Professional Documents
Culture Documents
By
Victor Robles Nieves
December 2004
________________________________ _________________
Basir Shafiq, Ph.D. Date
Member, Graduate Committee
_________________________________ _________________
Frederick Just, Ph.D. Date
Member, Graduate Committee
_________________________________ _________________
Oswald Uwakweh , Ph. D. Date
Representative of Graduate Studies
_________________________________ _________________
Jia Yi, Ph.D. Date
Chairman, Graduate Committee
_________________________________ _________________
Prof. Paul Sundaram, Ph.D. Date
Chairperson of the Department
ABSTRACT
finite elements models for the pipe system were developed: a structural finite
element analysis model with multi-support system for frequency analysis, a fluid-
structure interaction (FSI) finite element model and a transient flow model for
frequencies, static, dynamic and thermal stresses, and the limitation of the pipeline
at the segment k has a negative effect on the entire piping system. It was
determinated that the first natural frequency of the whole system occurs at 2.07
Hz, and the second at a frequency of 5.65 Hz. Resonance vibration for the first
mode shape was found at a flow rate of 40 lbm/s, and resonance vibration for the
analysis, the limit maximum flow rates were determinated based on the rate of a
rapid closure of the isolation valve. A study of the fluid transient in a simple
interaction effects. The results show notable differences in the velocities profile
ii
RESUMEN
tesis. Tres modelos de elementos finitos para las tuberías fueron desarrollados: un
fluido transiente para análisis de golpe de ariete en una tubería llena de fluido. Las
forma de vibración a una razón de 275 lbm/s. Para el análisis de golpe de ariete, el
simple. Los resultados obtenidos del modelo de elementos finitos para el caso de
iii
ACKNOWLEDGMENTS
University of Puerto Rico and NASA for their financial support; especially Dr.
Travis for the opportunity to be a part of a summer intern at NASA facilities, Dr.
Castillo and Dr. Just for their supports and helps. Special thanks to my advisor of
the thesis, Dr. Yi Jia, who has treated me with honesty and provided wise advises
for the completion of the work during all my master studies. The graduate students
for their friendship and Virmarie Zengotita, who has been with me since the
mother, even when fiscally can’t be with me, her lessons and values are always
present.
iv
TABLE OF CONTENTS
LIST OF TABLES...................................................................................................x
NOMENCLATURE .............................................................................................. xi
1.1 Introduction....................................................................................................1
2.1.1 Assumptions..........................................................................................14
2.3 Results..........................................................................................................19
ANALYSIS...........................................................................................................27
v
3.1.1 Governing Equation ..............................................................................29
3.3 Conclusions..................................................................................................47
4.3 Conclusions..................................................................................................56
6.3.3 Mesh......................................................................................................71
6.4 Results..........................................................................................................71
vi
6.5 Conclusions..................................................................................................76
7.2 Conclusions..................................................................................................79
REFERENCES ......................................................................................................83
APENDIX ..............................................................................................................88
vii
LIST OF FIGURES
Figure 2.5b: Stress vs. length for gap correction case ...........................................19
viii
Figure 3.14: Possible failures for segments A, B, C, D, and F ..............................46
Figure 4.3: Resonances per segment at different flow rates for the mode
shape 1 ...........................................................................................................53
Figure 4.4: Possible resonances per segment at different flow rates for mode
shape 2 ...........................................................................................................54
Figure 4.5: Possible resonances per segment at different flow rates for mode
shape 3 ...........................................................................................................54
Figure 5.2: Boundary layer type of turbulence power spectral density [5] ...........63
ix
Figure 6.10: Velocities profile at the sixth iteration ..............................................76
LIST OF TABLES
Table 2.4: Maximum Axial Rotation Due to Temperature Changes for 0 Gap.....23
Table 2.5: Maximum Axial Rotation Due to Temperature Changes for 0.25
Gap.................................................................................................................23
x
NOMENCLATURE
∇ = Divergent
ac = Cross-sectional Area
C = Speed of Sound
Ca = Corrosion Allowance
Cs = Damping of Structure
Di = Inner Diameter
Do = Outer Diameter
E = Modulus of Elasticity
ΣF = Total Force
Fa = Axial Force
fn = Natural Frequency
i = Intensification Factor
K = Pipe Stiffness
L = Length
M = Structure Mass
m = Mass intensity
xi
ma = Mass Added due water
Ma = Torsion Moment
Mi = In Plane moment
mt = Total Mass
Pd = Design Pressure
P = Pressure
Po = Applied load
Re = Reynolds Number
Sa = Axial Stress
SB = Bending Stress
Se = Expansion Stress
Sh = Strouhall Number
SH = Hoop Stress
SL = Longitudinal Stress
Ss = Sustained Stress
ST = Torsion Stress
t = Time
xii
T1 = Low Temperature
T2 = High Temperature
V = Flow velocity
γ = 2α
wf = Natural frequency
w = Applied frequency
∆ = deflection
υ = Poisson Ratio
ρs = Structure Density
ρw = Water Density
xiii
CHAPTER 1 INTRODUCTION
1.1 Introduction
One of the major problems during the rocket-engine test at NASA is the
vibration experienced from the exhaust plume on its components. Flow induced
vibration occurs when the natural frequency, fn of the line transporting the
propellant and fluid flow are the same or near 1.4. This matching of the two
of this piping system is the operation of valve. The effect of suddenly stopping or
overpressure. Is this overpressure is enough the pipeline may fail or deform. The
object is changed in the structure, the object will experience length or area
deformation thus volume changes. The magnitude of this change will depend on
Two know investigation has been previously done in this facilities, Castillo [1]
created a model to study the acoustic induce vibration, he obtain results of noise
velocities that may cause buckling of the pipelines. His models were based on a
1D mass spring model. It was performed to study the natural frequencies and
1
critical flows velocities at resonance, it main focus was on the fluid flow. He
discretized the pipe system in straight segments, the problem of his model is that
not considers the boundary conditions and support configurations. Also, it did not
provide stresses and strain results in all axis. The other know work was performed
by Indine, inc, they created a fluid dynamic model using EASY5 software to
simulated the transient pressure and flow state at each point in the feedline.
pressure oscillation forces on propellant line. A problem of their model is that the
This new investigation is focus on the structure, it consider the effect created
vibration effect caused by vortex shedding and turbulence flow were consider as
well the water hammer effect on the structure and the thermal stress. For this
interaction (FSI) finite element general model and transient timer response general
piping system is not new; practically every person has used one. For the general
public there is very little understanding of the phenomenon behind the use of
piping systems. In some applications, like power plants, the failure of piping
2
systems can cause severe economic losses and in worst cases the loss of human
lives. Some of the design or operation factors that may cause failures in piping
systems are: incorrect support, transient pressure changes, flow induced vibration
and thermal stresses. Several standard codes have been developed to regulate the
Vortex shedding occurs when the flow past an obstacle such as cylinder, sphere or
any other disturbing object; resulting in vortices behind the cylinder. These
vortices move downstream of the pipeline at a frequency, fs, if the conditions are
When the fluid velocity exceeds any but the smallest values characteristic of
“seepage” flows, eddies will form even if the surface of the flow channel is
perfectly smooth. The flow is said to be turbulent after it has achieve a specific
by the turbulence flow has the characteristic of being random. With the
appropriate conditions this force will induce pipe vibration, this type of vibration
Water hammer normally occurs during the opening or closing of valves, and it
system. Figure 1.1 shows a diagram illustrating this phenomenon. Notice that this
as a big noise coming out of the pipe. This is what is heard sometimes when the
3
water faucet is suddenly open or close.
Fluid flow through valves, bends and orifices generates turbulence as the flow
passes through the obstacle. This in turns radiates acoustic waves (of velocity Ua
and pressure Pa) upstream and downstream of the valve. Thus, as the area of the
valves and flow meters changes subsequently the acoustic waves. This is because
the waves have an acoustic pressure that acts against the surface of the pipe.
Consequently, the fluid flow and the solid surface are coupled through the forces
exerted on the wall by the fluid flow. The fluid forces cause the structure to
deform, and as the structure deforms it then produces changes in the flow. As a
result, feedback between the structure and flow occurs: action-reaction. This
between the fluid flow and the solid surface the equations of motions describing
the dynamics are coupled. This makes the problem more challenging, and even
worse when the flow is turbulent. In addition, this means that the Navier-Stokes
equation and the structure equation for the solid surface must be solved
V a lve
A co u stic W av e Flo w
T an k
.
