International Applied Mechanics, Vol. 39, No.

1, 2003

ON MULTIMODE NONLINEAR VIBRATIONS OF FILLED CYLINDRICAL SHELLS

V. D. Kubenko, P. S. Kovalchuk, and L. A. Kruk

UDC 539.3

A technique is proposed to study the multimode nonlinear vibrations of circular shells fully filled with a
perfect incompressible liquid. This technique is used to study the basic laws of modal interaction at
nonlinear, including sub-harmonic resonances.
Keywords: cylindrical shell, multimode vibration, ideal incompressible liquid, phase portrait, resonance
The flexural vibrations of thin cylindrical shells in a geometrically nonlinear formulation are addressed in many
publications cited in [3, 5, 810, 12, 14, etc.]. In most cases, the dynamic behavior of shellliquid systems was studied based on
simplified, usually one-dimensional (single-mode) models. However, such models are valid only when the natural frequencies
of these systems are spaced rather far apart and are not multiple of each other. The majority of real shells with a liquid do not meet
these requirements because their frequency spectrum is quite dense. Therefore, the nonlinear dynamic deformation of shells may
form complex multimode structures, which can be described by multiparametric models.
In this paper, we propose a technique to study multimode periodic deformation modes of circular cylindrical shells fully
filled with a liquid and making free vibrations with large deflections. We use this technique to study the basic laws of dynamic
interaction and power interchange among various modes at nonlinear (harmonic and subharmonic) resonances and the influence
of the liquid on the complex deformation of the shells.
1. Initial Dynamic Equations. To describe the dynamic deformation of a shell with a perfect incompressible liquid, we
use the DonnelMushtariVlasov bending equations [2, 3]
2
2
2
2
2
2
2
P ( x, y, t )
D 4
&& = W + W 2 W + 1 g
,
W + W
2
2
2
2
2
h
xy xy R x
h
x y
y x
2

2
2
2
2W
1 4
W W 1 W ,
=

2
2
E
R x 2
x y
xy

(1.1)

where W = W ( x, y ) is the radial deflection (positive toward the center of curvature), x and y are the longitudinal and
circumferential coordinates, the origin of the x-axis being at the center of one of the shell ends, is the stress function in the
Eh 3
is the cylindrical stiffness of the shell (E is the elastic modulus and is Poissons ratio), h and R
median surface, D =
12(1 2 )
are the thickness and radius of the shell, is the density of the material the shell is made of, Pg is the internal hydrodynamic
pressure on the lateral surface of the shell, and 4 is a known biharmonic operator.
Assume that the Navier condition is satisfied on the shell faces, i.e.,
W = 0,

M x = 0,

N x = 0, V = 0 for x = 0, l,

(1.2)

S. P. Timoshenko Institute of Mechanics, National Academy of Sciences of Ukraine, Kiev. Translated from Prikladnaya
Mekhanika, Vol. 39, No. 1, pp. 99108, January 2003. Original article submitted January 29, 2002.
1063-7095/03/3901-0085$25.00 2003 Plenum Publishing Corporation

85

where M x is the bending moment, N x is the linear force acting in the longitudinal direction, V is the circumferential
displacement of points of the shells median surface, and l is the length of the shell.
To clarify the fundamental aspect of the nonlinear multimode vibrations of a filled shell, we will approximate its
deflection W by a five-term expansion:
W = f1 ( t )cos s1 y sin m x + f 2 ( t )sin s1 y sin m x + f 3 ( t )cos s2 y sin m x
+ f 4 ( t )sin s2 y sin m x + f 5 ( t ) X ( x ) ,

(1.3)

where si = n i / R ( i = 1, 2) and m = m / l are the waveformation parameters, n1 n 2 in the general case, and f k ( k = 1 5) are
unknown time functions that have the sense of the generalized coordinates. It is obvious that this expansion contains both
conjugate forms (corresponding to the same waveformation parameters) and unconjugate forms (with different wave
parameters) [6, 7]. The last term in (1.3) has been introduced to describe the deformation of thin shells with large deflections, i.e.,
the well-known, repeatedly experimentally observed phenomenon of preferential inward buckling [2, 6]. Taking the boundary
conditions (1.2) into account, we hereafter assume that X ( x ) = sin 4 m x .
To determine the hydrodynamic load on the shell, we take advantage of the well-known relation
Pg = Pg ( x, r, ) = 0

