Dye! + 69 MS371-14, ® Preliminary Design Document THE IMPLEMENTATION OF FLUID CAPABILITY IN NASTRAN 4 January 1977 ‘THE MACNEAL-SCHWENDLER CORPORATION 7442 North Figueroa Street Los Angeles, California 90041Section 4.1 4.2 43 44 4s 4.6 AT 4.8 TABLE OF CONTENTS INTRODUCTION. . . GENERAL APPROACH, ASSUMPTIONS AND RESTRICTIONS. . . USER INTERFACE... 2... MATHEMATICAL DESCRIPTION. 2... 2... Differential Equations, Boundary Conditions General Method of Solution... ... ‘The Integral Equations for Point Sources. . ‘The Integral Equations for Dipole Sources . Finite Surface Elements... . 2... 2, Free Surfaces and Planes of Symmetry. . . . Virtual Mass Matrix . Element Pressures... ... 0.0.0.2. and Evaluation of Element to Grid Point Transformation Matrix Is, Evaluation of Of£-Diagonal Terms in the [x] and [A] Matrice: Evaluation of Diagonal Terms in [x] and [A] Matrices. . . , ESTIMATES OF COMPUTER TIME... .. 1... FUNCTIONAL MODULES, DMAP SEQUENCES. . . . . DEMONSTRATION PROBLEMS... ... 2... Flexible Cylindrical Tank Problem... . . 1 eg Page 16 19 21 23 25 2s 27LIST OF TABLES AND FIGURES Number Table 1. Dimensions and Densities of Matrices. . . Table 2, Timing Estimates for Matrix Operations Performed According to Section 4.6....... 0... Table 3. Timing Estimates for Matrix Operations Performed According to Reference 1... ........, ‘ Table 4. Comparison of Timing Estimates for Matrix Opérations by the Methods of Section 4.6 and of Reference 1 . . Table S. A Typical ALTER for Virtual Mass... . Table 6. Table 7. Table 8. Figure 1, Figure 2. Figure 3. Figure 4, DMAP Module Description OMAP Module Description OFP Formats... . Bulk Data Card - MPLUID Bulk Data Card - ELIST. for Module MGEN . for Module MDATA. . . . Elenents Intersected by a Free Surface. . Finite Element Representation of Cylindrical Tank Demonstration Problem... ........, -ile 32 33 37 38 40 a azMS371-14 The Implementation of Fluid Capability in NASTRAN Preliminary Design Document 1, INTRODUCTION ‘This document has been prepared ‘The MacNeal-Schwendler Corporation regarding enhancements for the NASTRAN Computer Program. It is a Preliminary design document for the addition to NASTRAN of virtual mass matrices for incompressible fluid Volumes of arbitrary shape and extent. It is written in sufficient detail to allow programmers to begin coding. It has the following additional use: 1, To inform of the proposed mathematical and user-interface specifications for the new capability. 2, To define the demonstration problems that will be used to test the new capability prior to release. 3. To provide data necessary to compute a cost estimate for completion of the project. 2, GENERAL APPROACH, ASSUMPTIONS AND RESTRICTIONS The general approach to be followed in the development of the new capa- bility is based on an earlier proposal, Ref. 1, submitted by MSC to NASA in 1974, as modified for additional capability. The reader is referred to Ref. 1 for background on the approach. Modifications and restrictive choices will be emphasized here, but it is perhaps well to begin by restating the following fundamental assumptions regarding properties of the fluid (Ref. 1, p. 2).a, Incompressible 8 b. Uniform density (i.e., no layers of different fluids) €. Internal fluids must have a free surface (for external fluids, the free surface is optional) 4. No surface waves or other gravitational effects . Irrotational flow £. No steady flow 8. All nonlinear effects neglected. Although Ref. 1 considered only internal fluids, the approach can be extended to external fluids without modification. It is proposed to allow - both internal and external fluids to be present simultaneously. Unconnected* fluid volumes will be treated separately. It is proposed to use existing NASTRAN triangular and quadrilateral ® structural elements to define the fluid-structure interface. Such elements may be wetted on one side, may be wetted on two sides by different fluid volumes, or may be wetted on both sides by the same fluid volume. In the latter case, dipole sources are used to define the fluid-structure inter. action, Both types of wetting may exist for the same fluid, i.e., int action between point sources and dipole sources will be considered. Considerable attention will be paid to the user interface, in order to reduce the user's effort and to provide him with needed options. Details of the proposed user interface are defined in Section 3. A matter of parti- cular concern is the large amount of input data required to specify wetted Surfaces. The approach taken facilitates the analysis of a tank for different —— Two fluid volumes are unconnected if there is no way for a fish to swim from one to the other. sfluid levels and different orientations of the free surface. For each such case after the first, only a single nunber need be changed. As a consequence of the approach taken here, and also to fulfill a specific request from Hoyd's, it is necessary to permit structural elements to be partially immersed. See Section 4.8 for details of implementation. Zero, one, or two planes of symmetry will be available at user's option. These planes refer to the analysis as a whole, and tanks using the symmetry options must be bisected by the overall planes of symmetry, ‘The method employed for the evaluation of surface integrals, which was not described fully in Ref. 1, is detailed in Sections 4.9 and 4.10. It was proposed, in Ref. 1, to incorporate the virtual mass matrix into the analysis after structural vibration modes had been computed. In NASTRAN parlance, the proposal was that the virtual mass matrix be computed for the {u,} set of freedoms. We now believe that it is best to introduce the virtual mass matrix before obtaining vibration modes, ice., for the fu} set Of freedoms. Details are discussed in Section 4.6. The main reasons for our new position are that recent improvements in NASTRAN make the cost and accuracy for the two approaches about the same, but the second approach is More flexible and causes fewer procedural changes. The modifications of the DMAP sequence occur in restricted areas which are similar for all dynamic rigid formats. See Section 6. 3. USER INTERFACE ‘The virtual mass matrix for an incompressible fluid volume will be ‘treated in the same way as the mass matrix for a NASTRAN structural element -3-except that it will not be usable in static analysis. Thus, gravity and centrifugal loads will not be computed for fluid masses. The main instrument for defining the properties of an incompressible fluid volune is the MFLUID card, see Figure 1, The density of the fluid, the location of a free surface, and the presence of planes of symmetry (if any) are defined by the card. The fluid-structure interface is defined by Mts of structural elenents which can be wetted by the fluid if they are below the free surface, see Figure 2, Pertinent details are explained in the "Remarks" section of Figures 1 and 2, In order to facilitate repeated analyses with different fluid levels, the MFLUID card is selectable in Case Controi. Thus, the user can place Several MFLUID cards in his bulk data deck and select the one(s) to be used ina particular analysis. Note also that several MFLUID cards, corresponding to different fluid levels, can reference the same list of structural elenents, ‘The tedious part of input data preparation will be the ELIST cards (Figure 2). ‘Note that the THRU option is available, and that the wetted side of each element is specified while filling out an ELIST card. A Separate list (ELIST2) is provided for elements wetted on both sides by the same fluid volume. In the initial delivery, a DMAP ALTER will be required to use the virtual fluid mass capability, Later, the capability will be built into all dynamic rigid formats. Restarts in which only the fluid levels are changed will be handled in an efficient manner, i.e., structural matrices will not be recomputed. Certain structural changes (those not involving grid point locations or element ID's) will also be handled efficiently, i.e., the virtual mass matrix will not be recomputed.tsa The fluid pressure acting on any wetted element (or pressure difference in the case of doubly-wetted elenents) will be available as output data, by user's request in Case Control. 