Journal of Sound and Vibration (1991) 146( 3), 439-448

ORTHOGONALITY OF WET MODES IN COUPLED

VIBRATION

ZHU FANG

Department of Hydroelectric Power Engineering, Wuhan University of Hydraulic and Electric

Engineering, Wuhan 430 072, People’s Republic of China

(Received 29 March 1990, and in revised form 18 June 1990)

The orthogonality property of wet modes for arbitrary storage vessels filled or partially
filled with compressible fluid is investigated by means of Love’s thin shell equations and
a linear potential flow theory. The proof shows that the wet modes do possess the
orthogonality property for all kinds of fluid-filled tanks with zero- boundary energy
conditions when incompressible fluid is considered and the effect of free surface waves
is neglected. It is pointed out that there is another kind of orthogonality relationship
among wet modes when a compressible fluid is contained or (and) the effect of the free
surface waves is considered.

1. INTRODUCTION
It is known that dry modes (natural modes for a structure not containing fluid) have
orthogonality relations [ 1,2], and it is this kind of property that makes the modal analysis
method so important in dynamic analysis of linear systems [l-3], especially in solving
for the dynamic responses of complicated structures by means of the modal synthesis
technique [4,5]. For coupled liquid-structure dynamic problems, however, wet modal
analysis method will be proved useful [6,8]. With the developments in nuclear energy,
ocean and astronautics engineering, the technique of wet modal analysis method has
become more and more important. But this kind of technique will not be so powerful as
that of the dry modal analysis method unless the orthogonality relationships exist among
wet modes (natural modes of a structure containing liquid) for all kinds of storage tanks
containing liquid. Daniel [7] proved the orthogonality relations in a discretization form,
to a certain extent; Huang and Zhu studied the problem for a continuous system [8], but
this latter investigation has the following limitations: (1) only a circular cylindrical tank
was considered; (2) the tank was fully filled with liquid; (3) the liquid was incompressible;
(4) the effect of the free surface wave was neglected.
The aim of the work reported in this paper was to prove generally that the orthogonality
relationships among wet modes exist for all kinds of storage vessels filled or partially
filled with liquid by means of Love’s general thin shell equations and a linear potential
flow theory. It is pointed out that such relationships do exist for an arbitrary fluid-filled
tank with under the condition that its boundary energy, the energy put into the shell by
boundary force resultants and moment resultants, is zero. In the process of proof, it is
also found that another orthogonality relation, which is called the generalized orthogonal-
ity relation, appears when the effect of the free surface wave is considered or (and) the
liquid is compressible.

2. ORTHOGONALITY OF DRY MODES

The discussion begins with the proof of orthogonality of dry modes for an arbitrary
439
0022460X/91/090439+ 10 $03.00/O @ 1991 Academic Press Limited
440 ZHU FANG

tank. Although the result has been given in reference [ 11, another conclusion, which will
be used in the following section to prove the orthogonality relationship of wet modes for
a tank containing liquid, can only be derived from the proof given here.
Consider a thin, isotropic and homogeneous shell of constant thickness with a neutral
surface. The mutually perpendicular lines of principal curvature and the normal to the
neutral surface are chosen as co-ordinates, as shown in Figure 1. Thus one has three
mutually perpendicular planes of strain and three shear strains. Assuming that Hooke’s
law applies, one has the following stress-strain relations:
&11= (l/J%o*, -cco22), sz=(l/E)(oz-pm,,), c,z=(+,z/G, (la-c)

E23 = u23/ G, E13 = ~131 G. (14 e)

Let u, , u2 and u3, respectively, represent the displacements of the neutral surface in
the (Y,, o2 and a3 directions and /3,, /I2 the angles defined by

P, = (u,lR,) -(l/A&u,/%, p2 = (U2/R2) -(1/A2)dU3/aa2* @a, b)

Following the theoretical approach of Love, some basic equations of shell can be given.
(a) The strain-displacement relationships are

s,,=s:,+a&,,, ~22 = &;2 + a3k22, ~12 = &:2+ a3k2, (3a-c)

where the membrane strains are

o_ -- 1 au,+ _ ~2 %p43
& (4a, b)
11 - A, aa, A,A, aa2 R,’

(4c)

and where the changes in curvature terms are

1 ah ~-P2 aAl k _ 1 W2 : --PI aA

(5a,b)
k _ k

,’ A, aa, A,A, aaz’ 22 A2 aa A,A, aa,

(5c)

(b) The membrane forces and the bending moments are

h/2 h/2
N,,= o,, da3 = WE:, +&2), N22= u22 da3= K($i2+w?l), (6a, b)
I -h/2 -h/2

x2
Figure 1. Co-ordinate system.
 ORTHOGONALITY OF WET MODES 441
h/2
N,, = N2, = u,2 dcz3= K(12-P) ey2, (6~)
-h/2

h/2
M,1=
I
-h/2
h/2
~,,a3 da, = Wk,, +I&), (6d)

M22 = u22ff3 da3 = D(k22+d‘,,)r (6e)

-h/2

M,2 = M2, = (T,~(Y~

da, = D(l - ‘) k,,. (60
2

Here K is the membrane stiffness and D is the bending stiffness.

