Applied Mathematical Modelling 45 (2017) 1020–1030

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Applied Mathematical Modelling

journal homepage: www.elsevier.com/locate/apm

Nonlinear vibration and stability analysis of the curved

microtube conveying fluid as a model of the micro coriolis
flowmeters based on strain gradient theory
M.R. Ghazavi∗, H. Molki, A. Ali beigloo
Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran

a r t i c l e i n f o a b s t r a c t

Article history: Micro coriolis flowmeters are extensively used in fluidic micro circuits and are of great in-
Received 22 June 2016 terest to many researchers. Straight and curved coriolis flowmeters are common types of
Revised 5 November 2016
coriolis flowmeters. Therefore in the present work, the out-of- plane vibration and stabil-
Accepted 13 January 2017
ity of curved micro tubes are investigated to study the dynamic behavior of curved coriolis
Available online 20 January 2017
flowmeters. The Hamilton principle is applied to derive a novel governing equation based
Keywords: on strain gradient theory for the curved micro tube conveying fluid. Lagrangian nonlinear
Curved microtube strain is adopted to take into account the geometric nonlinearity and analyze hardening
Nonlinear vibrations behavior as a result of the cubic nonlinear terms. Linear stability analysis is carried out to
Stability investigate the possibility of linear instabilities. Afterwards, the first nonlinear out-of-plane
Strain gradient natural frequency is plotted versus fluid velocity to determine the influence of nonlinear
Phase difference terms and hardening behavior on stability of the system. The influence of the length scale
parameter is studied by comparison of the results for classical, coupled stress and strain
gradient theory. Finally the phase difference between two points at upstream and down-
stream is plotted versus fluid velocity. Linear relation between the phase difference and
fluid velocity is noticed, thus the curved coriolis flowmeter can be calibrated to measure
flow rate by measuring the phase difference between two points.
© 2017 Elsevier Inc. All rights reserved.

1. Introduction

Micro and nano tubes are extensively used in elctromechanical system and fluidic circuits as a micro pipette, fluid filtra-
tion device, micro pen and injection device to inject the drug directly to the tissues. Schwengber et al. [1] as well as Li et
al. [2] investigated direct injection of the drug in the cancer tissues. The efficiency of five different nano tubes in local de-
livery of the drug to the cancer tissues was compared by Antonio et al. [3]. Micro tubes are also of great application in local
injection of the drug, therefore the topical delivery of Amphotericin B by Lipid-based micro tube was studied by Salerno et
al. [4]. Another application of the micro tubes is in micro coriolis flowmeter which is the most common flowmeter in micro
fluidic circuits. A proper theoretical model for coriolis flowmeters is of great interest to many researchers (Groenesteijn et
al. [5]; Haneveld et al. [6–8]) in order to improve the sensitivity of the micro coriolis flowmeters.
Some researchers have used classical theory of elasticity to study dynamic behavior of micro beam and tubes (Ghazavi et
al. [9–13]). Wang [14] and Ghorbanpour Arani et al. [15–16] used nonlocal elasticity to investigate the vibration and stability

∗
Corresponding author.
E-mail address: ghazavim@modares.ac.ir (M.R. Ghazavi).

http://dx.doi.org/10.1016/j.apm.2017.01.048
0307-904X/© 2017 Elsevier Inc. All rights reserved.
 M.R. Ghazavi et al. / Applied Mathematical Modelling 45 (2017) 1020–1030 1021

