International Journal of Mechanical Sciences 68 (2013) 258269

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International Journal of Mechanical Sciences

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Numerical analysis of stability of a stationary or rotating circular cylindrical

shell containing axially owing and rotating uid
S.A. Bochkarev n, V.P. Matveenko
Institute of Continuous Media Mechanics RAS, Acad. Korolev Str. 1, Perm 614013, Russia

a r t i c l e i n f o

a b s t r a c t

Article history:
Received 4 September 2012
Received in revised form
15 January 2013
Accepted 18 January 2013
Available online 29 January 2013

The stability of stationary or rotating cylindrical shells interacting with a rotating internal uid ow is
studied. The paper presents the results of the nite element solutions for shells having different linear
dimensions and subjected to various boundary conditions. It has been found that the form of stability
loss in the stationary and rotating shells under the action of the uid ow, having both the axial and
circumferential components, depends on the type of the boundary conditions specied at their ends. It
has been shown that for different variants of boundary conditions and different geometrical dimensions
rotation of the uid in a stationary shell or co-rotation of the shell and the uid may increase or
decrease the critical velocity of the axial uid ow.
& 2013 Elsevier Ltd. All rights reserved.

Keywords:
Classical shell theory
Cylindrical shell
Potential uid
Combined ow
Finite-element method
Stability

1. Introduction
Under eld conditions, shells of revolution as an integral part
of some technical applications may interact with an axial and
rotational ow of a uid or gas. Taken alone, the axial ow of the
uid or its rotation exerts a destabilizing effect on the elastic
structure. Their combined action would thus be expected to cause
more noticeable changes in the dynamic behavior of the structure
and will require a comprehensive analysis. The background of the
problem, including a review of relevant analytical studies and
some examples of practical applications, in which a owing and
rotating uid is an essential part of engineering systems, is
outlined in [1].
Thus far, there have been a few studies dealing with the
dynamic behavior of elastic stationary or rotating shells subjected
to a rotational gas ow [27]. Natural vibrations and stability of
rotating cylindrical shells conveying liquid or gas rotating with
the same angular velocity are considered in [2,3]. In [2] the
investigation is carried out using the linear Donnell theory of
shells and Eulers equations of motion for non-viscous incompressible liquid. It has been found that rotation of the shell and
the uid leads to a decrease in the critical ow velocity as
opposed to the case where their rotation is neglected. In [3], the

Corresponding author. Tel.: 7 3422378308.

E-mail addresses: bochkarev@icmm.ru (S.A. Bochkarev),
mvp@icmm.ru (V.P. Matveenko).
0020-7403/$ - see front matter & 2013 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.ijmecsci.2013.01.024

aerodynamic pressure is dened in the framework of the linearized potential theory. The results of this study show that the ow
of gas exerts inessential effect on the natural vibrations of the
rotating shell conveying co-rotating gas.
The analysis of a stationary shell subject to a rotating uid in
the presence or absence of the axial velocity component has been
made in [4,5]. In [4], based on the linear Sanders theory of shells
the authors analyzed the propagation of harmonic waves in thinwalled circular cylindrical shells made of orthotropic and isotropic materials. The equations of uid motion are written in the
form adopted in [2]. It has been shown that for the examined
congurations the impact of the uid ow on the natural vibration frequencies of shells with a uid is much stronger than that
of a mere rotation. A similar approach has been used in [5]. Here,
the results of the analysis indicate that rotation of the uid causes
an excessive reduction in the critical uid velocity compared to
the case when the uid rotation is neglected.
The analysis of the dynamic behavior of cylindrical shells of
revolution, interacting with an annular ow of compressible gas,
which has both the axial and tangential velocity components, is
carried out in [6,7]. Here the analytical methods are employed to
examine the behavior of innitely long cylindrical shells placed in
a circular channel with a rigid external wall. In [6], the numerical
results are presented for a particular case of the shell in an
annular gas ow, the velocity of which has a tangential component only. It has been shown that the coalescence of the forward
and backward propagating waves may cause the loss of stability
in the form of the traveling wave utter. In [7], the numerical

S.A. Bochkarev, V.P. Matveenko / International Journal of Mechanical Sciences 68 (2013) 258269

calculations for the ow having both velocity components were

made without taking into account the mutual inuence of the
axial and tangential components on the system stability. Note
that the authors of [6] offered a general problem formulation,
which admits rotation of the inner shell. Nevertheless, they do not
investigate the inuence of the shell rotation on the dynamic
behavior of the system. The results of some experimental studies
dealing with the analysis of the cylindrical shell stability under
the action of an annular swirl ow are presented in [8,9].
The focus of recent paper [10] is the nite element analysis of
the natural vibrations and stability of stationary and rotating
circular cylindrical shells of nite length subjected to the internal
ow of non-viscous compressible uid. Here, it has been found
that regardless of the type of the boundary conditions the loss of
stability in stationary shells occurs in the form of a utter,
manifesting itself as a coalescence of forward and backward
propagating waves, whereas in the case of co-rotating shells the
allowance made for the initial circumferential tension caused by
the centrifugal forces guards against the loss of stability of the
shell and the uid rotating with the same angular velocity.
In paper [11] the authors have cast doubt on the validity of the
results obtained in [2], which were later brought under close
examination in paper [1]. It was found that in the framework of
the analytical solution proposed in [2], it would be mathematically impossible to determine the occurrence of instability in the
system, the behavior of which is simulated taking into account
the destabilizing effect of both the axial ow and the rotating ow
inside the rotating shell. Based on these considerations the
authors try to nd plausible physical explanation of the arising
mathematical complications suggesting that the loss of stability
in such cases is impossible even though it seems to be physically
reasonable. The analysis of this situation is being continued in
recently published paper [12]. Here, it was shown that at certain
values of the angular velocities of the rotating shell and corotating uid and the velocity of the axial ow there may be
zones, in which the uid is in the stagnant state. However, in this
work no attempts have been made to provide an explanation of
how this phenomenon affects the stability of the shell conveying
uid. In [1] the authors also report the failure of the attempt to
reproduce the results of work [5].
Natural vibrations of hollow rotating shells were investigated
more extensively [1322], for which purpose various numerical
analytical and numerical methods have been used including the
nite element method. These studies have a dual purpose: to
demonstrate the possibilities of the applied methods and to
investigate the dependence of vibrations of rotating single- and
multi-layer shells on such factors as geometrical dimensions,
various boundary conditions, centrifugal and Coriolis forces
inclusive of initial circumferential stresses caused by rotation.
Some of the aspects of the above investigations were examined in
detail in monograph [23].
The effect of the internal uid (gas) ow with an axial velocity
component on the stability of the cylindrical shell has been
studied more comprehensively. The background of these investigations and soundly reasoned analytical and numerical research
done in this eld are also discussed in [1]. Here, we will outline
only some of the numerous numerical studies [2434], which are
based on the nite element method.
In [24], open shells of revolution are analyzed using a hybrid
nite element, in which the exact functions of displacement are
dened directly by the equations of the Sanders shell theory.
Here, as in the analytical studies, an exact expression for pressure
of the owing incompressible uid written in terms of the Bessel
function has been derived in the framework of the potential
theory. A similar approach for computation of the hydrodynamic
pressure was used in works [2527]. In work [25], the emphasis