4
1.1.2 The Analysis
liquid behavior under operational conditions. Static pipe stress and structural
system; whereas the fluid analysis yields stream pressures; the structural dynamic
Figure 1.2 shows the structural analysis element with its corresponding
analyses. In the static analysis maximum stresses and displacements were found
for the complete system, the weakest elements of the piping system with different
pressure waves were applied to the system as internal pressure loads, as a result
the maximum flow rate that the system can resist before failure was identify
within its corresponding stress. For the thermal analysis stress caused by a
were obtained. For the resonance vibration analysis the first and second natural
frequencies of the piping system were identified using a finite element program
and compared with the applied frequency from the fluid resulting from vortex
5
3D Solid Model
This section services as a literature review about previous works done by other
researchers, which has been used as reference sources, support and background
for this research. Many papers and books have been consulted, but most of them
are briefly mentioned and some of them are discussed along the thesis. The papers
Investigation of the flow induced vibration at the NASA Facility has been
conducted by InDyne, Inc. They. Created a fluid dynamic model using EASY5
software to have simulated the transient pressure and flow state at each point in
pressure oscillations associated with valve opening and closing operations as well
6
study the acoustic induce vibration, he obtain results of noise and frequency.
support system generally under the action of seismic conditions for both linear and
non linear behaviors under the action behaviors. Vayda [37], presented his
research on the dynamic behavior of piping systems under the influence of support
to pipe gap with the seismic conditions and the nonlinearity of the system
Lockau,Haas and Steinweder [38] presented their work on piping and support
design due to high frequency excitation as the criterion. Morgan [30] studied the
was analyzed. However their results were restricted to real wave numbers and to
Thomson [29] introduced the effects of Poisson’s ratio and included flexural
and axial wave motion and evaluated the phase velocities of the first three
presents an equation to estimate the values for the frequency of the vortex
shedding,
SV
fs = (1.1)
di
where S is the Strouhal number, V is the flow velocity and di the inner pipe
diameter.
7
5.43 X 10 5 ≤ Re D < 6.06 X 10 6 , a Strouhal number of about 0.41 is appropriate.
This is the range of Reynolds number used in our case. Blevins [26] gives a brief
A.S. Tijsselin [9],[10] has done extensive literature reviews about Fluid Structure
offers an alternative way to measure the damping ratio by measuring the power
Cuschieri [31] investigated the transmission of vibrational power from the piping
system to the supporting structure using power flow and structural mobility
methods. This approach can be applied to isolate straight pipe sections as well as a
structural mobility terms. Kumar [27] derived the frequency equation for
study the flexural vibrations (n=1) of empty and fluid-filled shells of different
thickness. The effect of fluid was negligible for vibrations of thick shells. As the
thickness of the shell decrease, the presence of fluid gave extra modes of
the analytical results obtained with the extended Joukowksy equation. He found
that In the case of the bended pipe the pressure amplitude of the extended
8
Joukowsky equation seems to be too conservative. Samsury [28] discussed the
plane axial waves in the fluid getting converted to flexural beam vibrations of the
fluid filled cylindrical elastic shells. The dependence of phase velocity on various
physical parameters of the system was analyzed. However their results were
form solutions for the joint acceptances for spring-supported and simply supported
beams. K.T. TRUONG [22] in his paper evaluated dynamic stresses of a Pipe
Line, presented a fast and reliable way to evaluate the harmonic dynamic stresses
of a simply supported pipeline from the data collected on the field. He also offers
a basic understanding to solve quickly vibration problem when and where the
computer software is not accessible. Paidoussis, M.P.; Au-Yang, M.K. and Chen,
S. S., [38] in 1988, studied leakage flow induced vibration. He collected technical
components.
1.3 Objective
facilities. As outcomes, maximum flow rate that may cause resonance and
9
vibration amplitudes, based on transient flow analysis, will be identified. The
programs will be created In order to achieve these major goals. The following are
specific objectives:
1. Create a finite element model for static structural analysis of the specific
structure interaction.
10
CHAPTER 2 STATIC ANALYSIS
conditions for given problem. This model was created in the commercial software
In our case the code that was applied is the ASME B31.1 power piping code. This
model is intended to only simulate static fluid flow, and for a structural analysis.
Simulating the effects of fluid flow will be presented in separate analysis in the
following chapters.
complex problem [6]. The type of element used can be described as following: an
element has six degrees of freedom at two nodes: translations in the nodal x, y,
and z directions and rotations about the nodal x, y, and z axes. Figure 2.1 shows
11
Figure 2.1: Elastic straight pipe elements
reducer as shown in Figure 2.2. The segments are named with letter that goes from
A to N. The model has the capability of return values every 4 inches. For sections
inches and an internal diameter of 4.209 inches, this leads to a thickness of 1.208
inches. From sections I to n the outside diameter is 4.5 inches with an inside
density of 0.2899 lb/cu in. The fluid inside of the piping is liquid oxygen with a
density of .0411 lb/cu in. Table 2.1 summaries the properties of the pipelines.
12
A
2 2
I E B
H F
2 1
3 3
J G D C
L
N
3
M
6 in section 4 in section
13
The pipeline has three types of supports as shown in Figure 2.3; the first one is
a one-way support, constraining the movement in the negative Y axis. The second
one is a 4 way constrain support, it has a .25 inches of gap for the x and for the
positive Y axis, for the negative Y axis the displacement is constrained. The last
2.1.1 Assumptions
The weight of the tank which is at section A was not included in the analysis
because all its weight is sustained by its own separate supports. This part of the
connection was considered welded under ANSI B16.9. The section connected in
the T has two valves and was not considerate after the valves refer to Figure 2.2.
For the location of the T, there is a flow meter that its weight was also not
to the piping is minimal. The supports were treated as rigid elements. The anchors
14
at sections F and N were modeled as rigid in all directions. The weight of the
valve at section I is considered to be held by its own supports, thus is not include
Cylindrical pressure vessel and pipes carrying fluids at high pressure develop
stresses with values that are dependent upon the radius of the element under
consideration. The pressure inside of the cylinder acts on the wall of the same, as
a result a stress acting uniformly over the area is created. This stress is the hoop
⎧⎪⎡ Do ⎤ ⎫
SH = P ⎨⎢ ⎥ − 0 .4 ⎬ (2.1)
⎪⎩⎣ 2(thk − ca) ⎦ ⎭
diameter, thk is the thickness and ca is the corrode cross-sectional area, in our case
no corrosion is expected for the stainless steel, thus the ca value becomes 0.
Another stress created due to pressure is the longitudinal stress, this stress is
created along the pipe, and it will depend on the geometry of the pipe as well on
support or any stress intensity factor in the pipe. The stress is calculated with the
following equation.
SL =
[(i Mi)
i
2
+ (io Mo) 2 ] 1
2
+
Fa + Pa
(2.2)
Z Ac
15
where Mi is the in-plane moment, Mo is the out of plane moment Z is the
cross-sectional area and Pa is the axial force from internal pressure and is
Pa =
π
{P[D0 − 2(−ca)]2 } (2.3)
4
The static analysis serves as a starting point, where the weakest elements are
going to be identified and the cause of it. As well, the support with the reaction
that creates to the piping system will be analyzed. It’s not expected any failure or
After an inspection of the pipeline it was found a space or gap between certain
supports and the pipeline as shown in Figure 2.4. The gap means that the pipelines
in certain areas do not touch the support, therefore their weight load is supported
by segments of others areas. The reason for the space is unknown but it might
were made with the gap and without the gap to see if the gap makes any
16
Figure 2.4: Pipe with gap
One of our goals in this investigation is to study the effect of the temperatures
changes. If the temperature of an object is changed in the structure, the object will
experience length or area thus volume changes. The magnitude of this change will
Changes in temperature affect all dimensions in the same way. In this case,
thermal strain is handled as strain due to an applied load. For example, if a bar is
heated but is constrained the stress can be calculated from the thermal strain and
Hooke’s law.
σ th = Eε th (2.4)
where E is the modulus of elasticity and ε th is the thermal strain, the length L,
area A, and volume V, strain are calculated with the following equations.
17
∆L = αL0 (T2 − T1 ) (2.5)
γ ≈ 2α (2.7)
β ≈ 3α (2.9)
Algor calculate the thermal stress using the restrained and unrestrained
conditions, PipePlus determines the restrained or unrestrained status according to
the Y coordinate for each segment of pipe. A positive Y coordinate value
represents an aboveground (unrestrained) segment. A negative Y coordinate value
represents a buried (restrained) segment.
For the restrained segments the sustained stress is calculated with the
following equation [14]:
S L = Eα (T 2 − T 1) (2.10)
For the unrestrained segment the expansion stress is calculated with the
following equations [14]
[
S E = Sb2 + 4 St2 ] 1
2
(2.11)
Where;
Sb =
[(i M ) + (i M ) ]
i i
2
0 0
2
1
2
(2.12)
Z
Mt
St = (2.13)
2Z
18
2.3 Results
0.12
Segment A
Segment B
0.1
Segment C
Segment D
0.08
Stress/Allowance
Segment E
Segment F
0.06 Segment G
Segment H
0.04 Segment I
Segment J
Segment K
0.02
Segment L
Segment M
0 Segment N
Segments
0.035
Segment A
0.03 Segment B
Segment C
0.025 Segment D
Stress/Allowance
Segment E
0.02 Segment F
Segment G
0.015 Segment H
Segment I
0.01 Segment J
Segment K
0.005 Segment L
Segment M
0 Segment N
Segments
19
Figures (a) and (b) show the peak static stress/allowance ratio value for segments
from A to M for both cases, with the gap and without the gap in section k, refers
to Figure 2.6 for location of this segment. The stress to allowance ratio is the
division of the maximum allowance stress per ASME code B31.1 and the actual
maximum actual stress per segment. These values were obtained using the Algor
Gap
J
20
0 in gap .25in gap
545 psi
70
1789 PSI
1789 psi
220
Figure 2.7 shows the stresses distribution along the piping system. It also
shows the peak stress for the case with gap and without gap, and the location of
the same. The left side of the Figure is the case without the gap and the right one
The following Tables 2.2 to 2.7 summarize some of the results. Although the
effect can be seen in the stresses, particularly for those where the gap of .25 inches
is present
21
Table 2.2: Thermal Maximum Displacement for 0 Gap
Temperature X Y Z
Segment Segment Segment
°F (inches) (inches) (inches)
Temperature X Y Z
Segment Segment Segment
°F (inches) (inches) (inches)
The results from Tables 2.2 and 2.3 reveal that the structure experiences some
displacement due to temperature changes, but the changes in all directions are
almost identical. In Tables 2.4 and 2.5 present rotation experience by the zero and
with the .25 inches gap cases. However, after -300 F degrees the two cases are
identical.