of the micro tube conveying fluid considering the size effects on stiffness of the structure. To measure the influence of the
micro size of the structure, many other researchers employed couple stress theory (Tang et al. [17], Dehrouyeh-Semnani and
Nikkhah-Bahrami [18] and Dehrouyeh-Semnani and Zafari-Koloukhi [19], Yang et al. [20], Mashrouteh et al. [21], Hu et al.
[22], Sun et al. [23]).
Lam et al. [24] proposed a strain gradient theory with three material coefficients, related to higher order elasticity, and
designed the experiment to obtain the length scale parameter of micro structures. They calculated the length scale param-
eter of a beam made of epoxy by the proposed experimental approach. A formulation for the characteristic lengths of fcc
materials in first strain gradient was derived by Shodja and Tehranchi [25]. Some researchers adopted this theory to derive
governing equation for both Euler–Bernoulli (Liang et al. [26] and Hosseini and Bahaadini [27]) and shear deformable (Akgöz
and Civalek [28]) straight beam. Also natural frequency of functionally graded micro tube conveying fluid is investigated by
Setoodeh and Afrahim [29] via this theory. Ghorbanpour Arani et al. [30] analyzed nonlinear vibration of Bororn-Nitrid re-
inforced composite micro tube conveying fluid based on strain gradient theory.
Straight and curved coriolis flowmeters are two types of the micro coriolis flowmeters which are extensively used to
measure the flow rate in fluidic micro circuits. In order to study the dynamic behavior of these flowmeters, a mathemati-
cal model is of great interest. Jung and Chung [31] and Jung et al. [32] analyzed the in-plane vibration of the curved tube
conveying fluid by considering the radial and tangential displacements. In curved coriolis flowmeters, the excitation force
and curved tube deformation are vertical to the tube plane. Therefore, the out-of-plane natural frequencies of the curved
tube conveying fluid are obtained by Jung and Chung [33]. Wang et al. [34,35] applied the coupled stress theory to analyze
the in-plane and out-of- plane vibration of curved micro tube conveying fluid, however they neglected the tangential dis-
placement. Tang et al. [36] extended the previous work by Wang et al. [35] via considering the tangential displacement, and
investigated out-of-plane vibrations of the curved micro tube based on improved governing equations.
In the present work, in-plane as well as out-of-plane vibrations of curved micro tube conveying fluid are analyzed. Three
displacement components of each tube section point are written in terms of the displacement components of the tube
section center point and twist angle about θ axis. The size effects are studied based on the strain gradient theory and
the results are compared with those obtained based on couple stress and classical elasticity theory. Higher order strains
are derived and novel governing equation for the curved micro tube is obtained based on strain gradient theory. The dy-
namic behavior of the curved micro tube is studied and possible instability are determined by linear stability analysis. Then,
considering cubic nonlinear terms which are ignored in previous works, the nonlinear stability of the system is analyzed
by plotting nonlinear natural frequency versus fluid velocity. The influence of the nonlinear terms and hardening behavior
on the stability of the system is studied via this nonlinear stability plot. The effect of the length scale parameter is also
analyzed by comparing the results obtained by the classical, coupled stress and strain gradient theory. The linear relation
between the phase difference (between two points at upstream and downstream) and fluid velocity was shown in the case
of the straight coriolis flowmeter (Enz [37], Thomsen [38], Amabili [39]). Therefore, this type of the Coriolis flowmeter can
be calibrated to measure the flow rate. The similar relation between phase difference and fluid velocity is demonstrated in
this study for curved coriolis flowmeter in order to show the applicability of these coriolis flowmeters in measuring the
flow rate.

2. Governing equation of curved micro tube

As described, curved micro tubes are extensively used as micro coriolis flow meters to measure the flow rate in micro
circuits. To measure the size effects and compute the stiffness of the system considering the influences of the size, the
strain gradient method is applied in conjunction with the Euler Bernoulli beam theory. The radial (u), tangential (v) and
transverse (w) displacements along with the twist angle about θ axis are defined at the center of curved micro tube section
to investigate the in-plane deformations as well as the out of-plane deformations of the system. In this way both in-plane
and out of-plane modes of the system are obtained and coupling of displacements through nonlinear terms are considered.