259

was placed on studying the orthotropic preloaded cylindrical

shells, whereas the other two works are concerned with the
analysis of the conical shells. Compressibility of the owing uid
is taken into account in work [28], which offers the nite element
algorithm, in which a preloaded cylindrical shell of revolution is
described in the framework, a three-dimensional theory of
elasticity. The hydrodynamic pressure is determined from Eulers
equation meeting specially stated dynamic boundary conditions,
which take into account the uid ow. In [2932], the authors
also use the potential theory for description of the uid ow.
Here, the nite-element algorithms are proposed for studying
multi-layer, viscoelastic composite cylindrical and conical shells
conveying a compressible uid. The equation for the perturbation
velocity potential is derived by applying the BubnovGalerkin
method. The numerical investigations made in [29] yield the
relationship between the uid velocity and the number of the low
frequency harmonic independently of the geometrical parameters
of the shell and boundary conditions. In [32], it was shown that
for simply supported or clampedclamped shells, an increase of
the cone opening angle may lead to a change in the mode of
stability loss from that of divergence to a utter. Different
variants of the hybrid technique based on the boundary integral
equation method for calculating the effect of the shelluid
interaction and the nite element method for determining the
dynamic properties of elastic structures are discussed in [33,34]
for the case of incompressible uid.
Papers [27] mentioned above are generally concerned with
innitely long shells, so the inuence of the boundary conditions
for stationary and rotating shells conveying uid with the axial
and circumferential components of velocity is still poorly understood. In this paper, the numerical solution of the examined
problem is found based on the potential theory, which is used to
describe a compressible uid ow. On the one hand, practical
application of this theory is seldom the case, yet on the other
hand it essentially simplies the problem solution allowing
implementation of intensive numerical experiments, which will
pave the way toward further research, based on more accurate
models for description of the uid behavior.
From the above discussion it is clear that this study has been
undertaken to clarify two very important issues: to verify the
possibility of the stability loss in the systems consisting of a
stationary or rotating shell of a nite length subjected to axially
owing and rotating uid and to estimate the inuence of various
boundary conditions specied at the ends of the shells on the
character of its dynamic behavior.
2. Constitutive relations
Let us consider an elastic cylindrical shell of length L, radius R
and thickness h (Fig. 1). The shell is either stationary or rotates
about its longitudinal axis with an angular velocity Os . The shell

s
z

u
v

Fig. 1. Computational scheme.

x
s

260

S.A. Bochkarev, V.P. Matveenko / International Journal of Mechanical Sciences 68 (2013) 258269

conveys a perfectly compressible uid, which moves with the

axial velocity U and simultaneously rotates with the angular
velocity Of , which in the general case is equal to an angular
velocity of the rotating shell. It is necessary to nd such a
combination of the axial uid velocity and the angular velocity
of the shell or/and uid, at which the shell loses its stability.
To describe the motion of the rotating uid in the volume Vf
we introduce in our consideration the perturbation velocity
potential f, which in the cylindrical coordinate system r, y,x in
the case of small perturbations is described by the wave equation
[35]:




2Of
1 @
@ 2
@2 f
1 @2 f
U
M
r2 f 2
f

@x
c
@x@y c @y@t
c @t


O2f @2 f @f
,
1
2
r
2
@r
c
@y
where c is the velocity of sound in a liquid, MU/c is the Mach
number. The pressure exerted by a uid Pf on the elastic structure
is dened by the linearized Bernoulli formula:


@f
@f
@f
U
Of
P f rf
2
on the surface Ss Sf \ Ss :
@t
@s
@y
Here rf is the specic density of the uid; s is the meridional
coordinate of the shell; Sf and Ss are the surfaces, which bound the
uid and ow volumes, respectively. The shelluid interface Ss
must satisfy the impermeability condition:
@f
@w
@w
@w
U
Of

,
@t
@s
@y
@r

where w is the normal component of the shell displacement

vector. The perturbation velocity potential at the shell entrance
and exit must meet the following boundary conditions:
x 0 : f 0,

x L : @f=@x 0:

Application of the BubnovGalerkin method to the partial

differential equation for the perturbation velocity potential (1)
satisfying boundary conditions (3) and (4) yields the system of
equations [32]:
"Z 
mf
X
@F l @F k
1 @F @F
@F @F
2 l k 1M2  l k
@r
@r
@
y
@
y
@x @x
r
V
f
l1
! #
2 2
2
Of @ F l
2Of M @ F l
@F l

F
Fk 2
F
r
dV fal
2 k
c @x@y
@r k
c
@y
"Z 
#

Z
mf
X
2Of @F l
2U @F l
FlFk

_
F

F
f
dV
f
dV
al
al
2
c2 @x k
c2 @y k
Vf
Vf c
l1
!
#
"Z
Z
ms
X
@N p
@N p
_ ap
F k Of
N p F k dSw
U
F k dSwap 0,