4. MATHEMATICAL DESCRIPTION 4-1 Differential Equations, Boundary Conditions and General Nethod of Solution The concept of a displacement potential function is a handy concept to use for fluids in contact with structures, since the independent variables used in the structure are displacements. The displacement potential function is the integral with respect to tine of the velocity potential function. Thus, in the fluid the displacements are given by as % a) Since the fluid is incompressible, +d = 0, thus, Vo =0 (2) TE Equation 1 is substituted into the momentum equation, pu + Vp = 0, it can be integrated to give the pressure Ps -95 (3) where the (") is a second time de1 ative. The boundary conditions are P= 0, free surface (4) and eV} = Hed, structure (structural 6) is interface feeruc * HOGA -S-spe eeeeae In Equation 5, i is a unit norma) vector pointing from the structure ir’ the fluid, and A is the element area. Equations 1 through § completely define the fluid and its boundary conditions. The analysis of the fluid is thus a study of Laplace's equation (Equation 2) with certain boundary conditions (Equations 4 and 5). The proposed method of solution is an approximate integral method which uses the superposition of fundamental solutions. These fundamental solutions may be Surface distributions of point sources or doublets, The method has been used a great deal by aeroelasticians, and by undervater acausticians. ‘The work of the latter group is particularly relevant because of their interest in bodies ‘of arbitrary shape. With the approximate integral method it is important to keep the singu- larities outside of the volume of interest so that 9°4 = 0 within the volume. The fluid solutions are superimposed as if the entire space were filled with fluid. The fundamental solutions are easily found. The displacement poten- tial (and thus the displacements and the pressures) are written as suns or integrals of the strengths of the fundamental solutions. An integral equa- tion can then be solved to give the strengths of the fundamental solutions in terms of the boundary conditions. Uniqueness of the internal flow guarantees that if the boundary conditions are met, the solution will be correct; thus, there is no need to worry about the fictitious external fluid. In the proposed approximate method of solution the surface area is first subdivided into small triangular or quadrilateral areas corresponding to NASTRAN finite elements. A uniform strength source distribution is applied to each area (actually just behind the surface). The average normalvelocity (flow per unit area) and the force (area integral of pressure) are e computed for every area due to every source. Thus, the integrals are cast in matrix algebra form. This method allows solution without introducing interior grid points within the fluid. In the incompressible case (no tine lags due to velocity of propagation), the result is expressed as a virtual * mass matrix, i 4.2 The Integral Equations for Point Sources ] The solution of Laplace's equation can be written as the sum of the effects of a source distribution over the surface. The displacement poten ] tial due to a point source is given by ] ‘i 4 oy) = - oO) where S, is the source strength (volume/steradian) at location Fy, and ¢ is : evaluated at F,. A distributed source with strength per unit area o (volume/area*steradian) ie #1 is the absolute value of the distance from j to produces a potential . oF.) aa, A Equation 1) is €,;0(F,) aA, ig f 32 @) i The fluid displacement (siwhere &j; is a unit vector from j to i 9) (oy Equations 8 and 10 relate the displacements and pressures throughout the Volume to the surface source distribution. 4-5 The Integra! Equations for Dipote Soure Dipole sources are used to represent surfaces which are wetted on both sides by the game fluid volume. The displacement potential for a dipole Source can be derived by examining the limit of the expression for the Potential due to a pair of equal and opposite point sources as the distance between them approaches zero (see Ref. 2, P. 87, for example). The resulting expression for the potential at Z, due to a source at F, is st.) OG) =~ oR ay IF, - ¥ where, in addition to previously defined quantities, ay is a unit vector normal to the plane of the dipole, and § is the strength of the dipole source. A distributed source produces a potential 4a2) 858i + (Axe, x8; Tans a3) The fluid pressure (see Equation 3) is gS = 0895) +8, aA, ptr) = fess aay i 1% 4.4 Finite Surface Elenents The surface of a particular fluid volume is subdivided into triangular and quadrilateral elements. The source strength is assumed constant over each element, which may have either point sources or dipole sources but not both. Each element has a positive normal which must be directed into the fluid in the case of elements with point sources. In the case of non- planar quadrilateral elements, 2 mean plane is defined which passes through the midpoints of the sides. The average normal displacement over each element is us Bf Gie a, as) A where G(;) is the sum of terms produced by Equations 8 and 13. Since the Source strengths are constant over each element, Equation 1S can be written in matrix form as‘. (ub = [x] let (16) or, in partitioned form, as an where the superscripts (p) and (d) refer to elenents with point and dipole Sources, respectively. The explicit form for a term in’ [x] producing a normal velocity in element (i) due to the source strength of elenent G) is (18a) ALZ(R 8s 8s, + ks, xe, ;JdA.dA, gy or if 7 bf fe Sipser: (18b) IR - a, The appropriate force quantity to associate with the average normal dis- Placement is the total force on the element in a direction opposite to the direction of the normal. For elements which are wetted on one side (he, ctenents with point sources), the total force is the integral of the pressure: Pe Sra; an, as) ‘i For element which are wetted on both sides (i.e., elements with dipole Sources), the total force is the integral of the difference of the pressure on the two sides, Assuming the thickness of the element to be infinitesimal, the only sources which contribute to a difference of pressure arc the dipole -10-ese ee eee eee sources in the element itself. Thus, the relation between clement forces and source strengths has the partitioned matrix forn lay (20) Explicit forms for terms in APP and AP producing a force on element (i) due to the source strength of element (j) are app aj (21) (22) (a%4} is a diagonal matrix which cannot be evaluated explicitly from the foregoing equations. Note also ‘that the integrals for the diagonal terns of {xP], (x94) and [APP] have singular kernels which require special pro- cedures. The numerical evaluation of diagonal and off-diagonal terms is described in Sections 4.10 and 4.9, respectively. 4.5 Free Surfaces and Planes of Symmetry The free surface of the fluid is a plane of antisymmetry because the pressure is zero at the surface Its treatment is no different than that for a structural plane of antisymmetry. The proposed treatment of symmetry is to place additional sources at the image points of the source, and to compute the motions and forces due to them at points in the fundamental region. A maximum of three mutually perpendicular planes of symmetry (or “Leantisymnetry) is provided. Thus, the total number of image sources Per resi Source 4 0, 1, 3 oF 7, depending on the number of planes of symmetry and antisymmetty. The magnitude of an image source is equal to the Ragnitude of the real source but the sign is multiplied by (- ys where n, is the number of planes of antisymmetry encountered in reflecting the image into the real source. For dipole sources, the orientations of the images are Parallel to the orientation of the real Source. The elements of the [x] and [A] matrices are computed for the real source and for all of the images and are added, with due regard for signs, to form the effective Ux] and [A] matrices for the real source. 4.6 Virtual Mass Matrix “intual Mass Matrix ‘The [x] and [A] matrices refer to the average displacenents and the total normal forces on each element. Since the matrices solved by NASTRAN refer to degrees of freedom at grid points, it is necessary to relate the stenent displacenents and forces to grid point displacements and forces. let the vector of grid point displacenents in global coordinates be fu), let the vector of average normal element displacements be {ug}, and i the relationship be fu} = (G.,) fu.) (23) ‘The computation of [G,,] for totally-ianersed and for partially-innersed elements is described in Section 4.8. The corresponding relation between arid point forces (£,} and element forces {e,his 7, te.) = “16,51 {8} (24) 12.The minus sign occurs because the positive directions of (u,} and (€,; were chosen to be opposit The relation between (f,] and {up}, obtained by conbining Equations 10, 20, 23, and 24, is 1 “1 a (£,} = -{6,.)