2.1. Strain energy of curved micro tube according to strain gradient theory

Strain gradient method is applied to take into account the size effects of the micro tube on the dynamic behavior of the
coupled system. According to this method, the strain energy of the curved micro tube is dependent on strain gradients in
addition to strains. In such a way the strain energy is

1
US = (σi j εi j + pi γi + τi jk ηi1jk + mi j χi j )d, (1)
2 
εij and ηi1jk denote strain tensor and deviatoric stretch gradient tensor (traceless symmetric strain gradient tensor) respec-
tively. χ ij is symmetric rotation gradient tensor (symmetric curvature tensor) and γ i is dilatation gradient vector. σ ij , Cauchy
stress, tensor and pi , τ ijk , χ ij , higher stress tensors, are defined by
σi j = 2μεi j + λεkk δi j , (2a)

m i j = 2 μl 1 χi j ,
2
(2b)
1022 M.R. Ghazavi et al. / Applied Mathematical Modelling 45 (2017) 1020–1030

Fig. 1. Three dimensional displacements in curved micro tube.

p i = 2 μl 2 γi ,
2
(2c)

τi jk = 2μl3 2 ηi1jk . (2d)

As mentioned, three displacement components along with twist angle are defined at the center point of the tube section,
therefore displacement components of each point of the micro tube in three dimensional space can be written as

ur (θ , z, t ) = u(θ , t ) + zφ (θ , t ), (3a)

uθ (r, θ , z, t ) = v(θ , t ) + (r − R )φi (θ , t ) − zφ0 (θ , t ), (3b)

uz (r, θ , t ) = w(θ , t ) − (r − R )φ (θ , t ), (3c)

where ur , uθ , uz are radial, tangential and axial displacement respectively and ϕ is twist angle about θ axis (Fig. 1). ϕ i
denotes rotation angle about z axis because of in-plane bending and ϕ O denotes rotation angle about r axis because of
out-of-plane bending.

φi = (v − u )/R, (4a)

φ0 = w /R. (4b)

Nonlinear strain according to Lagrangian nonlinear strain theory can be defined as:
∂ ur ∂ uz
εrr (z, θ , t ) = = 0, εzz (z, θ , t ) = = 0, (5a)
∂r ∂z
∂ uθ 1 ∂ uθ 2 1
εθ θ = + [( ) + φi 2 + φo2 ] = ε̄θ + (r − R )φ  i /R + z(φ − φ  o )/R + (ε̄θ2 + φi2 + φo2 ), (5b)
R∂θ 2 R∂θ 2

γrθ = z(φ  + φo )/R, (5c)

γθ z = −(r − R )(φ  + φo )/R. (5d)

In the above equations, prime denotes the differentiate with respect to θ and ε̄θ is

ε̄θ = (u + v )/R. (6)

 ), thus symmetric rotation gradient tensor is χ
The rotation vector is given by  = 1/2Curl (u = 1/2[∇  + (∇ )T ] with the
following elements:
∂ r φ
χrr = =− , (7a)
∂r 2R

∂ θ w  φ  r − R 
χθ θ = = 2 + − φ, (7b)
∂y R R 2R2
 
∂ z 1 φ w
χzz = =− + 2 , (7c)
∂z 2 R R
 M.R. Ghazavi et al. / Applied Mathematical Modelling 45 (2017) 1020–1030 1023

 
1 2φ 2w (r − R ) 
χrθ = χθ r = − + 2 − φ , (7d)
4 R R R2

v − u
χrz = χzr = , (7e)
4R2

1
χθ z = χzθ = (2Rv − 2Ru − Rzφ  + (r − R )v − (r − R )u − zw ). (7f)
4R3
Dilatation gradient vector, with index notation γ i = ηi,mm , has the following elements:

φ w
γ1 = − , (8a)
R R2

1 1 1
γ2 = − (v − u ) + 2 (v + u + zφ  ) + 3 ((r − R )(v − u ) + zw )
R2 R R
1 1
+ 2 (v − u − v + u + zφ  ) + 3 (−(r − R )(v − u ) + zw )
R R
1 1
+ 2 (u + zφ  + v ) + 3 ((r − R )(v − u(3) ) − zw(3) ), (8b)
R R