22
Table 2.4: Maximum Axial Rotation Due to Temperature Changes for 0 Gap
Temperature X Y Z
Segment Segment Segment
°F (inches) (inches) (inches)
Table 2.5: Maximum Axial Rotation Due to Temperature Changes for 0.25
Gap
The stresses due to temperature changes are shown in Tables 2.6 and 2.7 for
the gap and elimination of the gap cases, respectively. Unlike the previous tables
of displacement and rotation the results for the stresses are different for the zero
gaps. Only at a temperature of -300 °F both stresses are the same, but for the other
23
Table 2.6: Stress Due to Temperature Changes for 0 Gap
Stress 0 GAP
-200 0.26 F
11188
2.4 Discussion
In Figure 2.5, it can be seen that a stress peak point at segment L. This peak
value means that there are some factors increasing the stress in this location. Some
factors that may contribute to the increment of the stress are supports, tees or
anchors. In this particular case it was found that a .25 inches gap in two supports
located at section K creates an increase of stress. The reason is that the entire
24
segment does not touch the support. With the gap correction the stress reduces, it
is true not only in section L but also in almost all other segments, for comparison
cases, Figure 2.7 can be referenced. With the .25 in gap the maximum static stress
is 1789 psi that is a ratio of stress/allowance of .10. With the gap correction the
.03. This number looks insignificant at this moment later when the fluid pressure
is taken into account this increase in stress becomes more significant. Again the
intention at this moment is to identify which are the weakest elements and its
Segment L Segment I
For the static stress case the gap on the supports at segment k has a negative
effect in the piping, increasing the stress and displacement in almost all the
segments. The more vulnerable segments of the pipe system are F, G, H and I.
Correction of the gap definitely reduce the stress in almost half for the static case.
None of the segments are close to the stress/allowance ratio of 1.0, and is expected
that with the addition of the fluid pressures loads to the system, the stress will be
affected by this gap also the natural frequencies and the pressure history. At this
25
phase of the investigation the more vulnerable segments were found.
For the thermal case the stress and displacement with the gap of .25 in and
zero gaps were analyzed in a range from -100 to -400 °F degrees, (the temperature
stress and displacement were found. However; the more important values
correspond to the -200°F which are the operational values for liquid oxygen. For
the .25 in the maximum stress and displacement was found 11,188 psi with a
corresponding stress/allowance ratio of .26. For the zero gap 10,710 psi with a
segment F. However, these values are in the acceptable range and no action is
26
CHAPTER 3 WATERHAMMER INDUCED
performed. An extension to the specific case study was achieved. The main focus
valve as a potential source for excessive pressure and the possible violent pipe
also treated. Therefore, the model used for the study of the valve behavior was a
simple pipeline that connects two reservoirs. For application purpose the
maximum waterhammer pressure was analysis for the NASA piping system and
numerical code has been developed. Then, the effect of closing the valve at
model for frictional losses. The specific case of the NASA facilities is discussed in
section 3.6.
Classical equations that describe this problem can be found in the literature
and Etal works. In this investigation the formulation includes the nonlinear terms.
27
pressure drops in this investigation. In many cases this coefficient is calculated
losses are found in the valve and pipe, as consequence of fluid contractions and
shear stress.
orifice; therefore modeling the same can be represented with a flow orifice study.
Thus, the coefficient of discharge for the valve case is assumed the same as in the
orifice. For the case of flow through an orifice Sisavath and etal [43] develop
different models, the application of this model can be extended to pressure drop in
a valve. For the case of friction losses due to shear stress the most useful model is
These models were compared with others models and the unsteady friction
were classified by Bergant and etal [44] [45]. Also, they investigated the Brunone
[46] models in detail and compare with results of laboratory measurements for
water hammer cases with laminar and low Reynolds number in turbulent flows.
Assumptions of pure liquid all the time without presence of air or bubbles is
made, therefore the cavitation effect is not considered in this model. Under this
assumption, the study of air valve [50] and entrapped bubbles [51] are not
equation in the space and time domain [48]. For transient part the method of
characteristic is applied, this is the preferred method to solve the time integration
28
[42] [49]. Limitation of this technique is when nonlinear terms are included,
therefore the MacCormack predictor corrector method is used to solve for the
nonlinear terms.
Under typical pipeline operating conditions of the fluid accelerates and holds
simplifications will be taking into account: axisymetric flow, no sterling flow and
the momentum equation, but the friction losses is contemplated using unsteady
model. Another consideration is that the fluid is essentially compressible and the
∂p ∂V
+ ρa 2 =0
∂t ∂x (3.1)
∂V 1 dp fV V
+ + =0
∂t ρ dx 2D (3.2)
Where f is the friction factor. Bergant and etal [46], based on experimental
results recommend the original Brunoe model as an effective model. Brunoe [47]
29
kD ⎛ ∂V ∂V ⎞
f = fq + ⎜ − ⎟
V V ⎝ ∂t ∂x ⎠
(3.3)
Diagram [i]. Also the relative roughness can be found tabulated for different pipe
coefficient C * :
C*
k=
2 (3.4)
7.41
log(14.3 / Re 0.05 )
Turbulent flow (3.5b)
Re
30
assumed that the reservoir of the pipe line will maintain constant level, thus
pn = ρgH = Pi
inlet (3.6)
Where the subscript n indicate time at the instant n . Therefore, the boundary
condition for the velocity at the valve, under steady state conditions, is known and
also the volumetric flow rate. Using the discharge coefficient, the volumetric flow
rate is:
Q0 = C d A0 2 p 0 / ρ
valve (3.7)
coefficient and A0 is the area of open valve. An schematic of the model with it
The volumetric flow as a function of valve steam depends on the type of valve
percent of the maximum volumetric flow at the acting pressure of the system [54]
[55] Figure 5.2 shows a typically close-open curve [56] for a valve.
31
Figure 3.2: Typically close-open curve [55]
Assuming that last relationship is valid for transient conditions, the velocity at
AT pn
Vn = C d F (l ) 2 n
= Vv
valve
A0 ρ (3.8)
Where, F (l ) is the percent of caudal obtained from Figure 3.2 and l the stem
position. AT the area of valve totally open and A0 the area of the valve partially
32
3.1.3 Numeric Discretization
∂p ∂V
+ ρa 2 =0 (3.10)
∂t ∂x
∂V 1 dp fV V
+ + =0 (3.11)
∂t ρ dx 2D
p(inlet , t ) = P (3.14)
V (valve, t ) = V (3.15)
Then, for the spatial and temporal discretization the MacCormak is used. The
nonlinear PDE and system of PDE [48]. In the MacCormak method, the predicted
approximations:
∆t n
pin +1 = pin − ρa 2 (Vi +1 − Vi n )
∆x (3.16)
∆t ∆t n
Vi n +1 = Vi n −
ρ∆x
( p in+1 − p in ) − Vi n f
2D
Vi
(3.17)
33
p in +1 =
1⎡ n
⎢
2⎣
p i + p in +1 − ρa 2
∆x
(
∆t n +1
)⎤
Vi − Vi n−1+1 ⎥
⎦ (3.18)
Vi n +1 =
1⎡ n
⎢
2⎣
Vi + Vi n +1 −
∆t
ρ∆x
( )⎤
pin +1 − pin−+11 ⎥ − Vi n f
⎦
∆t n
2D
Vi
(3.19)
stationary condition given by the Courant number less than one. For this system of
∆t ∆t
Cn1 = ρa 2 ≤ 1 and Cn1 = ≤1 (3.20)
∆x ρ∆x
Here, when ∆x is imposed, the ∆t can be found from the last equation.
To integrate the equations a Fortran code has been developed. As a test case,
the instantaneously totally close behavior for the valve was performed to validate
convergence. The nodal point selected for the spatial discretizacion was chosen as
500 for all the cases. The ∆t was chosen as: 0.03, 0.04 and 0.05 second.
The frictional term for the test case was neglected. The pressure distributions
for different times in the adjacent point to the valve are shown in Figure 3.3 as a
result.
Pressure fluctuation in each step corner of Figure 3.3 are not smooth, this is
attributed to the noise effect. Figure 3.4 shows the details of the numerical noise
34
Figure 3.3: Wave pressure for different dt
35
Based on previous result, ∆t and ∆x was selected. After the selection of step
and time, a simulation considering the friction factor is performed. Figure 3.5
shows the results of the simulation for the pressure distribution adjacent to the
point of the valve. The simulation is performed for both with and without friction
case. Friction effect can be appreciated as a decrement of pressure along time. The
effect of pressure losses can be seen when comparing with previous case.