,
tr = R

(1.4)

where 0 is the density of the liquid and x, r, and are cylindrical coordinates. The velocity potential is found by solving the
boundary-value problem [6, 9, 10]
2
x 2

r= 0

2
r 2

< ,

1 1 2
+
=0
r r r 2 2

r= 0

W
,
t

in

Q,

|x= 0 = 0,

|x= t = 0 ,

(1.5)

where Q is the domain the liquid occupies. Considering (1.3), we obtain the following representation of the function :
= ( &f1 cos s1 y + &f 2 sin s1 y )
( &f 3 cos s2 y + &f 4 cos s2 y )

I n1 ( m r )
sin m x
m I n 1 ( m R )

&f
I n2 (m r )
sin m x 5
2l
m I n 2 ( m R )

Mk

k =1, 3 , 5

I 0 (k r )
sin k x,
k I 0 ( k R )

(1.6)

where
Mk =

k ( 2k

1924m

42m

)( 2k

162m

k =

k
.
l

(1.7)

Substituting relation (1.4) in view of (1.6) into the first equation of system (1.1) and applying the BubnovGalerkin
method, we derive the following equations for the desired functions f k ( k = 1 5) appearing in (1.3):
&&f + 2 f + k ( f 2 + f 2 ) f + k ( f 2 + f 2 ) f + k f f + k f f 2 = 0,
1
11 1
1
12 3
1
13 1 5
14 1 5
1 1
2
4
&&f + 2 f + k ( f 2 + f 2 ) f + k ( f 2 + f 2 ) f + k f f + k f f 2 = 0,
2
11 1
2
12 3
2
13 2 5
14 2 5
1 2
2
4
&&f + 2 f + k ( f 2 + f 2 ) f + k ( f 2 + f 2 ) f + k f f + k f f 2 = 0,
3
21 1
3
22 3
3
23 3 5
24 3 5
2 1
2
4
&&f + 2 f + k ( f 2 + f 2 ) f + k ( f 2 + f 2 ) f + k f f + k f f 2 = 0,
4
21 1
4
22 3
4
23 4 5
24 4 5
2 4
2
4

86

&&f + 2 f + k ( f 2 + f 2 ) + k ( f 2 + f 2 ) + k ( f 2 + f 2 ) f + k ( f 2 + f 2 ) f = 0 ,
5
31 1
32 3
33 1
5
34 3
5
3 5
2
4
2
4

(1.8)

where j ( j = 1 3) are the natural frequencies of the shell with regard for the effect of the liquid,
12 =

1 D
E4
( , s1 ) + 2
,
m01 h
R ( , s1 )

22 =

1
m02

23 =

64
35m03

D
E4
,
( , s2 ) + 2
R ( , s2 )
h
35E
8D 4
h + 64R 2

( = m ),

(1.9)

m01 , m02 , and m03 are the apparent masses of the liquid,
m0 i = 1+

m03 = 1+

0 I ni ( R )
hI ni ( R )

16 0
35 hl 2

k =1, 3 , 5

( i = 1, 2),

I 0 ( k R )M k2
k I1 (k R )

(1.10)

I ni , I 0 , and I 1 are modified Bessel functions, is an operator such that ( A , B ) = ( A 2 + B 2 ) 2 , and k jk are constant coefficients
of nonlinear forces depending on the geometrical and physical parameters of the shell and the waveformation parameters (not
presented because of their awkwardness).
Equations (1.8) are original ones used for analyzing the multimode free nonlinear vibrations of a filled shell. The design
technique in this case depends strongly on whether internal resonances [4, 7] occur in system (1.8) or not. Hereafter, we focus on
the analysis of resonance modes that lead to intensive redistribution of energy among various flexural modes of the shell during
its free vibrations and excitation of complex deformation modes. Without loss of generality, we determine the function f 5 from
the corresponding quasistatic problem, assuming that &&f 5 0. The validity of such an approach was discussed in [2, 7, etc.]. Since
the nonlinear terms are small compared with the linear ones, we can write
f5 =
+

1
43

1
23

[k 31 ( f12 + f22 ) + k 32 ( f32 + f42 )]

[k 31k 33 ( f12 + f22 )2 + k 32 k 34 ( f32 + f42 )2 + (k 31k 34 + k 32 k 33 )( f12 + f22 )( f32 + f42 )] + 16 (... ).

