline[J].

Dynamics and Control, 2001, 11: 187-201

[149] Lin YH, Tsai Y K. Non-linear active bibration control of a cantilever pipe conveying

fluid[J]. Journal of Sound and Vibration, 1997, 202(4): 477-490

[150] Borglund D. Active nozzle control and integrated design optimization of beam subject to

fluid-dynamic forces[J]. Journal of Fluid and Structure, 1999, 13: 269-287

[151] Charalambos Antoniades, Panagiotis D. Christofides. Feedback control of nonlinear

differential difference equation systems[J]. Chemical Engineering Science. 1999, 54:

5677-5709

[152]Li Wanyou, Zhang Hongtian, et al. Experimental study on semi-active control technology of ship piping vibration[J].Journal of Harbin Engineering University,

1999,20(3): 11-15

[153] Svingen B .A Frequency domain solution of the coupled hydromechanical vibrations in

piping systems by the finite element method[C]. Proceedings of the 17th IAHR

132
 PhD dissertation from Huazhong University of Science and Technology

Symposium on Hydraulic Machinery and Cavitation, Beijing, China, Sept. 1994, Vol. J:

603-614

[154] Lee U, Pak CH and Hong S C. The dynamics of a piping system with internal unsteady flow

[J]. Journal of Sound and Vibration. 1995, 180: 297-311

[155]Zhang Lixiang, Huang Wenhu,Tiisseling A S.Research progress on fluid-structure interaction vibration of liquid-filled pipes[J].Hydrodynamics

research and progress,2000, Ser A, 15(3): 367-378

[156] Wiggert DC, Otwell RS, Hatfield F J. The effect of elbow restraint on pressure transients

[J]. ASME Journal of Fluids Engineering, 1985, 107: 402-406

[157] Walker JS, Phillips JW. Pulse propagation in fluid-filled tubes [J]. ASME J. Applied

Mechanics, 1977, 3: 31-35

[158] Valentin RA, Phillips JW, Walker J S. Reflection and transmission of fluid transients at an

elbow [J]. In: Transactions of SMiRTS. Berlin, Germany, 1979, paper B: 2-6

[159] Hsiao RC, Zhang H J. Robust analysis of optimal flow control for reducing fluid
transients [J]. IEEE, 1991: 49-53
[160] Brown FT, Tentarelli S C. Dynamic Behavior of Complex Fluid-Filled Tubing
Systems-Part I: Tubing Analysis [J]. Journal of Dynamic Systems, Measurement, and
Control, 2001, 123: 71-77
[161] Doebelin E O.System Modeling and Response-Theoretical and Experimental
Approaches[M]. John Wiley and Sons. 1980
[162]Li Baoshun. Calculation of natural frequency of fluid vibration in hydraulic system [J].Hydraulics and pneumatics,2004, (6): 16-19

[163] Wilkinson D H. Acoustic and Mechanical Vibration in Liquid-filled Pipework Systems

[C]. Proceedings BNES International Conference on Bibration in Nuclear Plant.

Keswick, May 1978, Paper 8.5: 863-878

[164] Nanayakkara S and Perreira N D.Wave Propagation and Attenuation in Piping System

[J]. ASME Journal of Acoustics, Stress, and Reliability in Design. 1986, 108: 441-446

[165] Lesmez MW, Modal Analysis of Vibrations in Liquid-filled Piping Systems[D]. Ph. D.
Thesis of Michigan State University, Department of Civil and Environmental
Engineering, East Lansing, USA, 1989
[166] De Jong CA F. Analysis of Pulsation and Vibrations in Fluid-filled Pipe Systems[D]. Ph.

133
 PhD dissertation from Huazhong University of Science and Technology

D. Thesis of Eindhoven University of Technology. Elndhoven, The Netnerlands, 1994

[167] Svingen B. Fluid Structure Interaction in Piping Systems[D]. Pd. D. Thesis of the

Norwegian University of Science and Technology, Faculty of Mechanical Engineering.

Trondheim, Norway. 1996: 61-71

[168] Vardy AE and Brown JM B. Transients, Turbulent, Smooth Pipe Friction [J]. IAHA Journal

of Hydraulic Research, 1995, 33: 435-456

[169]Zhang Lixiang, Yang Ke. Fluid-structure interaction theory and its applications[M].Beijing: Science Press,2004

[170]Wang Leqin, He Qiuliang. Pipe system vibration analysis and engineering application[J].Mobile machinery,2002, 30(10): 28-31

[171] Landau ID .A survey of model refrence adaptive technique(theory and application) [J].

Automatica, 1974, 10(4): 353-379

[172] ShinY W, Wiederman AH .A Method for Suppression of Pressure Pulse in Fluid-filled

Piping, part: Theoretical Analysis [J]. ASME Journal of Pressure Vessel Technology,

1992, 114: 60-65

[173]Sun Qinghong, Zhang Qijun, Yao Huizhu. Damping control of vibration and noise[M].Beijing: Machinery Industry Press, 1993

[174]Ji Wenmei, Fang Tong, Chen Songqi. Mechanical vibration[M].Beijing: Science Press,1985

[175]He Yongsen, Liu Shaoying. Numerical prediction of flow in mechanical tubes[M].Beijing: National Defense Industry Press,1999

134
 PhD dissertation from Huazhong University of Science and Technology

appendixAThe data curve of the verification experiment (taken from the literature [156])

Attached photos1Valve pressure test results

Attached photos2Pipe bendingCDepartmentz1Directional pipe velocity experimental results

135
PhD dissertation from Huazhong University of Science and Technology

Attached photos3Pipe bendingCDepartmentz2Directional pipe velocity experimental results

136
 PhD dissertation from Huazhong University of Science and Technology

appendixBList of academic papers published during degree study

1． Yang Chao, Yi Menglin. Based on fluid-structure interaction (FSI)Hydraulic water hammer vibration response analysis of the model[J].Hydraulics and pneumatics,

2006, (8): 15-17

2．Yang Chao, Yi meng-lin .Numerical Solution of Fluid-structure Interaction in

Liquid-filled Pipes by the Method of Characteristics[J].Chinese Journal of Mechanical

Engineering, (Recruitment)

3． Yang Chao, Yi Menglin, Li Baoren. Coupled vibration of pipelines with unsteady flow[J].China Mechanical Engineering, (accepted) 4．

Yang Chao. Modal analysis of axial vibration of hydraulic system pipeline[J].Machine Tools and Hydraulics, (hired)

137