@s
@y
Ss
Ss
p1
k 1,mf :

and


@u
1 @v
@v 1 @u
@w
, e2

,
w , e12
, y1 
@s
R @y
@s R @y
@s




1
@w
@2 w
1 @v @2 w
v
y2

, k1  2 , k2 2
,
R
@y
@s 1
R @y @y2


1 @v @2 w

t
,
R @s @s@y

e1

where u and v are the meridional and circumferential components of the displacement vector, yi are the angles of rotation of
the non-deformable normal.
The components of the shell deformations (6) written in the
matrix form are

e en 1=2Ee,
where e fE11 ,E22 ,E12 ,k11 ,k22 ,k12 tgT , en fe1 , e2 , e12 ,k1 ,k2 ,2tgT is
the linear part of the strain, e f0,0,0,0, y1 , y2 ,0,0,0gT , E is the
matrix of linear factors, which has non-zero components E15 y1 ,
E16 y2 , E35 y2 , E36 y1 .
The physical relations between the vector of the generalized
forces and moments T and the strain vector en are represented in
the matrix form:
T fT 11 ,T 22 ,T 12 ,M 11 ,M 22 ,M 12 gT Den :
For isotropic materials the non-zero components of the stiffness matrix D are dened in terms of the elasticity modulus E,
Poissons ratio n and shear modulus G:

nD11 D12 D21 nD22 nEh=1n2 , D33 h2 =12 D66 Gh3 =12,
nD44 D45 D54 nD55 nEh2 =12=1n2 :
The strain energy of the shell U^ supplemented with the
additional terms, taking into account the preload force, is
expressed by
Z
Z
7
2U^ eTn Den dS eT r0 e dS:
Ss

Ss

The matrix of the initial forces and moments r0 , the elements of

which are determined from the condition ET De0n r0 e, has the
non-zero values s055 T 11 , s066 T 22 .
The kinetic energy T^ of the shell, rotating with the angular
velocity Os is given by [21]
Z
_
_ vOs 2 dV,
rs u_ 2 vR
Os Os w2 w
8
2T^
Vs

where rs is the specic density of the shell material.

^ done by the hydrodynamic forces is expressed by
The work W
Z
^ Pf w dS:
9
W
Ss

Here, mf and ms are the numbers of the nite elements used to

discretize the uid Vf and shell Vs domains; fal and wap are the
nodal values of the uid perturbation velocity potential and shell
displacements; F and N are the shape functions for the perturbation velocity potential and normal component of the displacement vector of the shell.
In the classical theory of shells based on the KirchoffLove
hypothesis the components of the deformation vector in the
curvilinear coordinates s, y,z can be written as [36]

e11 E11 zk11 , e22 E22 zk22 , e12 E12 zk12 ,

3. Numerical implementation
For numerical implementation of the proposed model we used
the semi-analytical version of the nite element method based on
the Fourier series expansion in terms of the circumferential
coordinate y:
u

1
1
X
X
_
^
uj cos jy
uj sin jy,
j0

j0

1
1
X
X
_
^
vj sin jy
vj cos jy,
v

where

j0
2
1 1=2y1 ,

E11 e
E12 e12 y1 y2 ,

k11 k1
k12 2t

132,

w
6

1
X
j0

j0
_

wj cos jy

1
X
j0

wj sin jy,

S.A. Bochkarev, V.P. Matveenko / International Journal of Mechanical Sciences 68 (2013) 258269

fa

1
X

fj cos jy

j0

1
X

fj sin jy:

10

j0

_ ^

U fu,v,wgT Nde NNfde de gT ,

_^

11

_ ^

/a F/e FFffe fe gT :

12

Here, N and F are the matrices of the shape function, de and /e are
the vectors of the nodal unknowns.
For the shell we used the nite element in the form of a
truncated cone with a linear polynomial approximation of the
meridional and circumferential components and cubic polynomial approximation of the normal component. For the uid we
used a triangle nite element with a linear approximation of the
perturbation velocity component.
Using Eq. (11) we obtain

en Bde , e Gde ,

13

where B and G are the matrices relating the strains en and e to the
nodal displacements.
The equation of motion is derived based on Lagranges equation:
!
d @L^
@L^
14
 T Q:
T
dt @d_
@d
Here, d and d_ are the generalized displacements and velocities,
^ =@dT are the generalized
L^ T^ U^ is the Lagrange function, Q @W
forces. Using Eqs. (7)(9) and taking into account Eqs. (11)(13) we
obtain from Eq. (14) the system of equations, which in the matrix
form can be written as
o
_
_
15
Ks Kgs Kcs d Ms d Co
s d rf Csf / a Asf /a Asf /a 0:
R
R
P
P
Here: Ks ms Ss BT DB dS is the stiffness matrix; Ms ms Ss r0
R
P
NT N dS is the mass matrix; Kgs ms Ss GT r0 G dS is the matrix of
P R
the geometrical stiffness; Kcs ms Ss r0 O2s NT X1 N dS is the matrix
P R
T
of centrifugal force effect; Co
s
ms Ss 2r0 Os N X2 N dS is the
P R
P R
T
matrix of Coriolis force effect; Csf ms Ss N F dS; Asf ms Ss U
R
R
P
T
T
N @F=@s dS; Ao
sf
ms Ss Of N @F=@y dS; r0 h rs dz; O1 23 1,

O1 32 1; O2 22 O2 33 1; matrices and vectors with a superscript 0 are determined by solving the axisymmetric static
problem Ks d F, where f f0 0 r0 RO2s gT .
Using Eqs. (11) and (12) Eq. (5) can be written in a matrix form
as
c
co
c
o _