(c) l%e so-called Love’s equations are

- a(N,,AJ a(Nd,) - N12$,+ N,, 2- A,A, %+ A,A,phii, = A,A2q,, (7a)

aff, - aa 2 1 1

- W,2A2) aW22Ad
-N$$+N,,2-A,A++A,A2phii2=A,A2q2, (7b)
aff, - aa, 1
- aW,&) a(Qd,) + A,A&+%) +k,A2phti3=A,A2q3, (7c)
aa, - aa2
where the shearing forces Q3 and Q23 are defined by

aWllA2) +a(M,A) +M,2$M22$A,A2Q,3=0,

(8a)
aff, aff2 2 1
aW,A) +aWL%) +M,,2-M,,$A,A2Q,,=0.
(8b)
aa, aff2 1 2

The derivation of all these equations can be found in reference [l].

Love’s equations can also be turned into a three-equation system in which the dynamic
displacements, u, , u2 and u3, are the unknown functions found by substituting equations
(4) and (5) into equations (6), and then equations (6) and (8) into equations (7).
For free vibration, a,, u2, u3, p, and p2 can be expressed as

(%(a, 3 a29 t), uz(a, 9 a29 t), U3(%, a2, t), P,(%, Q2, t), Pz(a,, ff2, t))

= (&(a* 9 4, S2(a,, ~2),S3(~,, a2), &(a,, (~2)~ %(a,, ~~1) exp W) (9)
and Love’s equations can be written as

UN1 - ~2WfoI){~I= {PI (10)

where {6}T = {S, , S2, S,}, [MO] is a diagonal matrix given by

m ,,=m22=m,3= mO= @A,A2, (11)

and [N] is a differential operator matrix which has a very complicated form. It is not
necessary to give [N] explicitly in this discussion, as will be seen later.
For a tank containing liquid,

{p]Texp (iwf) = A&G, q2, 4J exp Got) = 4A2{ql, q2, qd. (12)
442 ZHU FANG

If the tank contains no liquid, as is the case in this section, one has {P} = (0). Then
equation (10) becomes

[WSI = ~“mf01w. (13)

Consider two eigenfunction vectors {S}i and {S}j of equation (13) corresponding to
distinct eigenvalues w i and oj . Then the orthogonality relations

{s)T[M~l{~)jda, da2=0, {6}~[N]{8}jda1 daz=O, (lda, b)

II R 55 n
exist, where R denotes the domain of the middle surface of the tank.
In order to prove these relations, one first has to demonstrate that [N] is a self-adjoint
differential operator matrix, which means that [N] is such a matrix that the following
relation holds for any two displacement function vectors, {S}, and {S},, satisfying boun-
dary conditions,

W~PW], da, da, = {a}:[ N](6), da, da2 = 0. (15)

11 R Is R

Since it is derived from equations (7), equation (13) can be rewritten in the form of
equations (7). Hence one has

+ a(N;2A2)+a(N;2Al)+N,aA dA1+A,A2Q;3
--
Nr 6s

affl aa2 I2aff, ” aa R2 I 2

+ a(Q&) + a(QLAJ -A,A,(?+F)]tj;) da1 da2.

aa, aff2
Considering equations (8) leads to

W;lA2+W;lAl)+Nr aA,
-_
N, dA,+A A 9;3 sf

I2aa,
=

aa, aa ” aa, ’ ’ R, I
+ aW;2A2)+aW;2Al)+Nr+_Nr
aa1 aff2 ” da, ” da,
&+A,A2Q;3
R2 1 ss

aMlA2)+a(M;,Al) +
aal aa2
M,
,$&M;+A,A29;
2 1 1 6:

aA2
a(M;2A2)+a(M;2Al)+M;,--M;,--A,A,Q;, a& S; da, doz. (16)
aal aa2 doI aa2 I I
 ORTHOGONALITY OF WET MODES 443

Next, one can select the terms containing N;, or M;, for discussion: i.e., consider

Integrating some terms by parts leads to

E,= (N;,S;+M;,S;)A,da,- la, [~;(N:,(A,~+~G+~%)

I a2

da, da,.

According to equations (4a) and (5a), one has

E, = (N;,S;+M;,6;)A,da,- (N;,$;+M;,k;,)A,A2da, daz.