A study of time of closing was performed with the same parameter that in the
test case. The valve studied is of a linear type. The behavior of the pressure for
36
Figure 3.6: Effect of time of close
Figure 3.6 shows that the maximum pressure as a function of valve closing
time, the faster the valve is close the higher and the abrupt the change on pressure
is.
The fluid bulk modulus of elasticity is the other parameter that may contribute
to the maximum pressure. For different Bulk modulus of elasticity the maximum
37
Figure 3.7: Effect of bulk Elasticity Modulus
chosen was austenitic stainless steal and the fluid content is liquid oxygen. The
applicable properties are shown in Table 3.1. To have liquid oxygen at ambient
Length (m) 1 1
38
Figure 3.8: Effect of time of close in the maximum pressure
For this specific problem the spatial grid was made using ∆x = 0.0002 and the
time grid with a ∆t = 0.0000002. This grid was chosen to minimize numerical
fluctuation according with the previous analysis. Figure 3.8 show the maximum
pressure as a function of initial velocity for different closing time. For all the cases
it can be seen a linear behavior between maximum pressure and the initial
velocity. In this Figure is evident that the faster the close time higher is the
pressure. Also, the difference between closing the valve at .05 and .1 second is
minimal thus, .01 second may be taken as the critical value. As expected the fluid
39
Figure 3.9: Effect of initial velocity in the wave pressure
Using a valve closing time of .01 seconds for different initial velocity, the
higher pressure in the first millisecond, the same is attenuated as time pass due to
pipe friction.
As shown in Figure 3.9 transients flows has a peak maximum pressure value,
thus if failure due to an overpressure could occur it will happen at this value. For
Analyzing the energy conservation for the case rapid valve closure or open.
The diminution of Kinetic energy will transform in a compression work for the
40
fluid that will cause the fluid to full fill the pipe. As a result an over pressure is
obtained.
V V +dV
Velocity
Pressure P P+d P
thereby changing the pressure from P to P + dP. This change in pressure will
produce a pressure wave that will propagate in the upstream direction. The
pressure on the upstream side of this wave is p, whereas the pressure on the
situation by letting the velocity reference system move with the pressure wave.
Then creating a control volume at the interrupted area the momentum equation is
solved as following:
x2
d
∑ F = dt ∫ ρ wVAc dx + ( ρ w AcV 2 ) out − ( ρ w AcV 2 ) in (3.21)
x1
First because the flow is steady, the first term on the right-hand side of the
momentum equation is zero. Referring to equation 3.21, and introducing the force
(3.22)
41
By simplifying and discarding terms of higher order, this equation becomes
The general form of the equation for conservation of mass for one-dimension
x2
d
dt x∫1
0= ρ w Ac dx + ( ρ wVAc ) out − ( ρ wVAc ) in (3.24)
Having steady flow the first term on the right hand side of equation 3.24 is
0 = ( ρ w + dρ w )(V + c + dV ) Ac − ρ w (V + c) Ac (3.25)
− ρ w dV
dρ w = (3.26)
V +c
− ρ w dV
dρ w = (3.27)
c
dP = − ρ w * dV * c (3.28)
For the sound velocity c if the conduits of the walls are assumed to be slightly
deformable instead of rigid, then the speed of sound would take the following
form.
42
K
ρ
C= (3.29)
KD
1+
eE
The proposed facility maximum flow is 275 lbm/sec, because the structural
analysis intends to study the limitation of the piping system this flow will be
considered as the maximum theoretical flow. The inner pipe diameter recalling
from previous chapter is 4.209 in. The total line length from the tank bottom to the
Tank
Location
Isolation
valve
275 275 in
V = = = 456 (3.30)
ρ w Ac .0433 × 13.914 sec
43
The theoretical maximum pressure surge for this flow velocity using a specific
The pressures plotted in Table 3.2 are the pressures at the run valve, which is
at steady state flow. At steady state the local pressure is the tank pressure minus
flow friction losses. At a valve totally closure, flow is stopped therefore friction
losses becomes zero. Since the friction losses are zero it can be assumed that the
local pressure will be the peak surge pressure at the valve plus the tank pressure.
Pressure + Tank
Velocity Pressure Pressure
Pressure
ft/s (mpa) (psia)
(psia)
16.40 5.937 861 8861
32.80 11.870 1722 9722
38.00 14.250 2067 10067
49.21 17.810 2583 10583
65.61 23.750 3445 11445
The pressure plotted in Table 3.2 are applied to the structural model created in
Algor, this pressure do not consider as fluctuating over time, therefore considered
as a constant pressure simulating failure by peak transient pressure. Algor has the
capability of simulate loadings to the structure and study the effect along
44
Flow 16.4 ft/s
0.9
0.8
0.7
Segment A
Segment B
0.6
Stress/allowance
Segment C
Segment D
0.5 Segment E
Segment F
Segment G
0.4
Segment H
Segment I
0.3
0.2
0.1
0
Segments
With a 16.4 ft/s and a sudenly close no failure is predicted as shown in Figure
3.12, but it clearly can be seen that the stress per segment is close to the limit
1.2
1
Segment A
Segment B
Stress/Allowance
0.8 Segment C
Segment D
0.6 Segment E
Segment F
0.4 Segment G
Segment H
Segment I
0.2
0
Segments
45
With a flow of 32.4 ft/s and instantaneous closure of the isolation valve,
most of the segments also are close to their limits. This may be considered as the
valve.
Flow 38 ft/s
1.2
1
Segment A
Segment B
0.8
stress/allowance
Segment C
Segment D
0.6 Segment E
Segment F
0.4 Segment G
Segment H
Segment I
0.2
0
Segment
With a flow rate of 38 ft/s which is the maximum flow rate proposed by the
facility it is clear as shown in Figure 3.14, that with a suddenly close of the test
valve almost all segments are on they limit and most of them are over their limits.
46
Flow 49.21 ft/s
1.2
1
Segment A
Segment B
Sterss/Allowance
0.8 Segment C
Segment D
0.6 Segment E
Segment F
0.4 Segment G
Segment H
Segment I
0.2
0
Segment
For this case failures of almost all segments is evident as shown in Figure 3.15,
this flow velocity should be avoided and there is no reason for study higher flow
values.
3.3 Conclusions
A study of the fluid transient in a simple pipeline is done. For that reason, a
using MacCormak method. The behavior analyzed for different test cases the
parameter to control the crest of wave pressure. The result obtained indicates that
with adequately time of operation of the wave crest no reach the pressure of
failure.
Maximum pressures caused by rapid closure of isolation valve are obtained for
various flow using standard book equations. The transient flow pressure wave was
47
applied to the piping system before the isolation valve. Failure prediction is
obtained for several segments. It is found that for the case of a valve rapid closure,
possible failure will occur at a flow rate of 38 ft/s which is the maximum flow the
facility is planning to run. Some pressures reducer is recommended before the test
48
CHAPTER 4 RESONANT FREQUENCY ANALYSIS
worst cases direct impact on public safety. Vibration in piping systems consists of
the transfer of momentum and forces between piping and the contained liquid
during flow. Excitation mechanisms may arise by rapid changes in flow and
loads impart on the piping are transferred to the support mechanisms such as
hangers, thrust blocks, etc. Special attention has to be taken when this phenomena
is present.
Free vibration occurs when a system is displaced from its static position and
left free to oscillate. Under free vibration the system oscillates at its natural
specified by its stiffness and inertia properties. Natural frequencies are calculated
with modal analysis. Forced vibrations are classified into periodic and non-
The resonance effect can be described as a non stable vibration. Resonance will
take effect when the exiting frequency is near 1.4 the natural frequency [15][16].
Figure 4.1 shows the segments that the excitation frequencies need to be
calculated
49
Figure 4.1: NASA diagram configuration from previous investigation[1]
With the objective to derive the mathematical model for this problem some
simplifications was taking into account: the piping system is idealized as a group
..
M Y + ky = P0 sin ωt (4.1)
As one of boundary conditions, the beams is fixed at both ends. Solving for
50
straight forward and the development of these set of equations can be found in text
P0 1
y (t ) = A cos ωt + B sin ωt + sin ωt (4.2)
k 1− r2
wf
r= (4.3)
w
analysis is
Po 1
δ dyn = (4.4)
k 1− r2
n 2π EI
wf = (4.5)
2 L2 m
The natural frequencies for the first 3 mode shapes were calculated per
segment and compared with the excitation frequency from the fluid. Also the first
2 mode shapes were determined with the consideration of the pipeline as a whole.