Kf Ko
f Af Af /a Mf / a Cf Cf / a

mf

Ko
f

Vf

mf

!
@FT @F
1 @FT @F @FT @F
2
dV,

@r @r r @y @y
@x @x
"
2

XZ
Vf

Of @2 FT
@FT
F dV,
Fr
2
2
@r
c
@y

Mf

XZ
mf

XZ
Co


f
mf

Vf

Vf

FT F
dV,
c2

2Of @FT
F dV,
c2 @y

XZ
XZ
@FT @F
M @2 FT
dV, Ao
M2

2Of
F dS,
Acf 
f
@s
c @x@y
@s
mf V f
mf V f
XZ 2U @FT
XZ T
F
dV,
C
Ccf


F N dS,
fs
2 @x
Vf c
m
ms Ss
f

Ss

@N
F dS,
@y

XZ
@N
dS:
Afs 
UFT
@s
ms Ss

Thus, the analysis of rotating shells conveying a rotating uid

reduces to a simultaneous solution of two systems of Eqs. (15) and
(16). A combined system of equations takes the following form:
gT Cfd_ /
_ gT 0,
K Afd /a gT Mfd /
a
a
where
"
Ks Kgs Kcs
K
0
C rf

" o
Cs
Cfs

0
rf Kf Ko
f
2
#

Csf
Ccf Co
f

A rf 4

17

"
,

M
0

Afs Ao
fs

Ms

rf Mf
3
Asf Ao
sf
5:
Acf Ao
f
0

#
,

Expressing the perturbed motion of the shell and the uid by

d q expin lt,

/a / expin lt,

p
n
where q and / are the functions of the coordinates, i 1, and
n
l l1 i l2 is the characteristic coefcient, we nally arrive at
2

Kl M in lC Afq /gT 0:

18

The problem solution reduces to a computation and analysis of

the eigenvalues l of the system (18). The complex eigenvalues are
calculated based on the Muller method [37]. The computational
efciency of the algorithm can be increased by renumbering the
degree of freedom based on the CathillMcKee algorithm [38].

4. Numerical results
The numerical simulations have been carried out for a cylindrical
shell (E200 GPa, n 0:29, rs 7812 kg=m3 , R1 m, h 0.01 m),
conveying axially owing and rotating uid rf 103 kg=m3 . For
the selected parameters the critical velocity, at which the system
loses stability will be essentially lower than the sound velocity in a
liquid. On the one hand, for the examined congurations such a
simplied version of the problem formulation has insignicant
effect on the critical velocities leading to a loss of stability [32],
but on the other hand, it simplies to some extent the analysis of
the calculated eigenvalues. All the results of numerical investigation
presented below were obtained for 40 shell nite elements and
1000 uid nite elements. Such a size of the nite element mesh
provides a comfortable computation speed for solving a spectral
problem with an appropriate accuracy [32].
In the numerical examples discussed below we will consider
cylindrical shells simply supported (v w 0; SS) or rigidly
clamped (u v w @w=@s 0; CC) at both ends and cantilevered shells (CF).

16

where
XZ

Of

4.1. Testing of the numerical algorithm

_ a Afs Ao
Cfs w
fs wa 0,

Kf

XZ
ms

Here, j is the number of the harmonic.

_ _ _ _
Expressing in^Eq. (10) the symmetric uj ,vj ,wj , fj and antisym^ ^ ^
metric uj ,vj ,wj , fj unknowns in terms of the nodal displacements, we obtain the following expressions for the shell and uid
nite elements:
_^

Ao
fs

261

To test the algorithm proposed for the problem of a hollow

rotating shell we compared the obtained results with the results
presented in [18]. To this end, we considered a cylindrical shell
subjected to various combinations of boundary conditions and the
following system parameters: L/R5, R/h 500, j 1. The number
of half waves in the meridional direction m is equal to one. Fig. 2a
shows the variation of the dimensionless frequency o RlD
D rs 1n2 =E0:5 with the angular velocity of shell rotation
Os rev=s.
The results obtained in the framework of the developed algorithm agree well with the results from [18] (denoted in Fig. 2a by
circles) almost for a full range of the examined angular velocities
with only a few exceptions. Under the boundary conditions CC one

262

S.A. Bochkarev, V.P. Matveenko / International Journal of Mechanical Sciences 68 (2013) 258269

3
SS

CC

m=4

m= 3
m= 2

1
CF

60

m= 1
120

180

240

12

s
Fig. 2. Dimensionless natural frequencies o (a) and real parts of eigenvalues X (b) versus angular velocity of the shell Os (rev/s) and dimensionless axial velocity of the
uid ow L: solid and dashed linesthe results of computation; circlesRef. [18]; dash-dotted linesRef. [39].

15

1.5

2.4

m=3
10

m =8

m=2

0.8 m = 7

0.5
m=1

1.6

m=6

0
1.9
U

3.8 UD

5.7

-0.4

U SF
0

15

30

45

Fig. 3. Real and imaginary parts (a) and loci (b) of dimensionless eigenvalues o versus dimensionless axial velocity of the uid U : (a) shell simply supported at both ends;
(b) cantilevered shell.

of the modes reaches zero at the angular velocity which is 9.3%

higher than the velocity found in [18].
In the next example we consider a steel cylindrical clamped
clamped shell conveying an incompressible uid rf 103 kg=m3 .
The computations were made for the following parameters: L/
R25.9, h/R0.0227, rf =rs 0:1282, j2, n 0:3. Fig. 2b shows
variation of the rst four dimensionless eigenvalues X ReRl=
U 0  10 with the dimensionless uid velocity L U=U 0  102
U 0 1=D 5387.
In Fig. 2b, solid lines denote the results obtained in the present
work and dash-dotted linesthe results of numericalanalytical
investigations [39]. A rather good agreement between our results
and the results of study [39], in which the authors used the rst
four terms in the Galerkin series expansion, is observed only for
the rst two eigenvalues. We have found that the loss of stability
in the form of divergence occurs for the rst mode (m1) at
LD 6:586, whereas in [39] this happens at the velocity of 6.4.
4.2. Shell conveying uid: modes of stability loss
Our prime interest here is with the analysis of limiting cases,
which will allow us to estimate the inuence of both the axial and