°(A1Lx] (6,5) (6,} (28) Thus, the virtual mass matrix in global coordinates is (Hig) = (yg) TANI 6,4] 8) In actual fact, the virtual mass matrix will never be computed in the form shown by Equation 26, Instead, a relationship between global coordi- nates and analysis set coordinates, (u,}, will first be determined in the forn fu} . (c,,}{u,} (27) Then, the matrix product: {6,1 = (6,,}16,.] es) will be formed and the matrix (8) = (x)" IG.) (2s) will be found from Od (B] = [6,,] (30) by decomposing [x] into its triangular factors and performing a forward- backward substitution. Finally, the virtual mass matrix referred to (u,) at 4eu ao fe a coordinates is Formed from the triple matrix praduct v Th, i 92,1 = (oq) "(AI 8) Gy Note that (NY,] must be a symmetric matrix even though this is not apparent from the method of calculation. In fact, the numerical approximations described in Section 4,9 will produce a non-symmetric result. Symmetry will be imposed by averaging the computed (i) with its transpose. 4.7 Element Pressures Once the solution for {u,} is obtained, the average fluid pressure on each element may be computed from fpd = PAU) = tA, ITA EBH i? (32) where [A.J is a diagonal matrix of element areas. For elements with dipole sources, {p,} is the pressure difference between the top side (positive) normal), and bottom side. 4.8 Evaluation of Element to Grid Point Transformation Matrix on The matrix [G,,] is defined by Equation 23, repeated below, fa.) = (6.1, (25) where fu) are displacement components at grid points in the global coordinate system and {u,} is the vector of average displacements normal to the surface of elements. -14- 7For a triangle, u, is simply equal to the average of the normal dis. placements at the three corners. The other considerations which enter into the calculation of [6] are a global to element coordinate transformation at each corner point and multiplication by the sign of the clement's IN on the ELIST card. An explicit form for the partition of 16,5] coupling a single element to a single grid point is 1 Wg} = 5 yyy Engr Engr 0,0, Of, (33) where E,1, Enz» E,3 are projections of a unit normal directed into the fluid onto the global coordinate axes. For a quadrilateral, u, will be taken equal to a weighted average of the normal displacements at the four corners. In order to account for warped surfaces, the corner points and edges are projected perpendicularly onto a mean plane which passes through the midpoints of the sides, and this Projection is used to represent the element in hydrodynamic calculations. An explicit form for the partition of (6,,] coupling a single elenent to a single grid point is WGyg! = WlE a1» Eng Ens, 0, 0, Of Ga) where E,,, E,2- E,3 are projections of the mean plane's unit normal directed into the fluid, onto the global coordinate axes, and wy is 2 weighting function determined by the following algorithm a i 1 5 fu) G2) = Calta]? ox (ss) g 5 e “4 Ye ais:where Xq Go) » tel, 2, 5, 4, @, are the coordinates of point (i) in the plane of the element. The algorithm preserves static equilibrium between a con- centrated load at the centroid of the element and the forces at the grid Points, and also minimizes the sum of the squares of the weighting functions For higher order elements (triangles with six grid points, quadrilaterals with eight), the simple formulas given by Equations 33 to 36 are not adequate. Modification to accommodate such elements is a future development since none exist in NASTRAN at the present time. 4,9 Evaluation of Of€-Diagonal Terms in the [x] and [A] Matrices Off-diagonal elements of the (x] and [A] matrices are written as doubic integrals in Equations 18a, 18b, 21 and 22. The general Procedure is to replace each such expression by a finite sum of algebraic terms. Thus, CB AAy poor xP = ATT he (37a) - #1 nif 5 G20 xt) eke, + (x8, 9) xB, ALA, cay AE} 1 FP (37¢) (37d)esi word ft eee ge se eT a where the indices k and & refer to points on the receiving surface A, and the sending surface A;, respectively. Jn most cases, each sum will consist of a single term, and in these cases A= AL, A, sand t* Fi, F, = x, are located at the centroids of the elements, i.e., at the centers of area of the elenents. The uscr will be given the option, as a cost-reduction measure, to suppress the calculation of off-diagonal terms in the A and x matrices for element pairs which are far apart. The user will specify the critical distance, R, on a PARAM card, ‘The default will be to calculate all terns. A larger number of integration points will be used if the elements are sufficiently close, except that only a single integration point will be i used on each element if either element is intersected by the free surfa ‘The reasons for this decision are the difficulties associated witis the irregular geonetry of such elements and the fact that the oscillating Pressure is low near the surface. The proposed test for closeness is if either or (38) ip = FI «any is satisfied. It is shown in Ref. 3, p. 41, that the error in computing ae by single point approximation square elements which just satisfy Equation 38 is about 4%. Considerations of econoay overrule accuracy for errors smaller than this. ‘The x and A terms for an element pair which satisfies the closeness test will be evaluated in a quadrilateral element at four integration points “17-fete I Ce Te gi located in a 2x2 grid of Gauss points in the (é,n) parameter space. The comer points are located at (21, :1) in this space. ‘The area factor, Age x ay _ ax ay is equal to the Jacobian 55 s¢ - SX 2 , evaluated at the Gauss point, where (x.y) are rectangular coordinates in the mean plane. This method may be regarded as routine, since it is used in the theory of isoparametric structural elements. ‘The x and A terms for an element pair which satisfies the closeness test will be evaluated in a triangular element at three integration points located at the intersection of lines drawn Parallel to each edge at one-sixth of the distance from the edge to the opposite apex. The area factor, A,, is one-third of the area of the triangle. Any quadratic polynomial is integrated exactly by this method. Higure 3 shows a triangle intersected by a free surface, and the three topologically different cases of a rectangle intersected by a free surface. In every case a single integration point will be located at the centroid of the element's wetted area and the area factor will be the wetted area. Terms in the [G,,] matrix will be modified to preserve static equilibriua on the premise that a concentrated force is applied at the centroid, see Equation 24. The weighting functions, w,, will be evaluated by the algo- rithm shown in Equations 35 and 36. In this case, (x,, y,) are the coordi- nates of the centroid of the wetted portion of the element. Note that, for triangles, [A] is nonsingular and Equations 35 reduces to (39) -18-4.10 Evaluation of Diagonal Terms in [x] and [A] Matrices As mentioned in Section 4.4, the kernels of the integrals for the diagonal terms of the [x] and [A] matrices are singular, so that they cannot be integrated by purely nunerical methods, The integrations can be performed in closed form for two of the four cases, namely pp 32? a an aa (40) ad Age = arpa, In fact, it can be seen by comparing Equations 18a and 22 that the analytic forms of these two integrals are identical except for a factor pA,. The additional factor of two occurs because the difference in pressure is equal to twice the pressure on the top surface, The evaluation of the oth two diagonal terns, APP and x4 is much more difficult, and the result depends on the shape of the element. Since the virtual mass of the element, ignoring the presence of other elements, is ay) it follows from Equation 40 that ARE = ane and (42) Gt = Arona where MP and M? are the virtual masses for pulsating and oscillating motions, respectively. Since the field of an elenent with point sources must be symmetrical with respect to the plane of the element, it follows that the Proper boundary condition for computing MP is that the element is surrounded -19-by an infinite rigid baffle lying in its om plane. The proper boundary condition for conputing M4 is sinply that the element is innersed in an infinite fluid. For the special case of a circular disk, it is well known (Ref. pp. 431 and 45S) that WP = ud = 3 or3 43) where Tt, is the radius of the disk. The case of an elliptical disk was studied by Rayleigh, Ref. 4. His results show that MP for an elliptical disk is equal, within 3%, to the virtual mass of a circular disk of equal area provided that the ratio of the principal axes is less then two, It would seem reasonable, therefore, to apply an equal area principle to tri- angular and quadrilateral elemenets, particularly since the contributions of MP and Mf to the total virtual mass is small if the nunber of elenents is large. ‘The ratio of the sum of these diagonal terms to the total virtual mass is, in fact, inversely proportional to the square root of the number of elements comprising the surface. To apply the equal area princple, simply set Ay 4 w(t (aay and insert Equation 43 into Equation 42 with the results PP _ 16p (A )% = io Ay) . MN oe % dd. in t Redd ME aD ow (45) -20- aoMee Sa ela These formulas should produce accurate resuits so long as the «lement's aspect ratio (ratio of longest to shortest dimension) remains near one. It may also be feasible to introduce an aspect ratio correction. For example, in the case of an oscillating rectangular plate with high aspect ratio, it can easily be shown that the virtual mass is inversely proportional to the square root of the aspect ratio. For low aspect ratios, the effect is much Jess pronounced, as evidenced by Rayleigh's results. 