(1.11)

If we neglect the nonlinear terms of the fifth power in f k ( k = 1 4 ), then the initial system (1.8) reduces to
&&f + 2 f + ( f 2 + f 2 ) f + ( f 2 + f 2 ) f + c ( f 2 + f 2 ) 2 f
1
1 1
1
1 3
1
1 1
1
1 1
2
4
2
+ d1 ( f12 + f 22 )( f 32 + f 42 ) f1 + e1 ( f 32 + f 42 ) 2 f1 = 0,
&&f + 2 f + ( f 2 + f 2 ) f + ( f 2 + f 2 ) f + c ( f 2 + f 2 ) 2 f
2
1 1
2
1 3
2
1 1
2
1 2
2
4
2
+ d1 ( f12 + f 22 )( f 32 + f 42 ) f 2 + e1 ( f 32 + f 42 ) 2 f 2 = 0,
&&f + 2 f + ( f 3 + f 2 ) f + ( f 2 + f 2 ) f + c ( f 2 + f 2 ) 2 f
3
2 3
3
2 1
3
2 3
3
2 3
4
2
4
+ d 2 ( f12 + f 22 )( f 32 + f 42 ) f 3 + e 2 ( f12 + f 22 ) 2 f 3 = 0,

87

&&f + 2 f + ( f 3 + f 2 ) f + ( f 2 + f 2 ) f + c ( f 2 + f 2 ) 2 f
4
2 3
4
2 1
4
2 3
4
2 4
4
2
4
+ d 2 ( f12 + f 22 )( f 32 + f 42 ) f 4 + e 2 ( f12 + f 22 ) 2 f 4 = 0 ,

(1.12)

where i , i , c i , d i , and e i ( i = 1, 2) are parameters expressed in some manner in terms of the coefficients k jk ,
1 = k11

k13 k 31
23

2 = k 22

k 23 k 32
23

(1.13)

and so on.
2. Technique for Finding Periodic Solutions of System (1.12). As the papers [4, 5, 7, etc.] demonstrate, it is expedient
to pass to wave coordinates in Eqs. (1.12) by changing variables as follows:
f1 = A1 cos 1 ,

f 2 = A1 sin 1 ,

f 3 = A 2 cos 2 ,

f 4 = A 2 sin 2 ,

(2.1)

where A1 , A 2 and 1 , 2 are, respectively, the amplitude and phase characteristics of the vibrations of the shell. They can be
determined from system (1.12),
& i2 ) A i = Fi1 ( A1 , A 2 ) ,
A i + ( i2
&& i + 2A& i
& i =0
Ai

( i = 1, 2)

(2.2)

with the nonlinear right-hand side

F11 = 1 A13 1 A1 A 22 c1 A15 d1 A13 A 22 e1 A1 A 24 ,
F21 = 2 A 23 2 A 2 A12 c 2 A 25 d 2 A 23 A12 e 2 A 2 A14 .

(2.3)

The deflection function W (1.3) has the following reduced form:

W = ( A1 cos 1 + A 2 cos 2 )sin m x + C sin 4 m x ,

(2.4)

where
1 = s1 y 1 ,
C =

1
23

( k 31 A12 + k 32 A 22 ) +

1
43

2 = s2 y 2 ,

[k 31k 33 A14 + k 32 k 34 A 24 + (k 31k 34 + k 32 k 33 )A12 A 22 ].

(2.5)

Analyzing Eqs. (2.2) in a well-known way [1, 7], we discover resonance situations at the first approximation
1

p
2 ,
q

(2.6)

where p = q = 1 or p = 2 and q = 2 or p = 2 and q = 1.

To construct approximate periodic solutions to these equations under condition (2.6), it is possible to employ the idea of
the asymptotic BogolyubovMitropolskii method of averaging [1], introducing, in particular, the replacement
A i = u i + i sin i ,

i = i + arctan

88

i
A& i =
cos i ,
Ai

i
+ i
2
,
Mi

u i tan

&i =

M i i
A i2

(2.7)

where
M i = u i2 2i .

i = 2( i t + i ),

(2.8)

Based on (12), we obtain a system of equations for the unknown amplitude, u i and i , and phase, i and i , parameters
[4, 11, 13]
du i Fi1 i
cos i ,
=
dt
i A i

d i F1i u i
cos i ,
=
dt
i A i

d i F1 M i
=
2A i i
dt

sin i cos i

ui
i

d i
F ( u sin i + i )
,
= i1 i
2i A i i
dt

( i = 1, 2),

(2.9)

where F11 = F11 , F21 = F21 + A 2 , and = 22 1 .