1  1 1
γ3 = (v − u ) − 2 (u + zφ + v ) + 3 ((r − R )(v − u ) − zw ). (8c)
R2 R R

Index notation of deviatoric part of stretch gradient tensor is ηi(jk

1)
= ηiSjk − ηi(jk
0)
, which has the following elements:

1
ηr r r = (3Ru + 3Rzφ + 2Rv − 2Ru + 3Ru − 4zw − Rzφ  ), (9a)
5R3

1
ηrrθ = ηrθ r = ηθ rr = (3Ru + 11zw + 14Rzφ  + 3Rv − 3(r − R )u − 3zw ), (9b)
5R3

1
ηrrz = ηrzr = ηzrr = (−R2 φ + 2(r − R )w + Rw + (r − R )Rφ  ), (9c)
15R3

ηrθ θ = ηθ rθ = ηθ θ r = − 151R3 (12Ru + 12Rzφ + 8Rv − 8(r − R )u + 4Ru

(9d)
−16zw − 4Rzφ  ),

1
ηrθ z = ηrzθ = ηθ rz = ηθ zr = ηzrθ = ηzθ r = ((r − R )w + R(r − R )φ  ), (9e)
3R3

ηrzz = ηzrz = ηzzr = 1

15R3
(3Ru + 3Rzφ + 2Rv − 2(r − R )u
(9f)
+Ru − 4zw − Rzφ  ),

1  
ηθ θ θ = 2Ru + 4zw + 6Rzφ  + 2Rv − 2(r − R )u − 2zw , (9g)
5R3

1
ηθ θ z = ηθ z θ = ηz θ θ = (4R2 φ − 2(r − R )w − Rw − R(r − R )φ  ), (9h)
15R3

1
ηθ zz = ηzθ z = ηzzθ = − (3Ru + zw + 4Rzφ  + 3Rv − 3(r − R )u − 3zw ), (9i)
15R3

1
ηzzz = (−R2 φ + Rw + (r − R )w + R(r − R )φ  ). (9j)
5R3
1024 M.R. Ghazavi et al. / Applied Mathematical Modelling 45 (2017) 1020–1030

2.2. Kinetic energy of the curved micro tube and fluid

The fluid is incompressible and strain energy cannot be stored in fluid, therefore the strain energy is given only for the
tube. Kinetic energy for tube and fluid respectively are as
 π
1
TS = mS v̄S · v̄S + Iφ˙ 2 Rdθ , (10a)
2 0
 π
1
TF = m f v̄ f · v̄ f Rdθ , (10b)
2 0

where TS and TF denote micro tube and fluid kinetic energy respectively. Fluid velocity vector, v̄ f , is expressed as

v̄ f = [u˙ + U (u − v )/R]i + [v˙ + U (R + u + v )/R] j + [w˙ + Uw /R]k, (11)

U is the flow velocity along the central axis of the tube section.

2.3. Governing equation of the curved micro tube containing fluid

The governing equation of the micro tube containing fluid flow is derived by Hamilton principle
 t
δ We + TS + TF − US = 0. (12)
t0

Kinetic and strain energy of the curved micro tube and kinetic energy of the fluid are given in the previous sections.
Substituting the strain energy and kinetic energies in Hamilton principle and applying integration by part, the governing
equation is obtained as
(m + M )ü + 2MU (u˙  − v˙ )/R + EA(v + u )/R2 + EI (u(4) − v )/R
+ MU 2 (u − 2v − u )/R2 + 2μl1 /(2R6 )[AR2 (v − u ) + (−I + 4AR2 )v
2

+(−I + 4AR2 )u4 ] + 2μl2 /R6 [AR2 u − 2AR2 v + AR2 u4 + I (v(5) + u(6) )]
2

+ 2μl3 /(15R6 )[16AR2 u + (16I + 9AR2 )v + (−16I + 12AR2 )u

2

+ (−48I + AR2 )v + (48I + 4AR2 )u(4) + 6Iv(5) − 21Iu(6) ] − EA/R3 [u v + u v
− 2v − vv + uu + u − 3uv − u v − u2 ] + EA/(2R3 )[2u3 + 2uv2 − 2uvu + 7u2 v
2 2