5. ESTIMATES OF COMPUTER TIME ‘The computer time to generate the virtual mass matrix will be signifi- cant, if the number of wetted elements is large, because the hydrodynamic matrices [x] and [A] are dense. The operations separate naturally into two types, namely the operations required to generate [G,,]. [x] and [A], which involve a detailed consideration of geonetry, and the subsequent operations required to form the virtual mass matrix, which involve only matrix algebra. ‘The most time consuming operations of the first type are those required to form the off-diagonal terms of the [x] and (A] matrices, according to Equation 37. It will be assumed that elements with point sources are much more numerous than those with dipole sources. For elenent pairs of the former type, an analysis of the operations in Equations 37a and 37c leads to an estinate of 25M, for the time required to form xf) and APT for a single sending-receiving pair, where M is the multiply time given by 7.3-S of the MSC/IBM/NASTRAN Application Manual. Table 2 on pi In order to estimate the number of sending-receiving pairs, we assume that the elements are rectangular and that each element has four neighbors which satisfy the closeness test. Thus, the number of sending-receiving a aya a a pairs between an element and its nearest neighbors is 4 x 16 = 64. For elenent pairs not passing the closeness test, there is only one interaction per clement pair, so that the number of these interactions {including images) is 2 SN, ~ 4 per element pair where N, is the nunber of planes of symmetry or antisymmetry and Ny is the total number of elements. Summing the contribu- tions for near and remote neighbors gives, for the time to generate the [;] and [A] matrices, N 7 's T= 25MNQ(2 ° N, + 60) (46) 2 * has values of 1, 2, 4 and & for zero, one, two and three planes of symmetry. Equation 46 does not take advantage of the fact that ap = APP, nor does it account for the more lengthy calculations associated with dipole sources, or the time to generate the geonetric data for each elenent (A,, fy, #,). These effects are small. The greatest uncertainty in Equation 46 is the value of the leading coefficient. In addition, the time can be reduced by eliminating the calculation for distant pairs, as discussed on page 17. Estimates of the computer time for the matrix operations will be nore reliable because they have been studied intensively. Relevant data for individual operations is available in Sections 7.2 and 7.3 of the NASTRAN Application Manual. Computer time will be estimated for the method described in Section 4.6 of this report and also for the method proposed in Ref. 1, which is to add the virtual mass matrix into the problem after structural vibration modes are found, Table 1 summarizes relevant information for the matrices which enter the process. The timing estimates for each of the operations are presented in Tables 2 and 3. In order to compare the two methods easily, it will be assumed that only cubic terms are important and that the ratio of N, to N, is 2.0, which 22+ a6is the recommended ratio for the new dynamic reduction procedure described in Ref, S. The estimated times to perform the matrix operations by the two mevhods are compared in Table 4, where it is seen that the method proposed in Ref. 1 has the edge in the practical range 0.1 < N,/N, ¢ 1.0 where the forward/backward substitution and the subsequent matrix multiplies take most Of the time. The advantage is not great enough, however, to overcome its disadvantages relative to the other method which are that it requires more revisions to the rigid formats and that it is less accurate for the same values of N, and N,. The reason why it is less accurate is that the post- multiplication of [6,,] by [¢,,] to form (G,,] in step 4 of Table 3 discards Sone of the information in [G,,]. For small values of N, the time, T,, required to generate [xj and [A] will be more time-consuming than the tine, T,, for the matrix operations, For exemple, if N,/N, = 0.2 and N, = 2, then, from Equation 46 and Table 4, Ty _ 25(4N, + 60) T° Gz we 7) which will be greater than 1.0 if N, < 143. It is interesting to note that if every element were subdivided into four regions for purpose of integration, T, would increase by a factor approaching sixteen. This is the Price that would be paid for a small increase in accuracy, 6. FUNCTIONAL MODULES, DMAP SEQUENCES ‘The virtual mass capability will be added to NASTRAN by two new modules, Plus some modifications to existing modules. In order to use the capability -23-in the initial delivery, it will be necessary to ALTER the new modules into the existing rigid formats, This section specifics the new modules, and shows how they may be used in an ALTER. The calculations use two new modules. The first is NGEN, the matrix generator module, which creates the A(Lambda), x(Chi), and G(interpolation) matrices from the MFLUID card element information. Existing modules are used to perform purely algebraic operations on the matrices. The other new nodutc is MDATA, the pressure recovery module, which calculates requested element Pressures for output. The existing OFP module will be modified to format the output. Table 5 shows a typical ALTER package. The ALTER line nunbers and data block names have been chosen for Rigid Format 8 (Direct Frequency Response). Some changes would be required for other rigid formats. NGEN and other DMAP modules are scheduled soon after the structural masses (MAA) have been determined. ‘The MDATA module must be run after the solution module FRRD- so that the displacements, UDVF, are available. Detailed specifications for the two new modules are given in Tables 6 and 7. Modifications to existing modules include two new bulk data cards (Figures 1 and 2) and two new case control cards. The new case control cards are similar to existing cards: New Card Existing Card with Similar Features MPLUID SPC MDATA DISPLACEMENT New formats for the @FP module are shown in Table 8. The XYPLOT module wit! plot element pressures. =24- : a?Rake a » 7. DEMONSTRATION PROBLEMS In order to check the theory and implementation of the virtual nass calculations, several test problems will be used. The first five problens will solve for the virtual mass only. The results can be checked against the known theory. 1, Pulsating (Breathing) sphere in an infinite fluid (exact solution known). 2. Translating sphere in an infinite fluid (exact solution known). 3. Oscillating circular disk; composed of many elements (exact solu- tion known). 4. A set of oscillating rectangles of: various aspect ratios, with many elements each (approximate solutions known, results should be of interest). S. The fluid in a translating rigid tank (the virtual mass should be the entire fluid). The sixth problem, that of a fluid in a flexible tank, has been selected to show a complete solution for vibration modes. 7.1 Flexible Cylindrical Tank Problem Tne cylindrical tank is shown in Figure 4. The structure will be modeled with NASTRAN plate elements. The problem will be studied for one plane of syametry and one plane of antisymmetry. Analytic solutions are known for the following types of shell motions: Yyaaiar 7 Cp 608 58 cos(nz/2h) cos ut “> rimuthal “Cp 818 58 cos(n2/2h) cos ut (4s) Uaxiay * C, 608 38 sin(w2/2h) cos ut -28-pT TT gg me ge These motions imply the following constraint conditions for the tank: 4 “sdiat ™4 “azimuthal a7© Constrained to zero at 2 = Us xiat 1S constrained to zero at z = 0. “radial "4 Yazinuthas 2F¢ UNtestrained at 2 = 0, and u, .) is unrestrained atz=h. In the fluid the displacement potential is given by @ = Cy 15 (™r/2h) cos 38 cos(mz/2h) cos wt (49) where I, is a modified Bessel function of third order. The constant C's and the frequency w can be chosen to satisfy the shell equations, the fluid equations and compatability. Thus, with a known analytic solution, the cylindrical tank demonstration problem can demonstrate the accuracy of the method. -26-[e. - ©€ - 77... REFERENCES “Hydroelastic Mathematical Model of Space Shuttle Liquid Propellant Tanks," MSC Proposal EN-387, 1 March 1974, Rschevkin, S.N., A Course of Lectures on the Theory of Sound, The MacMillan Company, New York, 1963 (Translation from Russian). “Investigation of Digital