The natural frequencies and their corresponding mode shape were determinate
using ALGOR and analytical equations. The excitation frequencies from the fluid
obtained from previous research [1] did not cover all the segments. In order to
determine resonance, therefore, the natural frequencies obtained in this work were
or between 1.4 the natural frequencies, resonance will occur. After calculating the
51
natural frequencies per segment, the natural frequencies were compared with the
excitation frequencies from the fluid, Table 4.1 illustrates the excitation
frequencies from the fluid obtained in [1]. The shaded cells represent possible
flows rate that may cause resonance for the complete system. To determinate if
calculated for the first three mode shapes per segment, Figure 4.2 illustrates the
beam discretization approach. Figures 4.3 to 4.5 show the relationship of fluid
excitation frequency and natural frequencies for each segment. Note that any
resonance, two lines are included in each graphics representing the upper and
lower limit. The fluid excitation frequencies were calculated at flow rate of 40,
7
8 1
11 9
2
10 6
12 3
5
13 4
14
17 15
16
52
Table 4.1: Fluid Excitation Frequencies by Others [1]
1.8
1.6
1.4
1.2
Ratios
1
fs 113
0.8 fs 275
fs 40
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Segments
Figure 4.3: Resonances per segment at different flow rates for the mode
shape 1
53
Resonanse for Mode Shape 2
2
1.8
1.6
1.4
1.2
Ratios
1
fs 113
fs 275
0.8
fs 40
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Segments
Figure 4.4: Possible resonances per segment at different flow rates for mode
shape 2
1.8
1.6
1.4
1.2
fs 113
Ratios
1 fs 275
fs 40
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Segments
Figure 4.5: Possible resonances per segment at different flow rates for mode
shape 3
54
Figure 4.6: Natural frequency mode shape 1 of a complete systems
55
4.3 Conclusions
using ALGOR and compared with the excitation frequency obtained from the
fluid at different flow rates. The results yields that the first natural frequency for
the whole system will occurs at 2.07 Hz, and the second at a frequency of 5.65 Hz
with its corresponding mode shapes. It is very clear in Table 4.1 that almost the
entire feed line might suffer from the resonance effect as calculated by finite
whereas, resonance for the second mode may occur at a flow rate of 275 lbm/s.
Figures 4.6 and 4.7 show the displacement results for the first and second mode
shapes. Notices that for the first mode shape the greatest displacement and stresses
is near the end of the piping system whereas, for the second mode shape the
segments near the center might be in resonance. It is expected that for the third
mode the elements near the tank could have the greatest displacement, of course it
With the analytical method approach the pipeline was discretized in straight
segments between supports as shown in Figure 4.1, the segments were idealized as
simple supported beams which are more appropriate for piping [16,18]. In
frequencies were calculated for the first three mode shapes. Examining possible
resonance was studied for the first mode shape in segments three, four and six. For
the second mode shape resonance was studied only in segment number two and
for the third mode shape resonance was predicted for segment one and two as
56
The results in this investigation reveal higher natural frequencies for all
segments than the anticipated in previous research [1]. The discretization made in
previous investigation was along straight pipe, which making the segments longer
and more susceptible to vibration than analyzing between supports. Supports will
tend to increase the stiffness of the segment. Taking into account only the straight
segments will underestimate the additional stiffness that comes from these
segments.
57
CHAPTER 5 TURBULENCE INDUCED VIBRATION
When the fluid velocity exceeds any but the smallest values characteristic of
“seepage” flows, eddies will form even if the surface of the flow channel is
perfectly smooth. The flow is said to be turbulent after it has achieve a specific
by the turbulence flow has the characteristic of being random. To study this type
attempt for a detailed time history response. The approach to solve this problem is
by calculating the root mean square values of the responses. With this calculation
At this days is still not feasible to determinate the turbulent forcing function
determinate fluid parameters and analytical approach for the solid behavior. In
simple word the experimental data obtained from the fluid is applied to the
The most widely used method to solve this type of problem is the acceptance
integral method first formulated by Powell [17]. Chen and Wanbsganss [18]
followed this method to estimate the parallel flow induce vibration of nuclear fuel
roads and Chyu and Au-Yang [19] applied this method to estimate the response of
panels exited by boundary layer turbulence. Au-Yang [20] applied this method to
58
estimate the response of reactor internal component excited by the coolant flow
mean square amplitudes. To determinate the root-mean square (rms) response the
→ →
AG p ( fα )ψ α ( x ) J αα ( fα )
2
⎛→⎞
y ⎜ x⎟ =∑
2
(5.1)
64π 3mα fα ζ α
2 3
⎝ ⎠ α
→
where J αα is the joint acceptance. The joint acceptance is a measurement of the
matching in space between the forcing function and the structural mode shape.
The same is tabulated in flow induce vibration text books [16] and is included in
this work for reference, see Figure 5.3, The term G p ( fα ) is the structural
fluctuating power spectral density (PSD) due to boundary layer type of turbulence.
derived under many simplifying assumptions, of which the most import ants are
that the cross modal contribution to the response is negligible, and the turbulence
The convective velocity Uc, which determines the phase relationship of the
forcing function at two different points on the surface of the structure; the
function at two different points on the surface of the structure; and finally the
power spectral density function, Gp, which determines the energy distribution as a
function of the frequency of the forcing function. These three fluid parameters are
59
obtained by model testing and scaling. In this thesis existing data from the
Based on data obtained from turbulent flows, Chen and Wambsganss [18] derived
frequency:
ωδ *
Uc − 2. 2 ( )
= 0.6 + 0.4e V
(5.2)
V
Where δ
*
is the displacement boundary layer thickness for boundary layer flow
or in our case the “hydraulic radius” in confined internal flow. Both equations
show that except at very low frequencies, the convective velocity is fairly
independent of the frequency, being equal to approximate 0.6 times the free
[24] found, in two separate experiments, that the convective velocity is about the
60
Figure 5.1 Comparison of convective velocity predicted by Chen and
For this investigation the flow is internal in a pipe, therefore the boundary layer
can’t grow indefinitely. In small pipes and narrow flow channels, the boundary
layer will fill up the entire cross section of the flow channel. In that case the
DH
δ* = = RH (5.4)
2
The most important fluid mechanic parameter that characterizes the turbulence
forcing function is the power spectral density (PSD). And can be obtained with
the following empirical equation, which was derived based on data from a scale
⎡Φ ( w) ⎤
G p ( f ) = 2πρ 2V 3δ * ⎢ 2PP 3 * ⎥ (5.5)
⎣ρ V δ ⎦
61
In this equation the displacement boundary layer thickness δ * is the hydraulic
radius. The quantity in [] is plot in the ordinate of Figure 5.2, the data of this
low frequency, turbulent flow without cavitations the fallowing equation applies
[24]
Gp ( f )
= .155e − 3 F , 0 < F < 1 (5.6)
ρ V RH
2 3
=.027e-1.26F, 1 ≤ F ≤ 5
where
F = fRH/V (5.7)
GP ( f ) − x −4
= min{20 F − 2 ( ) ,1.0} (5.8)
ρ V RH
2 3
RH
where x is the absolute value of the distance from the cavitation source such
as an elbow or a valve.
62
Figure 5.2: Boundary layer type of turbulence power spectral density [5]
63
5.2 Results and Discussions
For the turbulence induce vibration, the analysis was performed at the
maximum flow rate proposed by NASA. The root-mean square (rms) response
was obtained at this flow. The highest flow was chosen due to the reason that has
the higher energy and representing the worst case. The results were limited to the
segments which were fluid information was available. For simplicity the analysis
frequencies that characterize these segments. The specific segments have the
lower frequencies because they are the longest comparing with the others. The
stiffness of these segments can be increased if additional supports are added thus
Natural Uc (in/s)
Segment Frequency Convective 4fL1 /Uc Jmm J´nm ωδ*/V
(Hz) Velocity
1 61.181 417.130 59.255 0.010 1.000 0.193
2 19.921 493.204 28.597 0.010 1.000 0.063
3 46.784 432.455 49.980 0.010 1.000 0.147
4 14.565 513.828 23.471 0.010 1.000 0.046
5 717.158 393.950 214.811 0.001 1.000 2.260
6 8.058 544.733 16.467 0.010 1.000 0.025
7 78.79 406.410
1 69.018 0.010 1.000 0.248
8 195.507 394.154 112.100 0.001 1.000 0.616
9a 5660.833 393.950 603.516 0.001 1.000 17.842
9b 90.951 421.639 58.155 0.010 1.000 0.177
64
Table 5.2: PSD and RMS Responses
Natural
Normalized Gp
Segment Frequency Yrms (in)
PSD (psi^2 / Hz)
(Hz)
1 61.181 2.000E-05 2.818E-04 0.149
2 19.921 4.000E-05 5.635E-04 0.211
3 46.784 4.000E-05 5.635E-04 0.211
4 14.565 4.000E-05 5.635E-04 0.211
5 717.158 3.500E-06 4.931E-05 0.020
6 8.058 4.000E-05 5.635E-04 0.211
7 78.791 2.000E-05 2.818E-04 0.149
8 195.507 2.000E-05 2.818E-04 0.047
9a 5660.833 2.000E-08 2.818E-07 0.001
9b 90.951 1.500E-05 1.304E-04 0.121
65
CHAPTER 6 FE Model of Fluid-Structure Interaction
Normally when it is desired to obtain the fluid velocity in a pipe, equations are
applied with the assumption of no wall deformation. If the walls deform, the
deformation will affect fluid thus creating a fluid structure interaction. This
interaction model. The solutions presented takes into account the interaction of the
solid. Several plots presented were compared in the percent difference if the
interaction between the solid and fluid is not taking into account.