circumferential components of the uid velocity on the dynamic

behavior of the stationary and rotating shells. The results of
numerical computations are presented for L/R4 and j 4. It is
well known [1] that the axial uid ow, as well as its circumferential rotation, exerts a destabilizing effect on the elastic body.
However, in this case, the loss of stability is governed by different
mechanisms and may be of static nature (by divergence) and of
dynamic nature (by utter), which have two forms.
In the case when the uid ow has only axial velocity component, the form of the stability loss depends on the type of the
boundary conditions [1]. Here we present the results of computation, which lend support to this statement. The shells clamped or
simply supported at both ends lose stability in the form of
divergence. This can be illustrated by Fig. 3a, in which the real o1
and imaginary o2 parts of the rst three dimensionless eigenvalues
(o RlD  102 , o1 Reo, o2 Imo) are plotted as a function
of the dimensionless axial uid velocity U U D  102 . Here and in
what follows, dash-dotted lines correspond to the imaginary part of
eigenvalues. When the uid velocity U D approaches the value of
4.183, the real part of the rst mode vanishes and there appears a
couple of imaginary parts, equal in magnitude but opposite in sign,
which corresponds to the loss of stability in the form of divergence.

S.A. Bochkarev, V.P. Matveenko / International Journal of Mechanical Sciences 68 (2013) 258269

Shells clamped at the end where the ow enters the shell and
free at the other end lose stability in the form of a single mode
utter. As an illustration, we refer to Fig. 3b, which shows the loci
of three dimensionless eigenvalues in a complex plane, which
were obtained at different values of the dimensionless axial uid
velocity. A distinguishing feature of this conguration is that
beginning with the velocity U 4 7 the variations in the imaginary
parts of the eigenvalues are essentially non-monotonic. At
U SF 9:048 the imaginary part of the seventh mode becomes
negative, which corresponds to the loss of stability in the form of
a single-mode utter.
In the case of angular rotation of the shell or uid the natural
frequency splits into two values, which corresponds to the
appearance of the forward and backward propagating waves.
Fig. 4 shows the real and imaginary parts of the rst two
dimensionless eigenvalues o as a function of the dimensionless
angular velocity of the uid O f ROf D  102 for shells under
various boundary conditions. An increase in the rotational velocity of the uid causes an increase in the eigenvalues corresponding to the forward propagating waves (solid line) and a decrease
in the eigenvalues corresponding to the backward propagating
waves (dashed line). At a certain value of the rotational velocity
the real part of the backward wave of the rst mode becomes zero
and begins to grow with a further increase of the rotational
velocity. The real parts of both waves of the rst mode coalesce at

263

the rotational velocity O F . This results in the appearance of the

imaginary parts equal in magnitude but opposite in sign, which
corresponds to the loss of stability in the form of a two-mode
(coupled-mode) utter. In this case, the loss of stability of shells
under different boundary conditions follows the same scenario.
In Fig. 5 the real parts of the rst two dimensionless eigenvalues o are plotted against the dimensionless rotational velocity O
for the variant of numerical simulation, in which the shell and the
uid inside it rotates with the same angular velocity O O f O s .
In this case, the loss of stability does not occur. As shown in [10],
in the shell containing a co-rotating uid a stabilizing effect is
exerted by the initial circumferential tension caused by the
centrifugal forces.
In our simulations we used such angular velocities of the shell,
at which the value of the normal deviation due to the action of the
centrifugal force lies within the limit of the shell thickness or
slightly exceeds it.
Under a combined action of the axial ow and angular rotation
of the uid inside the stationary shell or the rotating shell, whose
rotational velocity is equal to the angular velocity of the uid, the
loss of stability of the shell occurs in the form specied by the
boundary conditions.
Fig. 6 shows the plots of dimensionless eigenvalues of a
stationary or a rotating shell simply supported at both ends. Here,
as before, dashed lines denote the real parts of the eigenvalues,

m=2

0.6

1.2

m=1

CF

m =2

0
1.8

CF

m =1

0.6

1.2

0
1.8

Fig. 4. Real o1 and imaginary o2 parts of dimensionless eigenvalues against the dimensionless angular velocity of the uid O f : (a) shell simply supported at both ends;
(b) cantilevered shell.

12

12

m=2

m=2
4

4
m=1

m=1
0.6

1.2

1.8

0.6

1.2

1.8

Fig. 5. Real parts of dimensionless eigenvalues o against the dimensionless rotational speed of the shell containing a co-rotating uid O O f O s : (a) shell simply
supported at both ends; (b) cantilevered shell.

264

S.A. Bochkarev, V.P. Matveenko / International Journal of Mechanical Sciences 68 (2013) 258269

10.5

1.5

2.1

15

m=2

m =2

UCF

3.5

m=1

0.5

UCF

m=2

0.7

m=1

m=1
0

1.4

0
4.2

2.8

m=1

1.4

10

m=2
0

1.9

0
5.7

3.8
U

Fig. 6. Real o1 and imaginary o2 parts of the dimensionless eigenvalues versus the dimensionless axial uid velocity U for shells simply supported at both ends:
(a) O s 0, O f 0:946; (b) O s O f 1:89.

4.5

4.5

m =1

m =2
m =2

m =1

m =3

m =2

1.5

m =2

1.5

m =3

m =3
m =1

0
-0.75

m =3
USF

m =1

0
12

-0.75

USF
0

12

16

Fig. 7. Loci of dimensionless eigenvalues o plotted against the dimensionless uid velocity U for a cantilevered shell: (a) O s 0, O f 0:946; (b) O s O f 1:89.