+ 5v2 v − 8uu v + 8uv + 2uw − 2u2 u − 3v2 u + 2uvv + 3u
2 
2 2
v + 3v 3 + 3v w 2
+ 6vu u − 2uv u + 2uu v + 2vv v + 2vw w + 3u u − v u − w u − 2u v v
 2   2 
2

− 2u w w − u2 u − 3v2 u + 2uvv + 6vu − 4uu v + 2vv + 2vw − 3u − 3u v − 3u w ] = MU 2 /R,
2 2 2 3 2 2
(13a)

(m + M )v̈ + 2MU (v˙  + u˙ )/R − EA(v + u )/R2 + EI (u − v )/R4

+ MU 2 (v + 2u − v )/R2 + 2μl1 /(2R6 )[AR2 v − AR2 u − (I + 4AR2 )v
2

+ (I + 4AR2 )u ] + 2μl2 /R6 [AR2 v + 2AR2 u + (I + AR2 )v(4) + Iu(5) ]
2

+ 2μl3 /(15R6 )[(16I + 4AR2 )v − (16I + 9AR2 )u − 48Iv + 2AR2 v
2

+ (48I − AR2 )u + 6(I + AR2 )v(4) − 6Iu(5) ] + EA/R3 [2R3 v v + 2R2 uv
+ 3R2 u v + 3Ruu − Rvv − uv] − EA/(2R3 )[u2 v − v3 + 7u2 u + 5v2 u + 2uvv
− 7vu + 10uu v + 3vv − vw − 4uvu + 6u2 v + 2v2 v + 3u + 3u v + 3u w
2 2 2 3 2 2

+ 4uu u + 4vv u − 4vu v + 2uv v + 4uw w + 4u v u + 2u  2   2 
v + 6v v + 2w v  2 

+ 4v w w − 4uvu + 6u2 v + 2v2 v + 4uu − 8vu v + 12uv + 4uw + 6u
2 
2 2 2
v + 6v 3 + 6v w 2 ] = 0, (13b)

(m + M )ẅ + 2MU w˙  − GJ (Rφ  + w )/R4 + EI (w(4) − Rφ  )/R4

+ MU 2 w /R2 + 2μl1 /R6 [−5AR2 w − 7AR3 φ  + Iw(4) + 2AR2 w(4)
2

+ 0.5IRφ (4) ] + 2μl2 /R6 [AR2 (Rφ  − w(4) ) + I (Rφ (4) − w(6) )]
2

+ 2μl3 /(15R6 )[−(16I + 5AR2 )w − (49I + 4AR2 )Rφ  + (54I + 4AR2 )w(4)
2

+ 27IRφ (4) − 90Iw(6) ] − EA/R3 [R3 v w + R3 v w + R2 uw + R2 u w ]

+ EA/(2R3 )[2uu w + 2vv w + u2 w + v2 w − 2vw u + 2uw v − 2vu w + 2uv w
+ 2u w u + 2v w v + u w + v w + 3w w + u2 w + v2 w − 4vu w
2 2 2

+ 4uv w + 3u w + 3v w + 3w ] = 0,

2 2 3
(13c)
 M.R. Ghazavi et al. / Applied Mathematical Modelling 45 (2017) 1020–1030 1025

+Im φ̈ + EI (Rφ − w )/R2 + GJ (0.5Rφ  − w )/R3 + 2μl1 /R5 [2AR3 φ
2

− 7AR2 w − IRφ  − 6AR3 φ  + 0.5Iw(4) ] + 2μl2 /R5 [(AR3 φ − AR2 w − IRφ 
2

(4 )
] + 2μl3 /(15R )[(16I + 4AR )Rφ − (49I + 4AR2 )w − 66IRφ  + 27Iw(4) + 8IRφ (4) ] = 0.
2 5 2
+ Iw (13d)
The Galerkin method is used to discretize the governing equation. Fixed boundary condition is applied at both ends of
the curved micro tube. Therefore, the geometric boundary conditions at two ends of the tube are:
∂u
u = 0, = 0, v = 0, (14a)
R∂θ