I 02 liml a2
When equations (6) and (3) are considered, one further has

CT;,(E:; + a3kf,)A,A2 da, da, da3

= (N;,S;+M;,6:)A,da,- a;,&;,A,A* da, da2 da3.

J a2 J a, J a* J a3
Proceeding with all the terms of equation (16) in this fashion gives

{SI~[NI{S),da1 da2
II0, 02

J012
+ (N~,c?:+ M1;,6;+ N126i+ M;,Sg+ Q#)A, da,

+ I a*
(N/&+ M;&+ N;,6;+ M;&+ Q;&)A, da,. (17)

If the line integrals in equation (17) are equal to zero and equations (1) are considered,
it is easy to show that

{~IT[NI{~l,da1 de

that is,

{SI~[NI{Sl, da, da2 =

JJ
a1 -2
{~)f[NI{~I, da, h. (18)
444 ZHU FANG

Of course, the values of the line integrals in equation (17) depends on what kind of
boundary conditions the shell has. The integrals, however, are equal to zero when the
shell’s boundary condition is the one which results in zero boundary energy (the energy
existing in the shell because of boundary force resultants and moment resultants along
(Y,= constant and (or) (Ye= constant since the boundary energy is defined by

and {S}, and {a}, satisfy the boundary conditions: that is to say, when Eb = 0, the line
integrals in equation (17) are equal to zero.
Thus it has been demonstrated that [N] is indeed a self-adjoint differential operator
matrix under the zero boundary energy conditions. There are many cases of such boundary
conditions. For instance, when the tank is enclosed in the o1 direction and in the (Ye
direction is clamped or free at one end and free or clamped at the other, the boundary
energy is zero.
The conclusion reached in equation (18) plays an important role in the proof of the
orthogonality relationship of dry modes as well as that of wet modes.
Now one has no difficulty in examining the truth of equations (14). By virtue of the
property of the eigenfunction vectors {S}i and {S},,

[Nl{sIi = 0~[M01{61i~ [Nl{slj = wjz[“CJl{slj. (1% b)

Pre-multiplying equations (19a) and (19b) by {s}f and {S}: respectively, integrating them
over the domain R, and then subtracting the respective results, one obtains the expression,
by use of equation (18),

When Ui # Oj,

and equation (14b) can be obtained from equation (19b). This concludes the proof of
the orthogonality relations of dry modes.

3. ORTHOGONALITY OF WET MODES

In this section, a proof is to be presented of the orthogonality of the eigenfunction
vectors, {S}j (j = 1,2,3, . . . ), for storage tanks containing liquid, these eigenfunction
vectors being now called the wet modes. An inviscid, irrotational and compressible liquid
with mass density p,, is considered. For free vibration, the velocity potential has the
solution form
@(a,, a2, a3, t) = W(a,, a2, a31 exp WI, (20)

where o denotes a natural frequency of the liquid-structure system. According to linear

potential flow theory, C#Imust satisfy
v’cp = -(02/c2)c#$ (21)
 ORTHOGONALITY OF WET MODES 445

where c is the speed of sound in the liquid, and the following corresponding boundary
conditions.
On the liquid-tank interface S,,
a4/an=6,, P" =~*Po4+ (2&b)

where n is the normal vector which has {L}T = {1,) 12, 13} as its direction cosines. For the
co-ordinate system chosen in Figure 1, the normal to the middle surface of the tank is
(Ye.In this case, I, = 1, = 0 and 1, = 1. 6, and JJ,,, defined by 6, = {S}T{L} and pn = {P}‘{ L},
denote the amplitudes of the normal displacement of the middle surface of the tank and
the hydrodynamic force acting on the wall of the tank respectively.
On the free surface of the liquid S,, if the effect of free surface waves is neglected, the
condition is
4 =O, (23a)
and otherwise the condition is
g a4/an=w'+, (23b)
where g is the gravitational acceleration.
If the tank has a base, S,, which is fixed to the earth, then on 5%
a4/an=O. (24)
By referring back to equation (22b), {P} in equation (IO), which is no longer zero, can
be expressed as
W’= AA{&, 152344 = ~2~ob%4U,, 12,hl. (25)