Considering the behavior of the fluid structure interaction, the fluid will
applied a pressure to the pipe walls, and if the pressure is strong enough to cause
pipe deformation, this deformation will decrease the velocity along the pipe. The
pressure drop caused by a velocity decrease will change the pipe diameter again.
This phenomenon is what we are calling fluid structure interaction. To solve fluid
solution of the fluid and applied the results to the structure until a criterion of
convergence is accomplished.
Two models were created one a 2D channel we no obstruction that will serve
as the base model. The other will be the same channel with an obstruction; this
obstruction can easily by a valve half open. The obstruction will locally increase
the pressure, creating a large deformation compare to the base model. Different
66
6.2 FEM Analysis
The procedure to solve the couple problem is essentially obtaining the solution
first form the dynamic fluid analysis, except that this solution are going to be
saved in what is call a physic environment. Then the program calls the solid
physic environment which at this point is only a solid with boundary conditions.
Then the pressure solution obtained from the fluid physic is applied to the internal
walls of the solid pipe. Finally a static analysis for the solid is performed,
Two models were created; a free flowing channel and a channel with 50%
obstruction in its cross-sectional area shown in Figures 6.2 and 6.3. In order to
compare the results, both geometries created were essentially the same for the
analyses. Soft materials were chosen, thus, it is expected that the pipe will deform
significantly enough to affect the fluid velocities. Tables 6.1 and 6.2 summarizes
67
Figure 6.1 Fluid structure interaction loop flow chart
Structure
Fluid
Structure
68
Table 6.1: Dimensions Free Flowing Channel
Dimensions
Thickness 0.003175 m
Length .5 m
Structure
Fluid
Obstruction
Structure
Dimensions
Length (m) .5 m
69
6.3.1 Material Properties
and Poisson’s ratio. The modal analysis in addition to the previous properties also
required to define the density. For the Computational Fluid Dynamic CFD
Properties
The sequential coupled field analysis requires a combination of solid and fluid
elements. For the structural analysis the element chosen was HYPER 74. This
element has the ability to accommodate nonlinear behavior being ideal to obtain
stresses and pressures results. This element is also compatible with some fluid
elements. For the fluid environment the element chosen was FLUID 141. This
70
6.3.3 Mesh
The procedure to mesh the areas in both types of analyses was practically the
same and it yielded very similar meshes. It was not desired to free mesh the
created volumes causing a mesh that would degenerate the geometry or that would
was done in a constant area basis except in the case with the obstruction were the
mesh was finer near this area. This resulted in a regular mesh that was even and
conditions on the two were the same. This is a very important requirement since
the boundary conditions affect greatly the results and without this similarity a
conditions were placed at both ends of the channel in order to simulate supports
acting on the outside of the channel. The channel was considered fixed at both
ends. The other boundary condition applied was related to the fluid and the same
were applied to the channel internal surface area. The velocities of the fluid near
the internal walls of the channel were set to 0 and the pressure at the end of the
channel was set to 0. The pressure will ensure flow in the desired direction.
6.4 Results
The results presented are focus in to demonstrate that for a fluid flowing in a
highly deformable environment the dynamic deformation of the pipe will have an
71
effect in the behavior of the fluid. Therefore, the result presented in this section is
iteration solution. To present this, a graphic was created showing average percent
difference of the velocity results obtained for each node of the channel. The
procedure to calculate the percent difference was the fallowing. First a nodal
solution was run to solve for the velocity this solution was saved and the same
was used as the non fluid structure interaction solution. Then a subroutine was
created using ANSYS. In the subroutine an iterative method was created were the
pressure solution from the fluid was applied to the walls of the channel and the
deformation created from the pressure was used to solve the fluid until velocity
values converge. Then each velocity solution per node was compared with the non
fluid structure interaction and for each of them the percent difference was
calculated. Finally an average of the all the percent difference was calculated. This
procedure was applied for both cases the channel with the obstruction and the free
flowing one for flows from .01 m/s to .1 m/s. Figure 6.4 resumes the results. To
physically see how the results change per iteration a sequence of pictures
examples for the specific case of fluid flowing at .04 mps are presented, see
Figures 6.5 to 6.10. Note how the maximum velocities change from the first
iteration and the second one. This is expected due to the higher deformation will
72
25%
20%
15%
P e rce n t E rro r
10%
Obstruction
No Obstruction
5%
0%
0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Velocity M/S
73
Figure 6.6: Velocities profile at the second iteration
74
Figure 6.8: Velocities profile at the fourth iteration
75
Figure 6.10: Velocities profile at the sixth iteration
6.5 Conclusions
Two models were created; a free flowing channel and a channel with 50%
Various flow cases were study, after comparing the non interaction with the
velocity. This may be attributed to the fact that when the fluid applies pressure to
the rubber channel the rubber channel deforms, this deformation decrease the
velocity at which the fluid is traveling. Because the axial velocity has decrease
now the pressure applied by the fluid also decrease, at this point the rubber
channel tries to gets is steady state form. Now the cross-sectional area has
decrease again and by consequence the fluid increase again its velocity and the
76
pressure applied to the wall of the channel also increase. This phenomenon
For the fluid structure interaction investigation, two models were created; a
straight pipe and a straight pipe with 50% obstruction in its cross-sectional area.
For both cases, a non-fluid structure interaction solution was compared against a
comparing the non interaction with the interaction solutions; it was noticed that a
percent difference up to 25% in the fluid velocity. This is attributed to the fact that
when the fluid applies pressure to the pipe, it deforms. This deformation decrease
the velocity at which the fluid is traveling. As the axial velocity decreased, the
pressure applied by the fluid also decrease. Since the cross-sectional area
decreases again, by consequence the fluid increase its velocity again and the
pressure applied to the wall of the pipe also increase. This phenomenon continues
Comparing both models, the fluid structure interaction in pipe with 50%
obstruction is more significant than the pipe with no obstruction. The main reason
77
CHAPTER 7 SUMMARY AND CONCLUSIONS
7.1 Summary
are presented in this thesis. For general purpose application; transient and fluid-
The research conducted for the NASA facilities were; structural, thermal,
water hammer, resonance and turbulence induced vibration analysis. Three finite
elements models for the pipe system and segments at NASA facilities were
for frequency analysis, fluid-structure interaction (FSI) finite element model and
transient flow model for waterhammer induced vibration analysis in a fluid filled
pipe. The natural frequencies, static stress and the limitations of the pipeline
system were determined. A simple chart characterizing the relation between stress
and location along the length of the pipeline was developed for all segments.
In the warterhammer case, the limit maximum flow rates were determinate
based on the rate of a rapid closure of the isolation valve. A study of the fluid
transient in a simple pipeline was performed. The behaviors of different test cases
analyzed were completed based on these results. Subsequently, the time of valve
close and open was analyzed as a parameter to control the crest of wave pressure.
78
7.2 Conclusions
In the structural analysis the gap on the supports at segment k has a negative
effect on the piping system, the gap increases the stress and displacement in
almost all the segments. The more vulnerable segments of the pipe system are
of the gap could reduce fifty percent of the maximum stress in the pipeline
system. However, none of the segments are close to the critical stress and
The thermal stress analyses were conducted for the gap and non-gap support at
certain segments. The analyses were performed in a range from -100 to –400 °F
degrees as system content and 85°F as surrounding temperature. The results yield
facilities operational conditions. For the support with gap, the maximum stress
was found as 11,188 psi with a stress/allowance ratio of .26, and for the support
without gap, the maximum stress 10,710 psi with a stress/allowance ratio of .25.
Both maximum stresses were found at segment F. However, these values are in
were studied for various flows. The peak values of transient flow pressure were
generated in the piping system before the isolation valve. Possible failures were
predicted for several segments. It is clear that for the case of a valve rapid closure,
possible failure might occur at a flow rate of 38 ft/s, which is the maximum flow
79
at which the facilities operate. Some pressures reducers placed before the test
valves are recommended in order to reduce the impact of the traveling waves.
method, and the behavior of the system was analyzed for different test cases. The
incremental time was performed based on these results. Then, using material and
fluid properties, the time of valve close and open was analyzed as a parameter to
control the crest of wave pressure. The results obtained indicate that with adequate
time of valve operation, the wave crest will not reach to the pressure of failure.
For the vibration resonance analysis, the natural frequencies of the system as
a whole were obtained and compared with the excitation frequency of fluid at
different flow rates. The results conclude that the first natural frequency of the
whole system occurs at 2.07 Hz, and the second at a frequency of 5.65 Hz with its
corresponding mode shapes. Resonance for the first mode shape was found at a
flow rate of 40 lbm/s, whereas, resonance for the second mode occurs at a flow
rate of 275 lbm/s. For the first mode shape the greatest displacement and stresses
are near the end of the piping system, and for the second mode shape the segments
near the center could be in resonance. It is expected that for the third mode the
elements near the tank might have the greatest displacement, of course it takes
With the analytical method approach the pipeline was discretized in straight
natural frequencies were calculated for the first three mode shapes. Examining
possible resonances were predicted for the first mode shape in segments three,
four and six. For the second mode shape resonance was predicted only in segment
80
number two and for the third mode shape resonance was predicted for segment
The results in this investigation reveal higher natural frequencies for all
segments than the anticipated in previous research [1]. The reason can be found in
was along straight pipe making the segments longer and more susceptible to
vibration than analyzing between supports. Supports will tend to increase the
stiffness of the segment. Taking into account only the straight segment will under
For the fluid structure interaction investigation, two models were created; a
straight pipe and a straight pipe with 50% obstruction in its cross-sectional area.