∂w
w = 0, = 0, φ = 0, (14b)
R∂θ
Radial, u, tangential, v, and transverse, w, displacement components as well as twist angle, θ , are approximated by series
of basic functions which are function of tangential coordinate, θ .
 
u (θ , t ) = qui (t )ui (θ ), v= qvi (t )vi (θ ), (15a)
i i

  φ φ
w (θ , t ) = i (t )i (θ ),
qw w
φ= qi (t )i (θ ), (15b)
i i

φ
Global coordinates, qui , qvi , qw
i
, qi , are functions of time. Considering the geometric boundary conditions, the basic func-
tions are defined as follows:
(cosh(λi π ) − cos(λi π ))
ui (t ) = wi (t ) = (cosh(λi θ ) − cos(λi θ )) − (sinh(λi θ ) − sin(λi θ )), (16a)
(sinh(λi π ) − sin(λi π ))

vi (t ) = φi (t ) = sin(iθ ), (16b)

where λi is obtained from
cosh(λi π )cos(λi π ) − 1 = 0. (17)
After discretization of Eqs. (13a–13d) by the Galerkin method, the governing equation is written as the following:
M{q̈} + C {q˙ } + K {q} + KN ({q} ){q} = { f }. (18)
Global coordinate is written as the summation of the steady static and perturbation parts ({q} = {q0 } + {q∗ }). The steady
static deformation is obtained of the following expression, setting time derivative to zero in Eq. (18).
K {q0 } + KN ({q0 } ){q0 } = { f }. (19)
Substituting global coordinate as the summation of the steady static and perturbation parts in the governing equation
(Eq. (18))
M{q̈∗ } + C {q˙ ∗ } + K {q∗ } + KN ({q0 + q∗ } ){q∗ } = 0. (20)
Nonlinear natural frequencies are obtained from the previous equation by computing the nonlinear stiffness based on
steady static deformation.

2.4. Computation of the phase difference

The governing equation of the system is

M{q̈} + C {q˙ } + K {q} + KN ({q} ){q} = { fc } + { ft }, (21)
where {fc } and {ft } = {f}Cos(t) are fluid centrifuge force and transvers harmonic force respectively. Considering Global coor-
dinate as {q} = {q0 } + {q∗ }, the steady static part is obtained from the following equation:
K {q0 } + KN ({q0 } ){q0 } = { fc }. (22)
Substituting the global coordinate ({q} = {q0 } + {q∗ }) in the governing equation (Eq. (21))
M{q̈∗ } + C {q˙ ∗ } + K {q∗ } + KN ({q0 + q∗ } ){q∗ } = { ft }. (23)
In order to obtain phase difference between two points, the perturbation part of the global coordinates is written as
{q∗ } = {a}Cos(t ) + {b}Sin(t ), (24)
1026 M.R. Ghazavi et al. / Applied Mathematical Modelling 45 (2017) 1020–1030

Table 1.
Comparison of the natural frequencies of the curved macro tube obtained through the present formula-
tion by setting l = 0 with those reported by Jung and Chung [33].

First in-plane natural frequencies First out -of-plane natural frequencies

Ū = 0 Ū = 2 Ū = 0 Ū = 2

Jung and Chung [33] 4.3795 4.2096 1.8189 1.6528

Present work 4.3616 4.0289 1.8262 1.6405

where
⎧ u ⎫
⎨ {q v } ⎪
⎪ ⎬
{q }
{q} = {qw } , (25a)
⎪
⎩ φ ⎪ ⎭
{q }
⎧ u ⎫
⎨ {a v } ⎪
⎪ ⎬
{a }
{a} = {aw } , (25b)
⎪
⎩ φ ⎪ ⎭
{a }
⎧ u ⎫
⎨ {bv } ⎪
⎪ ⎬
{b }
{b} = {bw } . (25c)
⎪
⎩ φ ⎪ ⎭
{b }
Substituting Eq. (24) in the governing equation
    