Table 1
The values of dimensionless critical axial velocity U and angular velocities O f of the uid rotation for shells with various boundary conditions and different numbers of the
harmonic j for L/R 4.
Variants of boundary
conditions

Velocity

Number of the harmonic j

1

SS
CC

9.2007

6.9441

4.2919

4.1832

4.6801

5.1399

5.5567

Of

28.0534

6.2379

2.3388

1.5853

1.7161

2.0654

2.4731

9.2972

9.1124

6.7735

5.4637

5.3771

5.4731

5.7311

33.1576

9.4823

3.9895

2.3079

1.9739

2.1569

2.5087

10.2486

10.2688

10.3151

9.0481

8.5113

8.5588

8.8472

Of

11.7165

2.3923

1.1575

1.2775

1.6317

2.0309

2.4517

Of
CF

corresponding to backward waves, solid lines stand for forward

waves and dash-dotted line stand for imaginary parts of the
eigenvalues. Compared to the variant presented in Fig. 4a rotation
of the uid leads to a change in the form of stability loss, which in
the present case occurs in the form of a coupled-mode utter.
A similar scenario is observed in the case of clampedclamped
shells. It should be noted that in the case when the shell and the
uid rotate simultaneously, variation of the imaginary parts occurs
non-monotonically and has a small region where they decrease.
For cantilevered shells the angular rotation of the uid in a
stationary or rotating shell has no effect on the form of stability
loss. This statement can be illustrated by Fig. 7, where eigenvalue

loci plotted versus the axial uid ow. Here the loss of stability
occurs due to the appearance of a negative imaginary part of the
third-mode eigenvalues at the dimensionless axial velocity of the
uid ow U SF 6:07 in the case of a stationary shell and the
dimensionless axial velocity U SF 6:04 in the case when the shell
and the uid rotate simultaneously.
4.3. Stability analysis of a stationary shell containing axially owing
and rotating uid
The values of the dimensionless critical axial velocities of
the uid ow U and the dimensionless angular velocity of the

S.A. Bochkarev, V.P. Matveenko / International Journal of Mechanical Sciences 68 (2013) 258269

uid O f in relation to the number of the harmonic j are given in

Table 1 for different variants of boundary conditions. The analysis
of these results shows that compared to the critical axial velocities the difference in the critical angular velocities of the uid in
shells subjected to different boundary conditions is more pronounced for lower harmonics and disappears almost completely
at higher harmonics. What is also interesting, the cantilevered
shells containing a rotating uid are less stable than in the case of

Table 2
The values of dimensionless critical axial velocities U and angular velocities of the
uid rotation O f for shells with various boundary conditions and linear dimensions for j 4.
Variants of
boundary
conditions

Velocity Ratio of the shell length to its radius L/R

1
SS
CC
CF

10

5.7892 4.7854 4.1832 3.5235 3.5808 3.2133

Of

3.7625 2.4303 1.5853 1.3025 1.0054 0.9032

6.9004 6.0992 5.3771 5.0154 4.5713 4.3623

Of

4.4898 2.9698 1.9739 1.5532 1.3417 1.1516

9.9978 9.1364 8.5113 8.2253 7.9346 7.8835

Of

2.7203 1.8147 1.1575 0.9032 0.7618 0.5894

265

their interaction with an axial uid ow when they are less

subject to instability.
Table 2 shows the values of the dimensionless critical axial
velocity U and dimensionless angular velocity of the uid rotation
O f at different ratios of the shell length to its radius L/R. The
results displayed in the table suggest that for the examined
variants of boundary conditions an increase in the shell length
causes a decrease in the critical velocities.
In simulation of the combined effect of both velocity components the stability boundary was dened through assigning a
xed value to one of the velocities and searching for a critical
value of the other velocity.
Table 3 presents the values of the dimensionless critical
velocities of the axial uid ow U in relation to different numbers
of the harmonic j obtained for shells under various boundary
conditions at different values of the dimensionless angular
velocity of the uid rotation O f . The data listed in the table
clearly demonstrate that for shells conveying uid with the axial
velocity component the inclusion of the uid rotation into
consideration has a destabilizing effect, on the system no matter
what the type of the boundary conditions is used, and with
increasing angular velocity the stability boundary decreases.
The values of the dimensionless critical angular velocity of the
uid O f in relation to the number of the harmonic j, obtained at
different values of the dimensionless axial ow velocity U under

Table 3
The values of the dimensionless critical axial velocities U at different numbers of the harmonic j for shells under various boundary conditions, obtained at different
dimensionless angular velocities of the uid rotation O f for L/R 4.

Of

0
0.1891
0.3783
0.5674
0.7566
0.9457
1.1348
1.3239
1.5131

Variants of boundary
conditions

SS
CF
SS
CF
SS
CF
SS
CF
SS
CF
SS
CF
SS
SS
SS

Number of the harmonic j

1

9.2007
10.2485
9.2007
10.2449
9.2007
10.2436
9.2007
10.2425
9.2005
10.2412
9.2003
10.2399
9.2001
9.1999
9.1996

6.9441
10.2688
6.9409
10.2506
6.9310
10.2535
6.9146
10.2563
6.8917
10.2591
6.8619
10.2332
6.8255
6.7823
6.7321

4.2919
10.3151
4.2772
10.3219
4.2324
10.3004
4.1571
10.2924
4.04987
10.2841
3.9084
10.0431
3.7293
3.5082
3.2368

4.1832
9.0481
4.1492
8.9263
4.0459
8.3201
3.8707
7.7965
3.6181
7.2753
3.2767
6.1522
2.8229
2.1999
1.1819

4.6801
8.5113
4.6638
8.1151
4.6146
7.5622
4.5307
7.1841
4.4077
6.3180
4.2320
5.8336
3.8655
3.2027
2.3139

5.1399
8.5588
5.1274
8.1215
5.0901
7.6995
5.0249
7.2775
4.9231
6.8255
4.7591
6.0109
4.5030
4.1593
3.7051

5.5567
8.8472
5.5467
8.4447
5.5155
8.0693
5.4622
7.6535
5.3827
7.2089
5.2683
6.7222
5.1043
4.8851
4.6044

Table 4
The values of the dimensionless critical angular velocity of the uid O f at different numbers of the harmonic j for shells under various boundary conditions, obtained at
different dimensionless axial velocities of the uid ow U for L/R 4.
U

0
0.0019
0.9457
1.8914
2.8371
3.7828
5.6742
7.5656

Variants
of boundary conditions

SS
CF
CF
SS
SS
CF
SS
SS
CF
CF
CF

Number of the harmonic j

1

28.0534
11.7093
10.8465
27.9952
27.8205
10.8596
27.5258
27.1063
10.9178
11.0153
11.1531