For both cases, a non-fluid structure interaction solution was compared against a
comparing the non interaction with the interaction solutions; it was noticed that a
percent difference up to 25% in the fluid velocity. This is attributed to the fact that
when the fluid applies pressure to the pipe, it deforms. This deformation decrease
the velocity at which the fluid is traveling. As the axial velocity decreased, the
pressure applied by the fluid also decrease. Since the cross-sectional area
decreases again, by consequence the fluid increase its velocity again and the
pressure applied to the wall of the pipe also increase. This phenomenon continues
Comparing both models, the fluid structure interaction in pipe with 50%
obstruction is more significant than the pipe with no obstruction . The main reason
81
7.3 Future works
experimental data. Due to no experimental data was available for the facilities,
data available in textbook was use to estimate the vibration response. For future
works is recommended to measure the turbulent forcing function and apply the
method of Chapter 5
interaction effect. However, the analysis was made using the material properties
82
REFERENCES
[1] Castillo 2001, “Investigation of flow induce vibration” NASA report U.S.
[2] Indyne, inc., (2000) “Dynamic Analysis for E2 Ultra High Pressure RS76
Pre-Burner Test”, Report No. IDI-NS7393-00-1
[3] H.M. Blackburn, Two and Three Dimensional Simulation of Vortex Induced
Vibration of a Circular Cylinder.3rd int Offshore & Polar Engng Conf.,m
Singapore, 1993,3,715-720
[4] Nadeen Duranis 2001. “Dynamic of pipelines with finite element methods”
Thesis M.S. University of Galgary U.S.
[5] Blevins, (1994) R.D. Flow-Induced Vibration, second edition, Krieger
Publishing Company, Malabar, Florida
[6] Saeed Moaveni. (1999) Finite Element Analysis Theory and Applications
with ANSYS, Prentice Hall, NY
[7] Claudio Mataix (1982) Mecánica de Fluidos Y Maquinaria Hidráulica,
Segunda Edición, Editorial del Castillo Y Harper & Row Publisher, Inc.
[8] Bergant and Arris Tijsseling, (2001) Parameters Affecting Water Hammer
Wave Attenuation, Shape and Timing by Anton, Eindhoven University of
Technology
[9] A.S. Tijsseling(1993) Fluid Structure Interaction In Case of Water hammer
with Cavitations, Ph. D. Thesis, Delft University of Technology, Faculty of
Civil Engineering,
[10] A.S. Tijsseling(1993) Fluid Structure Interaction In Case of Water hammer
with Cavitations, Ph. D. Thesis, Delft University of Technology, Faculty of
Civil Engineering, Communications on Hydraulic and Geotechnical
Engineer, Report No. 93-6, Delft, The Netherlands, 1993, ISSN 0169-6548
[11] YI Jia, Frederick Just-Agosto and Luciano Castillo (2001) Investigation
of the Flow induced Vibration in the E2 Test Facility proposal.
[12] G.W. Housner 1952 “Bending vibration of a Pipe Line Containing Flowing
Fluid” Journal of applied mechanics.
[13] Thomas Repp (1998) Fluid dynamics Waterhammer Simulations With
Consideration of Fluid Structure Interaction
[14] Biggs,J.M,”Introduction to Structural Dynamics”, McGraw Hill Publisheng
83
Company
[15] Leonard Meirovitch, Fundamental of Vibrations Mc Graw Hill higher
education (2001)
[16] Au-Yang,M.K, “Flow-Induced Vibration of Power and Process Plant
Components”, ASME Press, Professional Engineering Publishing, NY
(2001).
[17] Powell, A 1958, “ On the Fatigue Failure of Structure Due to Vibration
Exited by Random Pressure Fields, Jurnal of Acoustical Society of America,
Vol 30 No 12, pp 130-1135
[18] Chen, S.S. and Wambsganss, M. W., 1970 “Response of a Flexible Rod to
Near Field Flow Noice,” in Proceeding of Conference on Flow Induced
Vibration in Reactor Components, Argonne National Laboratory Report
ANL-7685, pp 5-31.
[19] Chyu, W.J. and Au-Yang M.K., 1972 Random Response of Rectangular
Panels to the Pressure field Beneath a Turbulent Boundary Layer in Subsonic
Flow, NASA TN D-6970
[20] Au-Yang, M. K., 1975 “Response of Reactor Internals to Fluctuating
Pressure Forces,” Journal Nuclear Engineering as Design, Vol. 35 pp 361-
375.
[21] Au-Yang, M.K.,2000, “The Joint and Cross Acceptance in Cross-Flow
Induced Vibration, Part I Theory and Part II – Charts and Applications,”
ASME Transaction, Journal of Pressure Vessel Technology, Vol 122, pp 349-
361.
[22] Bull, M.K., 1967, “Wall-Pressure Associate with Subsonic Turbulent
Boundary Layer Flow,” Journal of Fluid Mechanic, Vol.28, part 4, pp. 719-
754.
[23] Au-Yang, M.K. and Jordan, K.B., 1980, “Dynamic Pressure Inside a PWR-
A Study Based on Laboratory and Field Test Data, “Journal Nuclear
Engineering as Design, Vol 58, pp 113-125
[24] Au-Yang M.K., Brenneman, B. and Raj, D. 1995 “Flow induce Vibration
Test of an Advance Water Reactor Model, Part I Turbulence Induced
Vibration Test,” Journal Nuclear Engineering and Design,Vol 157, pp 93-109
84
[25] K.T. TRUONG, Evaluating dynamic Stresses of a Pipe Line, This paper is
provided to Piping design.com by Ultragen
[26] Paidoussis, M.P.; Au-Yang, M.K. and Chen, S. S., 1988, editors,
Proceeding: International Symposium on Flow-Induced Vibration and Noise,
Vol. 4, Flow-Induced Vibration due to Internal and Annular Flow, ASME
Press, New York.
[27] R. Kumar 1971 Acustica 24, pp.137-146. Flexible vibrations of fluid-filled
circular cylindrical shells
[28] D.R. Samsury 1974 Research Report-Naval Ship Research and Development
Center, Bethesda, Md. 20034. Liquid-structure coupling in pipes
[29] W.T. Thomson 1953 Proceedings of First U.S. National Congress on
Applied Mechanics, pp. 922-933. Transmission of pressure waves in fluid
filled pipes.
[30] T.C. Lin and G.W. Morgan 1956 The Journal of the Acoustical Society of
America 28(6), pp.1165-1176. Wave propagation through fluid contained in a
cylindrical, elastic shell.
[31] J.M. Cuschieri 1988 Journal of the Acoustical Society of America 83(2),
pp.641-646. Excitation and response of piping systems.
[32] A.L. Lewis and D.R. Roll 1997 Tappi Journal, pp.76-82. Pulsing and
vibration caused by control valve induced acoustic resonances.
[33] Chiba,T., Koyanagi,R., Ogawa, N. and Minowa, C., (1989), A Test and
Analysis of the Multiple Support Piping System, Journal of Pressure Vessel
Technology, Vol. 111, pp 291p299
[34] Chiba,T., Koyanagi,R., Ogawa, N. and Minowa, C., (1990), Dynamic
Response Studies of Piping Support System, Journal of Pressure Vessel
Technology, Vol 112, pp 39-45
[35] Chiba,T., Koyanagi,R., Ogawa, N. and Minowa, C., (1990) Response
Characteristic of Piping System Supported by Visco Elastic and Elasto-
Plastic Damper, Journal of Pressure Vessel Technology, Vol. 112, pp 34-38
[36] Chiba, T and Koyanagi, R., (1988), An Experimental Study of the Response
of Multiple Support Piping System, Res Mechanica, Vol.25, pp. 145 – 157
85
[37] Vayda, J.P., (1981), influence of Gap Size on the Dynamic Behavior of
Piping System, Journal of Nuclear Engineering and Design, Vol. 67, pp 145-
164
[38] Lockau, J., Haas, E. and Steinweder, F., (1984), The influence of High-
Frequency Excitation on Piping and Support Design, Journal of Pressure
Vessel Technology, Vol. 106, pp. 175 -187
[39] Paidoussis, M.P.; Au-Yang, M.K. and Chen, S. S., 1988, editors,
Proceeding: International Symposium on Flow-Induced Vibration and Noise,
Vol. 4, Flow-Induced Vibration due to Internal and Annular Flow, ASME
Press, New York
[40] Taylor, C. E.; Pettigrew, M. J., Dickinson, T. J. and Currie, I. G.,
Vidalou, P, 1997 “Vibration Damping in Multispan Heat Exchanger Tubes,”
4th International Symposium on Fluid Structure Interactions, Vol II, edited by
M.P. Paidoussis. ASME Special Publication AD-Vol. 53-2, pp. 201-208
[41] ASME, 1979, Steam Tables, Fourth Edition, ASME Press, New York
[42] M. C. haudhry, Hydraulic Engineering, Jhon Wile & Sons Inc., New York,
1998
86
[48] H. M. V. Samani and A. Khayatzadeh, “Transient flow in pipe networks” J.
of Hydraulic Research, Vol. 40, NO. 5, pp. 637-644, 2002.