K − 2 M C {a} { ft }
= , (26)
−C K − 2 M {b} {0}
{a} and {b} are obtained from Eq. (26) and then substituted in the following expression to obtain the phase of the motion:
⎛ ⎞
ai i (θ1 )
ψ (θ1 ) = ArcTan⎝  ⎠. (27)
bi i (θ1 )

The phase difference between two measurment points is obtaind from subtracting the motion phase of the second point
from the motion phase of the first point.
ψ = ψ ( θ 2 ) − ψ ( θ 1 ) . (28)

3. Numerical results and discussion

In order to validate the present work, natural frequencies of the curved macro tube are computed by the present formu-
lation for the following materials properties and geometric dimensions and compared with the results reported by Jung and
Chung [33] (Table 1).
E = 72 GPa, G = 27 GPa, ρ p = 7800 Kg/m3 , ρ f = 1000 Kg/m3 , R = 200 mm, do = 22.5 mm and h = 1.6 mm.

In Table 1, natural frequencies of the curved tube are given in non dimensional form, ωn R2 (m p + m f )/(EI ). The dimen-

sionless fluid velocity is defined by UR m f /(EI ) and comparison is done in the case of Ū = 0 and Ū = 2. Comparison shows
good agreement between the results.
After validation of the present work, at first, the linear stability of the curved tube is investigated by plotting the real and
imaginary part of the first and second out-of-plane eigenvlues versus fluid velocity. Afterwards the first nonlinear natural
frequency is plotted versus fluid velocity to predict the onset of the static divergence more precisely. Finally, the linear
relation between phase differnce and fluid velocity is represented by numerical method and the size effect is studied by
comparison of the results for classic theory with strain gradient theory.

3.1. Linear stability analysis of curved tube

In order to study the dynamic behaviour of the curved micro tube conveying fluid, the linear stability diagram is con-
sidered by plotting imaginary and real part of the eigenvalue versus dimensionless fluid velocity. The matrial properties
of the curved tube under investigation, which is made of epoxy material, are E = 1.44 GPa, ν = 0.38, ρ p = 1220 Kg/m3 and
 M.R. Ghazavi et al. / Applied Mathematical Modelling 45 (2017) 1020–1030 1027

Fig. 2. Imaginary part of the first and second out-of-plane eigenvalue versus nondimensional fluid velocity.

Fig. 3. Real part of the first and second out-of-plane eigenvalue versus nondimensional fluid velocity.

ρ f = 10 0 0 Kg/m3 . The length scale parameters are l1 = l2 = l3 = 17.5 μm for epoxy material (Lam et al. [24], Park and Gao [40],
Tang et al. [36]). The diameter of tube cross section and radius of curved tube are dO = 35 μm and R = 100 dO respectively.
The tube thickness is h = 0.1 dO . The imaginary and real parts of eigenvalues are plotted versus fluid velocity in two distinct
plots in the case of first and second out-of-plane modes (Figs. 2 and 3).
Increasing fluid velocity, the stiffeness of the first mode decreases gradually to zero and static divergence occurs. When
static divergence arises, the real part of the first out-of-plane eigenvalue becomes positive and the system gets unstable. In
higher velocities, the coriolis force makes the system stable again and the real part of the eigenvalue becomes zero again.
However, by increase of the fluid velocity, the imaginary part of the first out-of-plane mode becomes equal to imaginary
part of the second one and coupled mode flutter occurs.