Computer Techniques for Hydroelastic Analysis," MSC Report MS-62, May 1968. Rayleigh, Baron, The Theory of Sound, Dover Reprint 1945, Section 306. MacNeal, R. H., "Mathematical Specifications for the New Dynamic Reduction Procedure," MSC Memo RHM-41, 1 June 1976, revised 9 August 1976. -27-Table 1, Dimensions and Densities of Matrices Matrix Dinensions (6,,) Ny x Ny (6,4) Nyy ag) Ne x Ny &l Nyx N, ta Nyx Ny (ay) NxM, N, = Dimension of (u,} N, = Dimension of {u,} N, = number of wetted elements = number of modes -28- Density 1.0 12/0, 1.0 1.0 1.0 Remarks Eq. 27 See Eq. 23 See Eq. 28 Matrix of EigenvectorsTable 2. Timing Estimates for Matrix Operations Performed According to Section 4.6 Operation 1. Decompose [x] (non-symmetric matrix) 2. Form [6,,] 3. FBS, [x][B) = [6,4] 4 [cl = EI MyN2N, iv T, 2 5. Mig] = [6,4] Lcl MyNN2 6 ud od Bo? fy 20, MDM 1 Total NM NB 12N, + 2NN, + NZ) + 20P, + MN? See Table 2, p. 7.3-S of MSC/IBM/NASTRAN Application Manual for values of P, and My. Note that, if the user elects to eliminate coupling between distant elements, (x] and [A] may be banded matrices. The computing time in step 1 will be reduced by the square of the bandwidth, and the computing time in steps 3 and 4 will be reduced in proportion to the bandwidth. -29-> Table 3. Timing Estinates for Matrix Oporations Performed According to Reference 1 Operation Estimated Time 1. Find [$,,] by Givens method 2M, (Na + NINE + 8pN2 2. Decompose [x] (non-symnetric matrix) Eun 3. Form {¢,,) 12 MN, fe 4. (Gy) = [6g] 0,4) S. FBS, [x}[B] = (6,,] 6. [¢] = [A}[B) MyNZNy, 7. Diy) (6gy] Ech HNN? 8. Ma] = 5 Oy) © 5 MI” © OR 2(P, + My)NE Total NM, Cf N2 + 12N, + NAN, + NM, + 2) + 2(P, + My)NE + 2NS(My(N, + N,) + 4P) See Table 2, p. 7.3-S of MSC/IBM/NASTRAN Application Manual for values of P, and My. -30-Table 4. Comparison of Timing Estimates for Matrix Operations by the Nethods of Section 4.6 and of Reference 1 Assumptions: (1) N,/N, = 2.0 (2) Only cubic terms are significant T(Sec. 4.6) T(ReF. 1) -31eAE eIeen ain - ENDALTER Table 5. A Typical ALTER for Virtual Mass 88 $ FOR USE WITH R.F. 8 J/DIAGON//47 § TURN BN AUTO CHKPNT CASECC, , ATP OBL, EST,CSTM/MCHI ,MLAM,GEG,MAR/S,N,NOMGEN § NOMGEN,SOMGEN $0 : GEG,GEN/MPCFI § A LEML,MPCFI $ USET,GEG/GENX,GEM, ,/G/N/M/1 $ GM, GEM, GENX/GEN/1'§ LEM $ GEN,GEF/SINGLE $ LFM2,SINGLE $ USET,GEN/GEF, ,,/N/F/S/1 $ LEM2 $ GEF,GTEA/QMIT $ LFM3 OMIT $ USET,GEF/GEAX, Ged EAB $ . 9B. | GEAX/GTEA/1'$ CHI/MIDEN/SQUARE/0.0 $ GTEA,MIDEN,/GEA/1 $ MCHI/LCHI,UCHI/S,N,MSYM=-1 $ LCHI,UCHI,GEA/B/MSYM $ MLAM,B,/MEA $ GTEAMEA,/U$/-° - @ vNT v Aa KY (0. 5, ne 00/005: $,0.0) D MAAK////¢ MAA, INARA : MAAY,MAA/ALWAYS $ NONGEN $ see $ END AUTD CHKPNT ive UAVE/NQUE $ LAE ,NOUE $ brie | UDVE/UAVF, , ,/D/A/E/1 $ CASEXX,MAR,MEA,UAVF , PPF/QEP/FREQ $ GEP 5544/7 32+— EE SE ESS ie een gee ee ee eee Table 6, OMAP HoDULC OCScATPTIONS. 1. MAME: GEN M1, PURPBSE: To create matrices for the virtual Fluid mass addition. NIL. WAP CALLING sequence: : aa GEN —_CASECC,MATPOL JEST CSTH/HCHI MLAM,GEG MARYS WN, NANGEHY’S ty. INPUT oaTa aLocks: GASECC - Case controt requests - specifies the MFLUIO set. MATPOOL - Contains images of MFLUID and ELIST data cards. EST + Element. Summary Table ~ contains connection, SIL, and BGPOT data for all structura? elenents, CSTH - Coordinate system definitions - contains user-specified coordinate systens. ¥. OUTPUT DATA stocks: WHE = Matrix x MW Matrte A GEG = Watrx Gg (stored stransposed) "AR = Elenont data, with Eterent 10 and aren. These are in the sane order as rows of and A. VE, PARAMETERS: NOMGEN - Integer-output. When there are no fluid satrices, then NEMGCK * -1. Otherwise. MBMGEN 15 the value of the sclected HFLUID set in Case Control. VII. HeTWO9: 1. Look in CASECC for the selected MFLUIO ID. Set the parameter NAMGEN to this value. Vf no MFLUID selection was made, or if no elenents are found below the water Tine, then Parameter HOMGEN will be set to'-1. 2, Locate al) of the MFLUID data cards on the MATPOGL data block. Steps 3 to 6 are done for each MFLUIO data card. 3. Find the ELIST data cards on the HATP®OL data block. These Tist all elonents to be usee Search the EST to find ontries. Save the EL10, SIL and SGPOT data. Produce warning messages for elenents not found (or found more than once). Only two-dimensfonal clomests are considered. 4. Check that all elements Ie in the proper quadrants, The transformation to convert gria Point date fron basic to C10 is given dy 33Table 6 (Cont.) y a % H) Ah 7 x 7 Yeo 1c - Goth T and R, are found on the CSTH data for the selected CID (Field 2). If ZFS 1s used, (Field 4 of HFLUID was not blank), then check atT etenent grid points for x > ZFS Grid point of with X3 > 2FS Keep element. Kee mark as surface elenent Discard elenent If Plane 1 (Field 8) fs nonzero, then al] grid points must have the sane sign for #5 otherwise, a FATAL message {s given, Similarly for Plane 2 and Xp. Tiny values for Hy and X do not count in the above test; except a fatal message is given if all grid points of an elenent have tiny values. Tiny 1s defined as snatl compared with the square root of the area, 5. Create the x. As Gyg matrices according to the formulas of Section 4 (Report HS371-1). AN cateulations are done using the coordinates in systen CID rateranced by MFLUIO. The following sketch shows how to combine HFLUID cards. Let my, My, ---» My be the umber of etenents used in the 1, 2, ..., k selected MFLUID cards. The nonzero entries are {n disjoint blocks. For the Gq matrix there 1s a column for each elenent, with at ost twelve nonzero entries. oy % my mn ny "2 xora® nonzero entries 6, The data block MAR contains one record, with a pair of entries for each element: Nement 1D Anteger Jere aes re ‘These are in the sane order as the entries of x. CS Ss SS “Bho a) 31] Table 7 P 1M? HOO OESRLPTIONS 1. NAME: MOATAL 11, PURPOSE: To output pressures for selected elements associated with virtual fluid mass. TIT. DRAP CALLING SeQuENCcE: HOATA —_CASECC,XYCDB MAR, HEA, PHIA,LAMA/BEP/C,Y ,APPOREIG § TV. INPUT OATA BLOCKS: CASEEC) .coneains cutout requests and set selection WAR = Data block containing element 10°s and areas, WEA = Matrix of element force per unit a-set motion PHA PHID | | Ofsplacenents for-the several allowed approaches. Note, there must be no extra UOVE ( ~ points in ents fnput eata block, Fae? ~ Elgenvatues, frequencies or tine for the altoved approsches. OUTPUT ATA BLOCKS: EP = BFP formatted elenent pressure data. VI. PARAMETERS: ‘APP = Input-BCD. REIG, CEIG, FREQ, TRAN = Approach fT: 1, Calculate the accelerations. This depends upon the approach. O = -wu, (ot from LIMA) Uy = plug (p from cLAMA) O, = -u'uy (o from FOL) 4, = (the 3rd, 6th, 9th, ete, 2 _“coluans of UOT) - 1 1 1 i 1 1 le 1 1 I _ 1 ] ] ’ -35- proves = Z “98Se ge “ty tel 2 3 Table 7 (Cont.) Compute the element forces. f+ Mya. Output selected pressures. Output may be printed (via FP) or plotted (via XYPLBT). the CASECC and XYCOB data blocks are scanned for all MPRES output requests. The set selec. on method 1s the same as used in Module SOR2, The MEA data otock has tno word pairs {element 10 nanber and area) corresponding to ea.n row of the elencnt force vector. For each selected elenent, output the pressure (force divided by area) to the OFP data block. All flags must be set (e.g., print, punch, plot, real, phase, etc.), depending lupon the MPRES request. =36-i el ee — ie ¢ “eo v eats i ete eet eee Table 8. QFP Formats A. Real Eigenvalue c. D. Pressures for Elements on MFLUID Boundary Frequency = 1.752002E03 Element 1D Pressure 102 1.73361 7E+01 103 +2, 164191E-20 Complex Eigenvalue Pressures for Elements on MFLUID Boundary Eigenvalue = 1,732007E03 + S.23476E071 Element ID Pressure(RE) Pressure(IM) 102 1.7322226-01 6, 282828E+01 103 9.784321E+00 ~6.000002E-01 Frequency Response (SQRT1 only) Pressures for Elements on MFLUID Boundary Frequency = 1.752001E+03 Element ID —_Pressure(RE) Pressure(IM) 102 1,732222E-10 6.2813S7E-01 103 9, 7511116401 -6.000003E+00 Transient Response (S@RT1 only) Pressures for Elements on MFLUID Boundary Time = 6.002121E-02 Element ID Pressure 102 1, 737373600 103 9.75757SE-01 -37-i BULK DATA DECK Input Data Cara MFLWUIO Description: Oefines the Properties of an Inconpressible Fluid Volure for the Purpose of bet Generating » Virtual Mass Matrix Fonsat and Exapple: 2 3 4 5 6 2 8 3 10 310 fe ars Jano [evisti [etiste [runner Jrumer FLUID 7 pew [3s le Yes foes fee ] Held Sontonts, i ‘SID Set ID number must be selected in Case Control (Integer > 0) cto 10 munber of rectangular coordinate systen used to (dentify the orfentations ] of the free surface (nontal to X3) and of planes of symmetry (if any) (integer 0 or biank) as Intercept of the free surface on the X, axis of the coordinate systen referenced ] by CID.” There ts no fluid for X4>2FS.