[51] R. S. Gupta, Hydrology & Hydraulic Systems, Waveland Press Inc., Illinois,
1989.
[52] M. Moran and H. Shapiro, Fundamentals of Engineering Thermodynamics,
JHON WILE & SONS, INC., New York, 2000.
87
APENDIX
*******************************program****************************
1388,1389,1384,1385,1386,1387,1375,1383,1382,1381,1380,1379,1378,238,1377,1376
668,667,666,665,664,663,662,661,660,659,657,658,656,655,669
/BATCH
/COM,ANSYS RELEASE 5.7.1 UP20010418 12:33:43 05/23/2002
/input,menust,tmp ,'',,,,,,,,,,,,,,,,1 !User interface on
/GRA,POWER
/GST,ON
/PLO,INFO,3
/COL,PBAK,ON,1,BLUE
/VIEW, 1 ,1,1,1 !view
/ANG, 1
/REP,FAST
/PREP7
/prep7
shpp,on !element shape checking
!!Assign element
!!Geometry
CYL4,0,0,.0534543, ,.0841375 !Hollow Cylinder, inner diameter outer
!Fluid Area
FLST,2,4,3 !specify data required for a picking operation NFIELD, NARG, TYPE, Otype, LENG
FITEM,2,7 !key points in active coordinate system
FITEM,2,8 !key points in active coordinate system
FITEM,2,6 !key points in active coordinate system
FITEM,2,5 !key points in active coordinate system
A,P51X !Area arbitrary through key points
K, ,0,0,0, !key point in point 0,0,0
K, ,0,0,-1.524, !key point
K, ,0,.6,-1.524, !key point
LSTR, 9, 10 !straight line through key point
LSTR, 10, 11 !straight line through key point
!*
LFILLT,10,9,.18, , !line fillet, line ,line ,radius
FLST,2,2,5,ORDE,2
FITEM,2,1
FITEM,2,-2
FLST,8,3,4
FITEM,8,9
FITEM,8,11
FITEM,8,10
VDRAG,P51X, , , , , ,P51X
FLST,2,2,6,ORDE,2
FITEM,2,3
FITEM,2,5
VADD,P51X
FLST,2,2,6,ORDE,2
FITEM,2,4
FITEM,2,6
VADD,P51X
88
SAVE
FLST,5,2,6,ORDE,2
FITEM,5,2
FITEM,5,3
VSEL,S, , ,P51X !select Volume P51x
vatt,1,1,1 !assign properties to p51x,elemento,material,real constant
!Mesh Creation
ALLSEL,ALL !Select all
ALLSEL,ALL !Select all
FLST,5,4,6,ORDE,4
FITEM,5,1
FITEM,5,2
FITEM,5,3
FITEM,5,7
CM,_Y,VOLU ! CM,Cname, Entity - Groups geometry items into a component Y=Volume
VSEL, , , ,P51X !select Volume P51x
CM,_Y1,VOLU !Groups geometry items into a component Y1 = volume
CHKMSH,'VOLU' !Check Mesh named volu
CMSEL,S,_Y ! Selects a subset of components and assemblies
!*
VSWEEP,_Y1 !create mesh for Y1 volume
!*
CMDELE,_Y !Deletes a component or assembly definition.
CMDELE,_Y1 !Deletes a component or assembly definition.
CMDELE,_Y2 !Deletes a component or assembly definition.
!*
SAVE
!!Fluid Environment
et,1,142
et,2,0
!!CFD Conditions and Type of fluid
flda,solu,flow,1 !Flotran executions option for flow 1
flda,solu,turb,1 ! Flotran executions option for flow 1 turbulent
flda,iter,exec,100 !Flotran Iterations
flda,outp,sumf,10 !Output Summary frequencies
89
CM,_Y1,AREA !Y1 = Area
CMSEL,S,_Y ! Selects a subset of components and assemblies
CMDELE,_Y !Deletes a component or assembly definition.
!*
!*
!*
DA,_Y1,VX,0,1 !Specify fluid velocity in volumes X Axis inlet
DA,_Y1,VY,0,1 ! Specify fluid velocity in volumes y Axis inlet
DA,_Y1,VZ,-5,1 !Specify fluid velocity in volumes z Axis inlet
!*
CMDELE,_Y1
!*
FLST,5,12,5,ORDE,6
FITEM,5,7
FITEM,5,-10
FITEM,5,17
FITEM,5,-20
FITEM,5,27
FITEM,5,-30
CM,_Y,AREA
ASEL,R, , ,P51X
CM,_Y1,AREA
CMSEL,S,_Y
CMDELE,_Y
!*
!*
!*
DA,_Y1,VX,0,1 !Specify fluid velocity in volumes X Axis
DA,_Y1,VY,0,1 !Specify fluid velocity in volumes Y Axis
DA,_Y1,VZ,0,1 !Specify fluid velocity in volumes Z axis
!*
CMDELE,_Y1
!*
FLST,5,1,5,ORDE,1
FITEM,5,32
CM,_Y,AREA
ASEL,R, , ,P51X
CM,_Y1,AREA
CMSEL,S,_Y
CMDELE,_Y
!*
/GO ! Reactivates suppressed printout.
!*
DA,_Y1,PRES,0,1 !Specify Pressure at outlet of piping
!*
CMDELE,_Y1
!*
SAVE
alls
/title,Fluid Analysis
physics,write,fluid,fluid
physics,clear
!Creating the Solid Enviroment
et,1,0 ! The Null element for the fluid region
et,2,58 ! assign element 45 to material 2
mp,ex,2,2.82e9 !psi Young's modulus
mp,nuxy,2,0.49967 ! Poisson's ratio
tb,mooney,2
90
tbdata,1,0.293E+6 !Mooney-Rivlin Constants
tbdata,2,0.177E+6
FINISH
/SOLU !Enters the solution processor.
FINISH
/PREP7 !Define the options for the structure analysis. Loads>>analysis options
NLGEOM,0 !Large deformation off
NROPT,AUTO, , !Newton raphson method (program chosen)
LUMPM,0 !Use lumped mass approximation turned off
EQSLV, , ,0, !Equation solver type
PRECISION,0 !Single precision off
MSAVE,0 !Memory safe off
PIVCHECK,1 !pivot check on
PSTRES,ON !prestress on
TOFFST,0, !Temperature difference 0
/REPLOT
FLST,5,1,5,ORDE,1
FITEM,5,1
CM,_Y,AREA
ASEL,R, , ,P51X
CM,_Y1,AREA
CMSEL,S,_Y
CMDELE,_Y
/GO
DA,_Y1,ALL,0
CMDELE, Y1
FLST,5,1,5,ORDE,1
FITEM,5,31
CM,_Y,AREA
ASEL,R, , ,P51X
CM,_Y1,AREA
CMSEL,S,_Y
CMDELE,_Y
/GO
DA,_Y1,all,0
CMDELE, Y1
/title,structural analysis
finish
/solu
antype,static
nlgeom,on
cnvtol,f,,,,-1
physics,write,struc,struc
physics,clear
save
/REPLOT
SAVE
SAVE
! Couple fluid Solution
91
*if,i,ne,1,then !!,IF,VAL1,Oper,VAL2, If I not equal to 1 then
flda,iter,exec,100 ! Execute 100 global iterations for
*endif ! each new geometry
solve ! FLOTRAN solution
fini
! end of fluid portion
physics,read,struc ! Read in structures environment
/assign,esav,struc,esav ! Files for restarting nonlinear structure elementsave
!!Assign,Ident,Fname,Ext,Dir
/assign,emat,struc,emat
*if,i,gt,1,then ! Structural restart loop If i is grater than a
parsave,all ! Save parameters for convergence check
resume ! Resume DB - to return original node positions
parresume ! Resume parameters needed for convergence check
/prep7
antype,stat,rest !Analysis type Static, restart
fini
*endif
/solu /Enter Solution preprocesor
solc,off
asel,s,,,7,10 ! Select proper areas to apply fluid pressures
asel,a,,,17,20
asel,a,,,27,30
nsla,,1 !nsla,Type,NKEY - Selects those nodes associated with the selected areas
esel,s,type,,2 !,ESEL Type,Item,Comp,VMIN,VMAX,VINC,KABS - Selects a subset of elements.
ldread,pres,last,,,,,rfl ! Apply pressure surface load from Flotran
alls
rescontrol,,none ! Do not use multiframe restart for nonlinear
solve
*if,i,eq,1,then
save ! save original node locations at the first run
*endif
fini
/prep7
*SET,mkey,2 ! Select level of mesh morphing for fluid
dvmorph,2, ,mkey
dvmorph,3, ,mkey ! Perform morphing of volume 2
alls
fini
/assign,esav
/assign,emat
*enddo
92