p
Averaging (2.9) over the time t, which enters the equations explicitly, we derive equations for the above-mentioned
parameters for each resonance (2.6) separately.
3. First Integrals of Motion of a ShellLiquid System. The presence of resonances determines certain nonlinear
coupling of Eqs. (2.9). Analyzing these equations, we will construct some first integrals characterizing the energy interchange
among modes of the filled shell. In particular, such integrals are presented in [11] for the free vibrations of a partially filled shell
at the harmonic resonance 1 2 . Similar integrals also appear in the case we are consideringa fully filled shell. This is
because the structure of Eqs. (2.9) is the same in both cases.
Let us analyze subharmonic resonances in more detail. Let, in particular, 1 22 . When averaged, system (2.9) has
the form
2
du1 e11 2
=
cos 2,
41
dt
2
d1 e1 u1 2
=
cos 2,
41
dt

d 1
1
=
21
dt

d 2 1 2
du 2
=
cos 2,
21
dt
d 2
d u
= 2 2 1 2 cos 2,
21
dt

2 u1 22
2 3
,
1 u1 + 1 u 2 + c1 2u 2 + 1 + c 2 u1 u 2 + e1 u 2 + 2
sin
2

1
2
41
2 2
2

2 3
d 2
1
3
+ 2 u 2 + d1 2u 2 + 2 + d 2 u1 u 2 + e 2
=
2
21
2
2 2
dt

2
2

u 2 + 1 u 2 1 sin 2 ,
1

2
4 2

(3.1)

where = 22 12 / 4 and = 1 2 2 .
From the first four equations, we derive the first integrals
2u1 u 2
+
= C0 ,
e1 d 2

u i2 i2 = C i

( i = 1, 2),

(3.2)

where C 0 , C1 , and C 2 are the constants of integration.

Using these integrals, we can simplify system (3.1) and reduce it to the two equations
2
du1 e1 L2 L1
=
cos 2,
41
dt

d
= G0 + G1 u1 + G2 u12 + G3 sin 2,
dt

(3.3)

where
89

TABLE 1
2

n1

10

11

12

0
, Hz 1430.0 756.1 461.7 325.9 277.8 288.1 335.1 405.1 490.2 587.5 695.6
2

, Hz 326.5 203.2 140.1 108.7 100.0 110.6 136.1 172.4 217.6 270.8 331.6
2

u1

d / dt

1.125

19379.5

1.1249

19379.6

1.1248

19379.7
0

0.03

0.06

t, sec

u1
2.0008

d / dt
34460

2.0004

34470

2.0000
0

0.03

0.06

t, sec

0.03

0.06

t, sec

34480

0.03

0.06 t, sec

Fig. 1

G0 =

1 2 2 3
e1

c1

d 2 C 0 e1 10d1 + ( 1 6 2 ) d 2 C 0 2d1 C 2 2d1 C1 4 ,

21
2

G1 =

2d 2
4C 3
1 3

( 1 6 2 ) 0 e1 10d1 d 22 + 3C 0 d 2 2 2d 2 ,
1 42
21 2
e1
e1 2

2
G2 =

G3 =

2
c 5
1 4d 2 3
6d

e1 10d1 + 2 2d 2 2 + c1 6e 2 ,

21 e 2 2
2 2
e1

1
( 4d 2 L22 u 2 e1 u1 L12 0),
81 L2

2u
L1 = d 22 C 0 1 2 C 2 ,
e1

L2 = u12 C1 .

(3.4)

Analyzing these equations, we derive the following integral, which is more general than (3.2):
G0 u1 +

G1 2 G1 3 e1
u +
u
L2 L12 sin 2 = C 3 = const.
2 1
3 1 81

(3.5)

Similar integrals (3.2) and (3.5) can be constructed for the second resonance 1 2 /2.
The above integrals are important characteristics that allow us to study how the energy initially imparted to the shell is
then redistributed among various resonance modes and what deformation modes the shell has at one instant or another. To
determine the period of energy transfer from one mode to another and back, it is necessary to integrate the system of equations
(3.3) with given initial conditions.
4. Numerical Example. Let a shell filled with water ( 0 = 103 kg/m3) have the following parameters:
E = 2 1011 Pa ,

90

= 7.8 103 kg / m 3 ,

R = 0.16 m,

= 0.3,

h / R = 3.125 103 .