* The default (blank) means that the free efacs (2a an infinitely Sarg posite vole of Leevtbe Rent Se te or blank) acti : ] 9 Density of the fluid fusn 1D runber of an ELIST card which Tsts the 10's of two-dimensiona? NASTRAY lenents which can be wetted on one side by the fluid, Omiy taose eterents Connected to at least one grid point below ZFS are wetted by the fluiv. See Remarks 2, 4 and 6. (Integer > 0) aust 1D eurber of an ELIST card vnich Tists the 10's of &vo-dimens onal NASTRA Remarks: elements whieh can be wetted on both sides by the fluid. Only those elenents Gonnected to at Teast one arid point below ZFS are wetted by the fluid. See Remark 6. (Integer > 6) PLANEL,PLANEZ S.A or blank. $ means that plane 1 (plane 2), which 1s the plane containing tHe x,(%Q) and X anes of ClO'42\a plane of syimetry. ‘A wemns thet plave 1 (plane 2) fs a plane of antisymetry, yee Teeter See Rear 3.” BCD SA oe N 1, Savera) MFLUID cards, corresponding to different flufd volumes, can be used Simultaneously. 2AM ETetentente SLiStterttorwewmetarat ight barriae = 3. If the flutd voluoe ts finite, a free surface must be present. If the fluid volume fs infinite (1.0., if the fluid is external to the structure) the free, surface {s optional. 4, The wetted side of an elonent in ELISTI 1s determined by the prosence or absence of a minus sign preceding the ctenent's 10 on the ELIST card. A ainus fan indicates tat the uid ton the fae opposite tothe olencnts pot tive 12s determined by 9 the right hand rule to the sequence of its Corner ointse tama sTonda cat apyoty Onto EIST cara Wndicaag that it foras'a barrier between two unconnected fluids, (Continued) Figure 1, -38- dlASTRAN DATA OECK HFLUIO (Cont. } The planes of symetry and/or antisymictry defined in Fields @ and 9 must be planes of syrmetry for the entira analysis. The user must apply appropriate structures boundary congitions at all grid points lying in these planes, The current Vist of NASTRAN elenents which nay be placed in ELISTI and CLISt? include (211 supported two-dieensional elements): Figure 1 (Cont.) -39- dybet tomes heed hed ee eee BULK DATA DECK Input data card ELIST Description: Oefines a List of NASTRAN Structural Clements Format and Exouple: esceeepeetae steesty sy 8 yl fecist_[uto_- [er ee eles Es E7 ASC ist_[3___ler_|-«2 se [wa [vee fee Je [eo =a L mm f Contents up 10 Number of List EI, £2, etc, 10 Number of @ WASTRAN Element. See remarks for meaning of mini BCD characters “THRU" may be used to indicate that all existin between those referenced in the preceding and succeeding flelde (integer or *THRU") fF e (2) sign. “the lenents in the Vist. If the ELIST card 1s referenced by fleld 6 of an FLUID card, the vetted side OF the elonent 1s determied by the presence or absence of a minus sign preced- ing the element's 10 on the ELIST card. “A minus sign indicates. that the flutd $8 on the side opposite to the elenent’s positive normal applying the right hand rule to the sequence of its commer option ts us same sign, Figure 2, -40- determined oy ts. ised, the immediately preceding and succeeding elenents must have the Tr the THD(a) TRIANGLE 1 p» (4) QUADRILATERAL with wetted pentagon Figure 3, Elements Intersected by a Free Surface | . a4Eight Cells per Quadrant y Four felts Sottor is shown displaced. The structure consists of 72 NASTRAN plates, and 81 grid points, with approximately 400 degrees of freedom. The bottom will be rigidly supoorted. There is no structural connection between inplane motions of the bottom and the cylindrical wall. Figure 4. Finite Element Representation of Cylindrical Tank Denonstration Problem —-_ ="feee ee ee ee ee EC-371 ‘THE IMPLEMENTATION OF FLUID CAPABILITY IN NASTRAN FINAL REPORT June 1979 "THE MACNEAL-SCHWENDLER CORPORATION 7442 North Figueroa Street Los Angeles, California 900412C-371 The Implenentation of Fluid Capability in NASTRAN Final Report I, INTRODUCTION The virtual mass capability of MSC/NASTRAN is intended to model a structure which is immersed in a fluid, or which contains a fluid. This Procedure calculates the added mass Tequired for dynamic analysis. The theory has been defined by R. H. MacNeal“!), and the instructions for the user have been published in the MSC/NASTRAN Users Manual 2). This report shows the results of sone sample problens. Ai. SAMPLE PROBLEMS A set of sample problems has been chosen to check the MSC/NASTRAN virtual mass capability. Those chosen for this report were selected for one of the following reasons: 1, The answers are known, either from ‘theory or another analytic solution. 2, The rate of convergence is dencnstrated. 3. The problem was used to evaluate a. parameter whose theoretical value is not well known. le Problems with Elements Wetted on On Several sample problens are shown in Figure 1. These include three rigid geonetries for which the purpose was to compute the virtual mass to Compare with theory. The other two problens are vibration probleas. The breathing sphere has 2 know analytical solution, and the cup denonstration Problem has been solved by the MSC/NASTRAN hydroelastic method for comparison. In Figure 1, C, is a design variable which is explained below. M, and M, sre computed masses in the x and y directions, 1, is the computed second ‘mass nonent of inertia for rotation about the y-axis. ide. Nyhe Taplenentation of Fluid Capability in NASTRAN, Preliainary Design Document. MS371-1A, 4 Jan 1977 @ysc/wasTRAN Users Manual, C. W. McCormick, editor, MSR-39, Nay 1976 (Revised May 1979) 48Value selected i mites ‘Thearetical frequency with structural mass only © 1299 hs ‘Thecrwtical frequency vith structural mass § virtual eass © 552 hr OF HARENIC - 5 HODES © (es) ] 79.67 77.96 77.06 74.77 69.44 ‘Theoretical frequency with structural agss only + 99.49 hs Frequency from snother source = 77.43 hz Sayarg * 77-48 ba Figure 1. Sample Problems, One Side mest mom mmm ended bette idleSee iii ee Evaluation of the Lambda Constant. MacNeal?) gives a formula for the force on a single elenent (wetted on one side) due to distributed source over the sane element. =. oat? s fy = 6, ont? a, Units £, = elenent force due to self source war? = fluid density us Ay = area of element v Spy " Second derivative of source intensity wr? C, = constant (* 16/3¥% = 3.01) = The value of C, comes from the virtual mass of a circular diaphragn. A parametric study of the value of C, shows that a value of 5.0 checks better (see Fig. 1) so that value was used in MSC/NASTRAN. Sample Problems for Elements Wetted on Two Sides. We chose to analyze rigid flat rectangular plates and a disc for which the answer is known. Figure 2 shows the rate of convergence for the virtual mass of a flat plate versus the number of elements. The results of Figure 2 were made in a FORTRAN program, which was checked to agree with MSC/NASTRAN at a fow points. Evaluation of the Chi Constant. ‘The formula for the average displacement of a single element (wetted on both sides) due to a distributed doublet over the same element is 212 ay AD as Units Uy = average displacement 4 Ay © area ts . u a4; * dipole intensity C, = constant = 39°/2/2 = 26.2 - -2-media ieet memes eed idle ited Figure 2. Virtual Mass for a Square Oscillating Plate vs the Nuaber of Elements per Half Side. Several Values of C, are Shown.mete mses meets tet The above value of C, was chosen to match a circular disc with only one elenent. A study shows that C, of 16. is better for square plate elements. ‘The model is shown in the following sketch: Rigid oscillating plate. Shaded portion was subdivided 2.0 into elements. Two planes of symmetry were used. The density, p = 1000. —— Since the area is 4, a circle of the sane area would have an area of Tere (4/2)'/?, the effective mass is approxinated by 8 3 Meee * 3° Tose ‘The effective mass of the part modeled is one fourth of this, or 18 43/2 Moder 7 7 3 1000(5) = 987.80 The rate of convergence is shown in Figure 2. Not shown in this figure is the sensitivity to the element aspect ratio and location of the integration points. : ° Circular Disc. A quarter model of a rigid, *, oseillating circular disc gave a virtual mass of 1.10 times the theoretical value. + oe —>| oYILI. CONCLUSIONS AND RECOMMENDATIONS 1, The virtual mass capability of MSC/NASTRAN allows the “entrained mass" effects of fluids to be included in dynamic analysis. No new elenents or grid points are required; the user just lists structural elements which may be wetted by the fluid. 2. The method gives qualitatively correct results. The accuracy seems to be in the range of 420% error, on average. Much higher errors were obtained in some cases. 3. Sone severe aspect-ratio sensitivity has recently been observed relating to dipole elements (those wetted on. both sides). The data is not included here, but the rectangular plate problem failed for elements of aspect ratio 1.5. 