6.2379
2.3923
2.1843
6.1785
5.9967
2.2152
5.6817
5.2123
2.3379
2.6715
4.1439

2.3388
1.1575
1.0303
2.2782
2.0892
1.0399
1.7339
1.0826
1.1872
1.6673
2.0880

1.5853
1.2775
1.1064
1.5389
1.3952
1.0981
1.1302
0.6405
1.1658
1.2597
0.6394

1.7161
1.6317
1.3762
1.6828
1.5794
1.3643
1.4094
1.1623
1.1932
1.0874
0.3743

2.0654
2.0309
1.6685
2.0274
1.9193
1.6578
1.7469
1.4843
1.3821
1.0909
0.4837

2.4731
2.4517
1.9644
2.4232
2.2924
1.9525
2.1106
1.8503
1.6745
1.2573
0.6049

266

S.A. Bochkarev, V.P. Matveenko / International Journal of Mechanical Sciences 68 (2013) 258269

not observed. It should be noted that taking account of even a

minimal axial velocity U 0:0019 leads to the appearance of new
critical values of the angular velocity for all numbers of the
harmonics considered in this study. Moreover, for lower harmonics
at certain values of the axial uid velocity one can observe an
increase of the stability boundary.
A detailed analysis of stability carried out for different numbers of the harmonic, for example for j 4, allows us to conclude
that in the presence of the axial and angular components of the
uid velocity the character of the stability boundary strongly
depends on the type of the boundary conditions and linear
dimensions of the system.
For shells simply supported or clamped at both ends the
stability boundary does not depend on the exhaustive search of
the values of the angular and axial velocities (Fig. 8). For
cantilevered shells the variant of the exhaustive search, in which
the axial velocity is xed and a search is made for the value of the
angular velocity, at which the system loses stability, is shown in
Fig. 8 by a solid line. Another variant, in which the angular
velocity has a xed value and a search is made for the axial
velocity leading to the loss of stability is denoted by a dashed line.
A possible reason for the difference in the critical velocities is that
for shells under such boundary conditions the existence of the
axial ow velocity may lead to an increase in the critical angular
velocity of the uid ow. These results suggest that for cantilevered shells the axial uid ow within some regimes exerts a
stabilizing effect, whereas for shells under other boundary conditions it has only a destabilizing effect.
The effect of a dramatic variation in the dimensionless critical
angular velocity O f for cantilevered shells due to the appearance
of the axial velocity component is readily illustrated by the
following results of computation. In the absence of the axial uid
ow the critical angular velocity is equal to 1.277, and due to the
appearance of even a minimal axial ow it reduces to 1.106.
To gain a better understanding of the effect of one velocity
component on the other, we refer to Fig. 9 where the results of
computations are represented in the form of the dependence of
the total critical ow velocity x U 2 R2 O2 1=2 =U9O 0 on the
ratio of the angular velocity to the axial velocity of the uid
z RO=U. The use of the dimensionless quantities x and z was
rst proposed in [5]. Note that the quantity z is inversely
proportional to the Rossby number Ro U=RO, which is one of
the main units of measurement used in the dynamics of rotating
uids [1]. From the results presented in Fig. 9 for cantilevered

various boundary conditions are listed in Table 4. For shells simply

supported at both ends conveying a rotating uid an allowance
made for the axial component of the uid exerts a destabilizing
effect and with increasing axial uid velocity the stability boundary
decreases. For cantilevered shells such unambiguous dependence is

2.5
2

CC

flutter

1.5
1
0.5

SS

stable
0

1.3

2.6

CF

3.9

5.2

6.5

7.8

9.1

U
Fig. 8. Stability diagrams for shells under various boundary conditions subjected
to a combined action of the dimensionless axial ow U and dimensionless
rotational ow O f of the uid: j 4, L/R 4.

flutter
0.75

0.5

CC

SS
CF

0.25

stable
0

0.5

1.5

Fig. 9. The total critical ow velocity x versus the ratio of the angular to axial
velocity of the ow z for shells under various boundary conditions under the
combined action of the axial ow and rotational ow of the uid: j 4, L/R 4.

3.9

3
flutter

flutter

L/R = 2
2.6

L/R = 2
4

4
1.3

stable
0

10
2

4
U

stable
6

10
4

12

Fig. 10. Stability diagram at j 4 for shells simply supported at both ends (a) and cantilevered shells (b) having different linear dimensions L/R subjected to a combined
action of the dimensionless axial ow U and dimensionless rotational ow O f .

S.A. Bochkarev, V.P. Matveenko / International Journal of Mechanical Sciences 68 (2013) 258269

267

However the appearance of the axial ow velocity may cause

the loss of stability in the form of a single or two-mode utter
depending on the type of the boundary conditions. Table 5 lists
the values of the critical values of the dimensionless axial ow U
for different numbers of the harmonic j and dimensionless
angular velocities of the shell and uid rotation O . The computations were made for L/R 4 and two variants of the boundary
conditions. From these results it follows that for cantilevered
shells an increase in the velocity of simultaneous rotation of the
shell and the uid leads to a decrease in the critical velocity of the
axial uid ow, whereas for shells simply supported at both ends
this dependence is of inverse character.
A more comprehensive analysis can be made based on the data
shown in Fig. 11, in which we present the stability boundary
obtained for shells simply supported at both ends and cantilevered shells under a combined action of the dimensionless axial
ow U and simultaneous dimensionless angular rotation of the
shell and the uid O . Here we consider different scenarios, in
which the initial circumferential tension and uid rotation is
either neglected or taken into account. Identication of these
variant using Roman numerals was made according to Table 6. In
the case of simultaneous rotation of the shell and the uid and
with account for the initial circumferential tension an increase in
the angular velocity of the system including shells simply supported at both ends leads to an increase in the critical value of the

shells we can draw a conclusion that for the examined variants of

the boundary conditions an increase in the angular velocity of the
uid is crucial for reducing the total critical ow velocity.
Fig. 10 shows the stability diagrams for shells with different
linear dimensions L/R and various boundary conditions, which are
subjected to a combined action of the axial and rotational uid
ow. The results presented in the diagrams allow us to estimate
the inuence of the geometrical dimensions of shells on the
stability boundary. In particular, for cantilevered shells the extent
of the stabilizing effect of the axial ow velocity essentially
depends on the linear dimensions of the systemthe smaller
the dimensions, the higher the stability boundary. With increasing L/R the stabilizing effect vanishes. It is quite possible that for
the examined variants of the boundary conditions such a behavior
of cantilevered shells under a combined action of both velocity
components is attributed to the hydrodynamic damping, which
always exists in the system even at minimal velocities of the
axial ow.
4.4. Stability analysis of a rotating shell containing axially owing
and co-rotating uid
The results of numerical simulation show that in the case
when the shell and the uid rotate simultaneously with the same
angular velocity the loss of stability does not occur (Fig. 5).
Table 5