(4.1)

d / dt

u1
u1

d / dt

5.259

37114.5

2.9588
2.9586
2.9584
0

0.03

0.06

37115.0

5.257

37115.6

5.256

37116.0
t, sec
0

65950

5.258

66000

5.255
0.03

0.06

t, sec

0.03

0.06

t, sec

66050

0.03

0.06 t, sec

Fig. 2
du1 / dt

du1 / dt

du1 / dt

du1 / dt

0.05

0.2

0.05

0.2

0.10
1.124990 1.124995

2
u1

2.9584 2.9586 2.9588

0.4
2.0000
u1

2.0004

u1

10

5.255

5.257

5.259

u1

Fig. 3
Table 1 presents the natural frequencies of this shell that have been determined by the first formula in (1.9) for
l / R = 2.495, m = 1, and various values of n1 . To compare, the upper row of the table contains the natural frequencies 0 of the
corresponding dry (without liquid) shell. It is obvious that the shell has both closely spaced and multiple natural frequencies. In
particular, the frequencies for the modes with n1 = 5 and n 2 = 7 may be thought of as close. In turn, 1 2 / 2 for the mode
with n1 = 5 and n 2 = 10. For the dry shell, the frequency spectrum transforms and has no close frequencies within the range of n1
being considered.
& i ( 0) = 0
Figures 12 show the results of integration of Eqs. (3.1) in view of (4.1) for initial conditions of two types:
2
& i ( 0) = 1 (Fig. 2) ( i = 1, 2), where u1 = u1 / h . The curves in Fig. 1a, b correspond to A1 ( 0) = 1.5h and the curves in
(Fig. 1) and
Fig. 1c, d to A1 ( 0) = 2h . We also assume that ( 0) = / 4.
As is seen from the figures, the amplitude parameter u1 and the phase velocity & are time-oscillating functions, and the
periods of these oscillations depend strongly on the initial amplitudes A1 ( 0). In particular, as the amplitude A1 ( 0) increases, the
& i ( 0) 0. In the latter case, the
& i ( 0) = 0 and decrease for
periods of the functions u1 ( t ) (and, consequently, & ( t )) increase for
functions u1 and & turn out to be somewhat modulated. The oscillations of the amplitude parameter A1 ( t ), which characterizes
the mode with m = 1and n1 = 5, determine the oscillations of the parameter A 2 ( t )of the second mode with m = 1and n = 10, and
vice versa. Note that these results pertain to the subharmonic resonance 1 2 / 2 and radial displacements of the shell with
& i ( 0) = 0, then the dynamic deflection (2.4) of the shell represents two superimposed standing waves. When
small amplitudes. If
& i ( 0) 0, two traveling circumferential waves interact [11].

Figures 3ad depict phase portraits of the free periodic vibrations of the filled shell at the resonance 1 2 /2. Figures
& i ( 0) = 0 and A1 ( 0) = 1.5h,
& i ( 0) = 1 , respectively, and Figs. 3c, d to A1 ( 0) = 2h,
& i ( 0) = 0
3a, b correspond to A1 ( 0) = 1.5h,
& i ( 0) = 1 , respectively. Finally, Fig. 4 illustrates the phase portraits obtained by integrating Eqs. (3.3) for the
and A1 ( 0) = 2h,
& i ( 0) = 0 (Fig. 4a) and
& i ( 0) = 1 (Fig. 4b). The natural
dry shell with n1 = 7, n 2 = 11, A1 ( 0) = 2h, and the initial conditions
frequencies 1 and 2 meet the resonance condition 1 2 /2. As is seen, the amplitudes of flexural vibrations of the dry shell
exceed considerably those of the filled shell (under the same initial conditions). Moreover, the free vibrations of the dry shell

91

du1 / dt

du1 / dt

0.5

0.5

1.0
2.00000

2.00010

10
u1

2.447

2.448

u1

b
Fig. 4

have the form of strongly pronounced beats because of the interaction of different modes. The beats are smoothed out well in the
presence of the filler.
In summary, note that the technique proposed here can be generalized to more than two modes. The only requirement is
that the natural frequencies corresponding to these modes satisfy certain resonance relations.

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Nauka, Moscow (1974).
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92