4. No sensitivity to machine precision was observed, even though the ‘elements of the [X] matrix are computed in single precision on both IBM and CDC computers. S. In the capability which has been delivered, the number of internal integration points is increased from one to four for elements which are "elo: It was observed that the placement of the integration points and the distance criterion for closeness affected the results. 6 It is concluded that better accuracy will require additional work on the integration algorithm. Such work should begin with a study of the effects of increasing the number of integration points for close elements and altering their locations. Other integration schemes, such as evaluation of element boundary integrals, should be investigated. A more intense Aterature survey is indicated. 4 5%PROJECT: —-MSC/NASTRAN E555 MEMO NO: = RLH-28 DATE: JULY 26, 1981 SUBJECT: EXACT INTEGRATION FOR COUBLET SINGULARITIES USED FOR FLUID MASS 1. INTRODUCTION The virtual mass calculations of MSC/NASTRAN are based upon the flow in an infinite volume due to a set of singularities. These singularities are located on the surfaces, and the strengths of the singularities are chosen to match boundary conditions. One important singularity is a doublet (or dipole) sheet. Formulas are shown in this memo for the exact flow for a planar doublet element with constant strength over the element. Previous versions of MSC/NASTRAN represented the sheet with efther one or four lumped dipoles. It is, believed that more accurate calculations of the flow will lead to more accurate evaluation of virtual mass. : The quantities of interest are the ‘displacement potential function, ¢, the pressure, P, and the vector of displacements, i. If an (x,y42z) coordinate system 1s chosen so that the element lies in the x-y plane, the integrals required are 2) = 2, i a) oe where & = source strength, a constant. ee (xg)? + (y= ne 2. (2) P= =p ateat? Q) i-v, O)MSC/WASTRAN EC555 duly 24, 1981 RLH-28 (Exact Integration for Doublet Singularities Used for Fluid Mass) Page 2 where "V" is the gradient operator and pis the density. An efficient algorithm has been found to evaluate (1) and (4), The results are expressed as vector operations, which do not require the introduction of an “element coordinate system. 2. THEORY Integral (1) can be stated in terms of solid angles (steradians). The Potential ¢ is equal to the solid angle subtended at (x,y,z) by the element. To show this, notice that |z[/r is equal to cos e, where @ is the angle between the radius vector and the normal. Then olx,y.z) = £058 ds 5) ieee es ‘ Equation (5) is recognized as an evaluation of solid angle. Thus the Potential can be evaluated by any method for solid angles. An efficient method 1s to measure the spherical excess. For a spherical polygon, with N interior angles Ay, Ag,...Ay, the solid angle g is given by N o-(> a)- (N-2)8 (6) tel which fs called the spherical excess. The spherical polygon for this problem is the spherical projection of a planar polygon element on a sphere with center at the location where the potential is desired. The spherical angle Ay is recognized as the angle between the two planes defined by the point and two consecutive sides of the element. Pp > Sketch 1MSC/NASTRAN EC555 July 24, 1981 RLH-28 (Exact Integration for Doublet Singularities Used for Fluid Mass) Page 3 Sketch 1 shows a point P, and a polygon element. Locations i, j, k are three consecutive vertices. We wish to calculate the angle between planes (P,i,j) and (P,J,k). We do this with vector algebra. Construct a vector Vj; thru point j, in plane (P,i,§) and perpendicular to line (P,j = ee RO R= RY) = Woy 7 (Ry = Ry) - A a, a” aa) Similarly for the next plane = we ROR) = Vix 2 = Ry) - SA Ry (8) (Ry Rs) The interior angle between the planes 1s given by Alay re ei = Aye cos (55 Vi {Msal [ye LD (9) Equations (6) thru (9) provide. an efficient method to compute the potential. An alternate formula to (4) can be found, since the displacement 7 due to a uniform doublet sheet is exactly that due to 2 vortex along the elenent boundary. The displacement for the element can be found by summing the contributions fran the finite length vortices which are the element boundary. P pb Arex direction Sketch 2HSC/NASTRAN EC555 duly 24, 1981 RLH-28 (Exact Integration for Doublet Singularities Used for Fluid Mass) Page 4 Sketch 2 shows a finite Tength vortex going fron i to j, and a point P where the displacement 7 is to be computed. The distance from P to the vortex 4s r, and the unit normal to the plane (1,J,P) is fs 9 and 9, are the interior angles at i and j. The displacement is given by f= fi (cos 0; + cos 4) ir (10) A= RXR) / xR | (a1) cos 0, =[Ry # (R, - Ry] 7 Ley LTR, (12) Ry = Ry} oR, | ER TR OR 03) Ry) ey =k Equations (10) thru (13) are the basis for computing the displacement due to a polygonal doublet sheet. 3. SUMMARY OF ALGORITHH The above formulas have been combined to provide the following algorithm, Sketch 3 shows the point P, and three consecutive vertices {,j,k of an N-edge polygon. Vectors X, Y, and Z are defined in the sketch. Sketch 3MSC/WASTRAN ECSSS July 24, 198 RLH-28 (Exact Integration for Doublet Singularities Used for Fluid Mass) Page 5 First compute the six dot (scalar) products. Sy thet «ay Sax» Skz» Syys Syz and Szz are defined similarly. Ay = eos” [ Sexfye [SyeSyy * Sxy) SyeSzz Jel eee (= ‘) = (Ne2) x (16) The + sign fs used if the point 1s on the positive side of the element. 1/2. 1/2 _ (Spy + Syy) (Spe * BSyy + Spy) M2 Sy lSye) a (SyxSyy ~ xy) a He i- x 55x, (18) Equations (14) thru (18) provide a simple algorithm for doublet panels. 9PROJECT: MSC/NASTRAN EC-555 MEMO NO: RLH-29 DATE: AUGUST 18, 1981 SUBJECT: IMPROVEMENTS FOR VIRTUAL MASS CAPABILITY 1. INTRoDUETION The calculation of virtual mass was added to NSC/NASTRAN in year 1979. The user specifies fluids either internal or external to the structure, by means of lists of surface elements. Experience has shown the accuracy to be poor. This memo shows how to increase the accuracy of these calculations, with only a slight change in the user interface. 2. THEORY The basic approach was outlined in the proposal MS_371-1A: "The Implementation of Fluid Capability in NASTRAN", No finite elements were introduced within the fluid; the flow was represented as the sum of the flows associated with sources and dipoles. These flow singularities were placed outside of the flow, and the strengths of the singularities were chosen to match the displacement boundary conditions. Sources were selected for elements wetted on one side, and dipoles for elements wetted on both sides. The singularities were intended to represent distributed strengths, but the implementation used single point integration between distant element patrs, and four point integration between close pairs. Close pairs were defined as neighbors whose center to center separation is less than twice the square root of the smaller area. The following modifications for the procedure are based upon the ideas of witton(l) and Krieg!2). TI) Witton, D-T. (IST). "Acoustic Radiation and Scattering From Elastic Structures". International Journal for Numerical Methods in Engineering; Vol. 13, pp. ITS ea ce (2) Krieg, R., Goller, B., and Hailfinger, G. (1980). "A Boundary Integra} Method for Description of Fluid Interaction with Complex Three-Dimensional Structures". ASME 80-C2/PVP~113. beMSC/NASTRAN (EC555) August 18, 1981 RLH-29 (Improvements for Virtual Mass Capability) Page 2 1, All surface elements will be modeled with doublet sheets. 2. For close pairs, exact integrals will be used for pressures and displacements. 3. For external fluids with no free surface or plane of antisymmetry, an extra interior source singularity will be introduced to represent the volume change. Internal fluids with no free surface or plane of antisymmetry are not allowed, since this requires the introduction of a displacement constraint for incompressibility. The exact integration for doublet sheets (same as dipole panel) follows the approach of Krieg!1), et at. The closed form solutions of that paper were Vimited to rectangular boxes. A generalization to any shape is shown in VSC/NASTRAN memo RLH-28(3), Doublets can account for all motions except for volume changes of bodies immersed in external fluids. For this case we must add a special singularity, The user must specify the existence and location of this point. A suggested design, which fs limited to one immersed body is shown on the new remark 3 on the modified FLUID data card description. The matrix algebra is based upon the least square solution of a system of simultaneous equations with more unknowns than equations. Let fu} = Gy Moy} + (Mop) a) (P) = (ay May) + [ay ep} i Yectors u and P are the element displacement and force. Singularities o (one ipole panel per elenent) and o, (one source per iamersed body) are unknown. Te Harder, KL, , “Exact Integration for Doublet Singularities Used for Fluid Mass", RLH-28, 1981.MSC/NASTRAN (EC555) August 18, 1981 RLH-29 (Improvements for Virtual Mass Capability) Page 3 The y and A coefficient matricies are computed based upon exact integration for doublet sheets, and single point for sources. X, will be numerically singular if the body is completely surrounded by elements. Solve (1) for cr and Gp» using the condition that the sum of the squares of yy isa minimum. A lot of matrix algebra leads to ‘| ik {i} (3) b= Jay! ee Note that the size of the matrix to decompose is the number of surface elements plus the number of body sources, Also note the coefficient matrix is symmetric. The resulting mass matrix, i.e. product of matrices in equation (3) may not be symmetric, so it will be necessary to take the average of the computed matrix and its transpose. 