The values of the dimensionless critical axial velocities of the uid U at different numbers of the harmonic j and dimensionless angular velocities of the shell and uid
rotation O O s O f for shells under various boundary conditions for L/R 4.

0
0.9457
1.8914
2.8371
3.7828
4.7285

Variants of boundary
conditions

Number of the harmonic j

SS
CF
SS
CF
SS
CF
SS
CF
SS
CF
SS
CF

9.2007
10.2485
9.2266
10.2393
9.2249
10.2317
9.2223
10.2232
9.1926
10.2141
9.1879
10.2043

6.9441
10.2688
6.9464
10.2332
6.9532
10.2190
6.9645
10.2058
6.9802
10.1945
7.0003
10.1854

4.2919
10.3151
4.3319
10.2798
4.4457
9.8194
4.6180
8.6573
4.8289
7.8465
5.0589
5.8267

4.1832
9.0481
4.2649
7.4595
4.4607
6.0358
4.6856
4.6173
4.8938
3.7680
5.0799
3.4489

4.6801
8.5113
4.6952
6.7905
4.7442
5.7118
4.8348
4.4368
4.9655
4.2715
5.1777
3.4639

5.1399
8.5588
5.1444
6.9193
5.1595
5.6795
5.1919
4.7472
5.3211
4.0050
5.5972
3.5776

5.5567
8.8472
5.5594
7.2768
5.5679
6.1711
5.5844
5.0719
5.6165
4.8444
5.6857
4.0682

12

10.5
flutter

CFIII
SSIII

8
U

CFIV
SSI

3.5

CFI

SSII
0

SSIV
3

CFII
0

Fig. 11. Stability diagram for a shell simply supported at both ends (a) and cantilevered shell (b) under a combined action of the dimensionless axial ow U and
dimensionless angular rotation of the shell and uid O : j 4, L/R 4.

268

S.A. Bochkarev, V.P. Matveenko / International Journal of Mechanical Sciences 68 (2013) 258269

Table 6
Variants of computation of the stability boundary in the system under the
combined action of the axial uid ow and simultaneous angular rotation of the
shell and the uid.
Variant number

II

III

IV

Fluid rotation
Initial circumferential tension

Of a 0

Of a 0

Of 0

Of 0

Kgs a 0

Kgs 0

Kgs a 0

Kgs 0

axial ow velocity (curve SSI), and for cantilevered shellsto a

decrease in the critical axial velocity (curve CFI). The results for
shells simply supported at both ends do not qualitatively agree
with the data reported in [2] for innitely long shells. This can be
attributed to the fact that in [2] as well as in a number of other
works the authors neglect the initial circumferential tension
caused by the centrifugal forces. This statement is supported by
the results of numerical simulations, which do not take into
account the initial circumferential tension (curves SSII and CFII).
In this case as with work [2], an increase in the angular velocity of
the shell and uid rotation leads to an abrupt decrease in the axial
velocity of the ow no matter what the type of the boundary
conditions.
Fig. 11 presents the results of numerical simulations in the
absence of uid rotation. In this case, for both types of the
boundary conditions rotation of the shell alone has a stabilizing
effect and hence rotation of the uid has a destabilizing effect
both for a stationary and a rotating shell (Fig. 4).
The analysis of the dependence of the total critical ow
velocity x on the quantity inversely proportional to the Rossby
number allows us to conclude that the inuence of the angular
velocity of the shell and uid rotation on the total critical velocity
of the uid ow is most pronounced in cantilevered shells.
Numerical calculations for shells having other linear dimensions, in particular for L/R10, show that an increase in the shell
length does not lead to qualitative changes in the results.

5. Conclusion
In this study, we have analyzed the stability of stationary or
rotating elastic circular cylindrical shells interacting with a uid
ow having both the axial and circumferential components of
velocity. A mathematical formulation of the problem and its
numerical implementation based on the nite element algorithm
have been considered. The proposed numerical algorithm has
been used to investigate the stability of shells with different
linear dimensions subjected to various boundary conditions.
It has been shown that for a stationary shell containing a
rotating uid and for a rotating shell with a co-rotating uid the
axial uid ow leads to the loss of stability, the form of which
depends on the type of the boundary conditions prescribed at the
ends of the shell.
In the case of stationary shells, the uid ow having the axial
and circumferential velocity components has an essential effect
on the stability boundary, which manifests itself in a decrease of
critical velocities, at which the loss of stability occurs. It should be
noted, however, that for short cantilevered shells the axial uid
ow may lead to an increase in the critical angular velocities of
the uid rotation.
In the case of rotating shells conveying a co-rotating uid the
character of the dynamic behavior is specied by the type of the
boundary conditions, and, accordingly, an increase of the angular
velocity may cause a growth or decrease of the critical axial
velocities leading to the onset of instability. It has been found that
in the context of a simplied formulation, which ignores the

initial circumferential tension caused by the centrifugal forces, for

shells under various boundary conditions an increase in the
angular velocity leads to an abrupt decrease in the critical
velocities of the axial ow.
The results obtained in the present study qualitatively agree
with the results of works [2,5] for innitely long shells and settle
doubts expressed by the authors of [1,11,12] as to a possibility of
stability loss in shells conveying a rotating uid.

Acknowledgments
The work was supported by the Russian Foundation for the
Fundamental Research (Grant 09-01-00520).
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