3.2. Non linear stability analysis of curved micro tube

The nonlinear term of the Lagrangian nonlinear strain estimates the geometric nonlinearity due to large deformation.
These nonlinear terms consist of second order and third order nonlinear terms. The nonlinear terms cause the dynamic
hardening behavior of the system and increase of the nonlinear natural frequencies. The hardening behavior is investigated
by plotting the first out-of-plane linear and nonlinear natural frequency versus fluid velocity in Fig. 4. It can be seen that
in the large deformation (for wmax / = 0.5), the first nonlinear natural frequency is higher than the first linear natural
frequency. Nonlinear natural frequency increases in higher fluid velocity in spite of the linear one because of the steady
static deformation and pertinent hardening behavior. Therefore static divergence does not take places based on nonlinear
1028 M.R. Ghazavi et al. / Applied Mathematical Modelling 45 (2017) 1020–1030

Fig. 4. Linear and nonlinear natural frequency of the first out-of-plane mode based on classic, couple stress and strain gradient elasticity theory.

Fig. 5. Nonlinear static deflection based on strain gradient and classical theory.

theory. According to Fig. 4, the linear and nonlinear natural frequencies, obtained based on strain gradient theory, are larger
than those obtained based on coupled stress and classical theory.

3.3. Static deflection

A static transverse load as big as 0.001 N is applied at the middle span of the curved tube. Static deflection at the middle
point is obtained based on classical and strain gradient theory. As can be seen in Fig. 5, the static deflection obtained by
strain gradient theory is smaller than static deflection obtained by classical theory. This is because of higher order strain
components. Increasing fluid velocity, the static deflection enhances due to the larger centrifuge force of the fluid flow and
decrease in the stiffness of the system. In order to show the changes of the static deflection versus fluid velocity according
to strain gradient theory more clear, it is depicted in Fig. 6.

3.3. Phase difference in curved tube due to fluid flow

The phase difference between transverse displacement of two points at the upstream (θ = π /4) and downstream
(θ = 3π /4) is obtained by the Galerkin method. The phase difference grows linearly by increase of the fluid velocity when a
fluid of certain density flows through the curved micro tube. Therefore, the system can be calibrated in order to measure
the fluid velocity by measuring the phase difference. As can be seen in the Fig. 5, the smallest phase shift is obtained based
on the strain gradient theory Fig. 7.
 M.R. Ghazavi et al. / Applied Mathematical Modelling 45 (2017) 1020–1030 1029

Fig. 6. Nonlinear static deflection based on strain gradient theory.

Fig. 7. Phase difference versus non dimensional fluid velocity based on classic, couple stress and strain gradient elasticity theory.

4. Conclusion

The present governing equation is derived based on the strain gradient theory to take the size effect into account. Natural
frequencies of curved macrotube are obtained by present method, setting l1 = l2 = l3 = 0, and compared in good agreement
with the results which are published in the previous studies. Afterwards, the linear stability is studied by plotting the real
and imaginary parts of the eigenvalue versus flow velocity. Linear stability diagrames show that the first out-of-plane mode
loses stability by static divergence. Then the coriolis force makes the system stable and the real part of the first out-of-
plane eigenvalue becomes zero again. In higher fluid velocity, the imaginary part of the eigenvalues of the first and second
out-of-plane modes coalesce and coupled mode flutter occurs.
The linear and nonlinear first out of plane natural frequencies are plotte versuse fluid vlocities. It is shown which nonlin-
ear natural frequency is larger than linear one because of the hardening behavior. The nonlinear natural frequency increases
in higher velocities because of hardening due to steady static deformation. Therefore the static divergence dose not occurs
according to nonlinear theory in spite of the linear theory.
The static deflection under certain transverse load, obtained by strain gradient theory, is smaller than the one computed
based on the classical theory. This is because of the higher order strains which increase stiffness of the tube. In higher fluid
velocities, the static deflection increases due to enhancement of fluid centrifuge force and decrease in the stiffness of the
system.
The phase difference between two points at upstream (θ = π /4) and downstream (θ = 3π /4) is obtained and plotted
versus fluid velocity. The plot shows the linear relation between the phase difference and fluid velocity. Therfore, the curved
coriolis micro flowmeter can be calibrated to measure the flow rate by measuring the phase difference between two points
1030 M.R. Ghazavi et al. / Applied Mathematical Modelling 45 (2017) 1020–1030

at upstream and down stream. It is shown that cosidering length scale parameter in strain gradient theory decreases the
phase shift.

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