3. NUMERICAL” EXPERENENTS Numerical experiments using the exact integration of doublet sheets have shown that the accuracy is improved, but at the expense of increased cost. 3.1 Accuracy of a single term computed by exact integration is compared with gauss integratton in Figure 1. Similar results are found for errors in other spatial directions, and for displacement components, 3.2 Computed virtual masses of a box are shown in Figure 2. Notice the improved accuracy and that excellent results are found for the inner box geonetry. 3.3 The cost to compute a single element pair (x and A) has increased by about five or six, when using exact integration rather than gauss integration. 4. MODULE- CHANGES Module MGEN must have the following changes. A, A new output (partitioning vector) will be added.MSC/NASTRAN (EC555) August 18, 1981 RLH-29 (Improvements for Virtual Mass Capability) Page 4 B. The Phase 1 routine will be modified to pass the corner locations rather than integration locations to the scratch file. This involves the removal of some code, and is required for the exact integration method. C. Within the loops of Phase 2, substitute the new exact integration method to compute x and A terms, A breadboard of this now exists which has executed successfully. D. If there are ELIST1 data for a fluid, and no free surface or planes of antisymmetry, the external case has occurred. Then an extra column of x and A must be made (the outputs will not be square). The values are computed by using a source at the origin of the fluid coordinate system. A partitioning vector is created to locate the column. Since several MFLUID cards may be selected, there is the possibility of more than one such point. A new module MPRG will be introduced. This was suggested before, but rejected by Lloyds. Since the matrix operations to follow are more difficult, this new module would ease the job of solution sequence generation, and any user who wishes to write a DMAP could do all the operations indicated. The calling sequence is: MPRO —MCHI,MLAM,MVEC,GGE,GM,GB/MVAA,MVEA $ Inputs MH chi matrix, from MGEN MLAM lambda matrix from MGEN MWEC partitioning vector, may be purged GGE interpolation matrix from MGEN GN multi-point constraint matrix 8 omit matrix Outputs MAA virtual mass matrix MVEA data for MDATA module 63MSC/NASTRAN (EC555) August 18, 1981 RLH-29 (Improvements for Virtual Mass Capability) The operations are: 1. Reduce GE from g-size to a-size with SSG2 operations. see pee 3150) > 4 Oe) 2. Compute -1 1! 1 v T 41-1 | | See Mea * (yxy | 21) 1 %1 where Aj, 4p, etc. are the partitions of the input matrices. If X, is purged Vea tied Moa = Mt Sue 3. Compute the virtual mass: v We = Gael faa ~ SacMea at ae Zz Maa ilihe (Maa i Maa ) 5. CONCLUSIONS AND RECOMMENDATIONS Page 5 A. The reason for previous poor results of NSC/NASTRAN virtual mass was the inaccurate integration method chosen. B. Exact integrals for doublet sheets are now available. C. A strategy of selection of a cutoff distance should be made, Close pairs are integrated exact and distant pairs by gauss methods. oyMSC/NASTRAN (E0555) August 18, 1981 RLH-29 (Improvements for Virtual Mass Capability) Page 6 D. Using “exact” methods shows that one sided elements can be modeled using dipoles. £. Special care is required if a body is surrounded by a fluid, since doublets can not model a volume change. 66Sc/nasTaAN (ECS55) ‘August 18, 1961 Me ittedfeaen¥e for Virtua? Fase CapabtTity age? BULK DATA DECK Input Data Card MELUID. Fluid Volune Properties Description: -generattag Defines the properties of an incompressible flutd voluse for the purpose of virtual mass matrix. Format and Exanple: fom a 4 5 6 7 8 9 10 UID, $10. CID. ES BH ELISTI} ELIST2|__PLANE1|__PLANEZ 15.235 1006. 3. 4 5. A 123. CT om ae I fied | setents sip Set 1 mer mst be stected in case Contra} (Integer > 0). ao 1b er of rstanglac cnrinta, geo wees to {dit te erfeation of, he Dh nmr, of ta te ee aan yh iagee F blank) 7 ms Intarcep of the free surface on the 5) aX of the cnrdmate sytem eferonced by Intreep of theres sure on Oe Sy tts fe Tbk) ne ue Be tre a as tell” be posteve Naas tise See Remark Se) eal or SERS oh RHO ‘Density of the fluid (Reat) List 19 mmr of an GLIST card which ste the tp of to-dleanstona)AS/AMSTaN Bae at EAST ard ae a a a aay thas cence shenents et Gan Oe ett rote bettie by the M18 ee Rnb Band 4. (Integer > 0) euiste 1b ber of an ELIST cd toh lists the 104 of meonafon_Wc/uAsront alenents, wich can be wetted on both sides by the fluid, Only those elenents Eomected to at Teast one grfd point below ZFS are wetted ty the fluté, {integer 20)" (ELISTI + eLtsT2"> 0) PLAVEL PLANE? S, A or N.S neans that plane 1, which Is the plane containing the X and X3 oxes L OF C1, t= a plane of symetry. A means that plane 1 1s a plane of antisymetry. means that it ts neither. See Remark 3. Plane 2 uses S, A, or W for the Yo and Xy plane. (BCD, no default) Characteristic length. Interactions between elenents whose separation 1s greater then RHAC will be neglected (Real > O., default = 1.410). Several MFLUID cards, corresponding to d{fferent flufd volunes, can be used simulteneously. REESE OREO RR TET I PT 6“un Hainan Aart AAacAeR AA oYC er aa AL R RE EA tae a mi Ul laa SOR WSC/NASTRAN (EC5S5) August 18, 1981 RLH=29 (Inprovenents for Virtual Hass Capability) age 8 The votted side of an elesent in ELISTI is determined by the presence or absence of a minus ston preceding the element's ID on the ELIST card. |A minus sign indicates that the fluld {son the side opposite to the elenent's positive normal, as daternined by applying the right hand rule to the sequence of {ts comer points. ‘The save elenent can appear on two ELIST cards, Indicating that it forns & barrier between the unconnected fluids. 3. The flutd volune may be finite (interior), or infinite (extertor). The volume may be bounded by a free surface and one or two planes of structural symetry. IF structural symmotry 1s used, the structure mst have the symetric or antisymmetric Doundary corresponding to the selection in ffelds 8 and 9. Intertor fluids must ave ELIST! data card and a free surface or plane of antisymetry. Thus if there is, ELISTI data, and no free surface nor plane of antfsymetry, the progran assumes an external fluid, External. flutds with ELIS! data and no free surface or plane of antisymvetry mist have a CID (field 3) such that the origin of the flutd coordinate fysten smear the center of the enclosed volume, since the singularity for volune change will be placed at the orfgin.ERROR MSC/NASTRAN (EC555) EXACT VALUE -O1 10°? 104 10? August 18, 1981 RLH-29 (Improvements for Virtual Mass Capability) Page 9 4 yobs ‘fs \ | N | Aaa So acerca eres 1 Ba ‘1 bashed curve is Pate reeteid ed alte method used in MSC/NASTRAN _ v6l : 3-point 2-point l I T T 2 4 6 8 10 12 FIGURE 1. Error in Pressure for a Doublet Sheet When Computed by N-Point Gauss Integration H/sMSC/NASTRAN (£C555)) RLH-29 (Improvements for Virtual Mass Capability) FIGURE 2 VIRTUAL MASS OF A QUARTER BOX OF FLUID. The top surface and inner cutout are not part of all models. Motion fs symmetric about the x-z plane, and it is antisymmetric for plane y-z. For the "new" results, exact integration was used for all pairs. cutout Aa A z August 18, 1981 Page 10 fluid X-Virtual Mass top surface MODEL MESH ELEMENTS NEW OLD louter box only. 1 12 532 +665 |Top is free surface. 2 48, 508 591 3 108 +503 563 4 192 502 549 Theory 0,500 louter box only. 1 16 +955 1.206 |Top is capped. 2 64 +981 1,131 3 144 +989 1,096 4 256 1992 1,076 Theory 1,000 louter & inner box, 1 15 520 -668 Fluid is between boxes. 2 60 +492 582 |Top is free surface. 3 135 +485 +550 4 240 482 534 Theory ---- (unknown) _{|——____— louter & inner box. 1 18 833 1.089 |Top is capped. 2 12 857 1,008 3 162 +864 972 4 288 -867 +952 Theory ---- 0.875 67