Thus, for coupled vibrations, equation (10) can be written as

[Nl{~I = ~21?MJ~~~+
~*Po&W,W = u2WIW, (26)
where

I-
m0+p01,A1A2~181 0 0
[Ml = 0 mo+d2AA41S2 0 (27)
[ 0 0 mo+ POMADE/&
If the tank is partially filled with liquid, one can set po=O to represent the zero
hydrodynamic pressure acting on the un-wetted wall surface So.
One can now proceed with the proof in the same manner as in the last section.
Consider two modes {S}i and {S}j of equation (26) corresponding to eigenvalues oi
and wj respectively: that is,
[NI{sIi = wf[“li{Sli, [N1{61~
= wj2[“lj{81j* Wa, b)
Here [N] is still a self-adjoint differential operator matrix as was the [N] in equation
(13), but the global mass matrix is no longer a constant one due to the action of the
hydrodynamic pressure, as can be seen from equation (27).
Pre-multiplying equations (28a) and (28b) by (8); and (8): respectively, integrating
them over the domain 0, and then subtracting the results and using equation (18), one
obtains

“f {s}r[M]j{8}j da, da2-U; ~~~fb’W,W,

da, da2= 0, (29)
II R
where R = S,+S,.
446 ZHIJ FANG

For the proof, some zero terms of zero total contribution have to be added to
equation (29):

+po v$ +ioJ?4j dV ~0. (30)

>
Here V denotes the volume filled with liquid, and dV= A,A, da, da* da3, dS =
A,A, da, da*, which have been simplified by Love.
Provided that

(31)

one has

+po
111 vc
14,a:4i dV=O (Wi# 6Jj)e
(32)

First one can examine the correctness of equation (31) and then explain what the
equality of equation (32) means.
Referring back to equation (27) and utilizing equations (21) and (23b) leads to

F=
II n
{SlT[Mlj{Slj da1 da2+ PO
IIs i
I
4pf4i dS+Po ,f 4,af4i dV

-
{SlT[Mli{~li da, daz+Po $4iwf+j
dS

+po v $t4iwj4j dV
>
 ORTHOGONALITY OF WET MODES 447

Applying equation (22a) gives

If the tank has a base connected to the earth, with the use of equation (24) one has

Substituting this into equation (33) gives

When the Gauss-Ostrogradsky formula is used, one obtains F = 0.Hence equation (3 1)

is correct.
Now one has to explain the meaning of equation (32) in three cases.
(a) Substituting equation (27) into equation (32) leads to

Again, applying the Gauss-Ostrogradsky formula gives

{SIT[Mol{SIjda, daz+Po V4,*V4i dV=O. (34)

II R 111 V

Equation (34) is the so-called generalized orthogonality relation of wet modes in coupled
vibration when a compressible fluid is contained and the effect of free surface waves is
considered.
(b) When the liquid is incompressible (c = 00) or the effect of free surface waves is
neglected (or the fluid has no free surface), one can prove that equation (32) can be
written as the same equality as that of equation (34).
(c) When the liquid is incompressible and the effect of the free surface wave is neglected
(or the fluid has no free surface), equation (32) becomes

(354

Considering equation (28b), one also has

{s}~[IV]{s}j da, da,=O. (3%)

II R
Equations (35a) and (35b) are the so-called orthogonality relations of wet modes which
have the same forms as that of dry modes except that [M] is different. But one can also
convert equation (35a) into the form of equation (34) by the use of the Gauss-Ostrogradsky
formula.
This completes the proof of the orthogonality relationship for wet modes for linear
coupled liquid-structure problems. Although the thin deep shell theory is used here, the
conclusions remain true for shallow shells and shells made of composite material as well
as other kinds of tanks containing liquid. Given the generality of orthogonality for wet
modes, wet modal analysis methods can be used to greater advantage in dynamic analysis
of coupled vibrations.
448 ZHU FANG

REFERENCES
1. W. SOEDEL 1981 Vibrations ofShells and Plates. New York: Marcel Dekker.
2. L. MEIROVITCH 1975 Elements of Vibrution Analysis. New York: McGraw-Hill.
3. HUANG Yu YING 1988 Foundations of Structural Vibration Analysis (in Chinese). Wuhan:
HUST Press.
4. ZHENG ZHAOCHANG 1982 Journal of Vibration and Shock (China) 1, 28-36. The study on
vibration of complex structure systems by component mode synthesis techniques.
5. Lu XINSEN and R. W. CLOUGH 1982 Journal of Vibration and Shock (China) 1,17-27. A hybrid
substructure approach for analysis of fluid-structure interaction in ship vibration.
6. Ju RONGCHU and ZEN XINCHUAN 1983 7Ireory ofcoupled Vibrations Between Ehtic Structure
and Liquid (in Chinese). Beijing: Earthquake Press.
7. W. J. T. DANIEL 1980 Znternationul Journalfor Numerical Methods in Engineering 15, 1161-1176.
Modal method in finite element fluid-structure eigenvalue problems.
8. HUANG Yu YING 1991 Journal ofSound and Vibration 145,51-60. Orthogonality of wet modes
in coupled vibration of cylindrical shells containing liquids.