h

Proceedings of the 5 International

Conference on Ship and Offshore Technology ICSOT 2017
December 7-8, 2017, IIT Kharagpur, India

ICSOT 2017
Experimental vortex-induced vibration of spring mounted cylinder: Achieving Lock-In

Mohd. Ishtiyak, Dr. Nabanita Datta, Yalla Omkar Venkata,

Dept of Ocean Engg & Naval Dept of Ocean Engg & Naval Dept of Ocean Engg & Naval
Arch, IIT Kharagpur, 721302, Arch, IIt Kharagpur, 721302, Arch, IIT Kharagpur, 721302,
India. India. India.
mdishtiyak@iitkgp.ac.in ndatta@naval.iitkgp.ernet.in omkar.amaesi.iitkgp@gmail.com

Lingesh.L.S, Vishal Gupta Abhinav Attri,

Indian Register of Shipping (IRS) Dept of Ocean Engg & Naval Dept of Ocean Engg & Naval
Mumbai, 400 072, Arch, IIT Kharagpur, 721302, Arch, IIT Kharagpur, 721302,
India. India. India.
lingesh.s@irclass.org vishalg2235@gmail.com 123456789attri@gmail

ABSTRACT NOMENCLATURE

The main objective of this work is to identify configuration L Length of cylinder (m)
of submerged hollow horizontal spring-mounted cylinder,
D Diameter of cylinder (m)
which will lead to high-amplitude sinusoidal monochromatic
oscillations, for the purpose of harvesting marine hydrokinetic K Spring constant (N/m)
energy. The work focuses on enhancing the Vortex-induced
U Free stream velocity (m/s)
vibrations (VIV) of an elastically mounted circular cylinder.
The experimental study was conducted in the Circulating mosc Oscillating mass (kg)
water channel, Department of ocean Engineering and Naval
ma Added mass (kg)
Architecture, IIT Kharagpur, India. Alternate vortex-shedding
for a flow past a cylinder happens at a Reynolds’ number m Total mass (kg)
range of 10^4-10^5, which leads to alternating lift forces and
Y Amplitude (m)
cross-flow oscillations of the cylinder. The magnitude of the
lift is proportional to the diameter and length of the cylinder, Pf Fluid power (W)
and the square of the current flow velocity. Our aim was to
Pm Mechanical power (W)
bring the wet natural frequency of the spring-mounted
cylinder as close as possible to the vortex-shedding frequency, Re Reynolds number
i.e. the frequency ratio should be close to 1. This initiates a
St Strouhal number
non-linear resonance and ‘lock-in’, where the vortex-shedding
frequency adjusts itself to the spring-cylinder system’s natural fn Natural frequency(Hz)
frequency, leading to high amplitudes at low mechanical
fs Vortex shedding frequency(Hz)
damping. For the simultaneous vortex-shedding over the
whole length of the cylinder (called correlation length), the fviv VIV frequency(Hz)
correct length-to-diameter ratio of the cylinder is maintained.
cdry Dry damping constant
At a current speed of 0.35 m/sec, an amplitude-to-diameter
A/D ratio of 1.0 was achieved. Full-scale calculations and cwet Wet damping constant
extrapolations have been shown for the applicability of the
Cd Drag coefficient
prototype in major Indian canals.
CL Lift coefficient
Ca Added mass coefficient
KEYWORDS ti Turbulence intensity

VIV, lock-in, Natural frequency, vortex shedding, mass- L Length of cylinder (m)
damping, reduced velocity
INTRODUCTION

For a real fluid vortex shedding from a bluff body is a

common physical phenomenon caused by boundary layer
separation. Vortex shedding results in fluctuating forces acting
on the bluff body due to periodic pressure distribution around
the surface which may induce vibrations when the bluff body
is elastically mounted or deformable. This interaction between
fluid and structures, called Vortex Induced Vibration (VIV), is
a form of flow Induced Motion (FIM). In VIV can be
observed in civil structures like slender chimneys stacks, tall
buildings, electric power lines or bridges, offshore structures
like marine risers, subsea pipe lines, cables etc.
The main objective of this work to identify configuration of
cylinder which will lead to high-amplitude oscillations and a
greater synchronization range for the purpose of harvesting Fig 1. Amplitude of oscillation Feng’s for experiments in air by Feng
marine hydrokinetic energy. The work focuses on enhancing and experiments in water by Khalak and Williamson [2].
the Vortex Induced Vibrations (VIV) of an elastically
mounted circular cylinders of different diameter. Vortex shedding and flow regimes
The occurrence of vortex shedding depends on a number
THEORETICAL BACKGROUND of parameters. A key dimensionless parameter to characterize
the flow past a bluff body is the Reynolds number, Re.[10]
For a real fluid a pattern of periodic, alternating vortex The Reynolds number is defined as
shedding will occur in the flow behind the body, which is
referred to as a vortex street based on the characteristics of the
flow, mainly the Reynolds number. When the pattern of shed
vortices is not symmetrical about the body, which is the case
in any vortex street, an irregular pressure distribution is
formed on the upper and lower sides of the body, which
results in a net lift force perpendicular to the flow direction.
Since the vortices are shed in a periodic manner, the resulting
lift forces on the body also vary periodically with time, and
there for can induce oscillatory motion of the body if it is
elastically supported or deformable. When the frequency of
vortex shedding (fs) is close to the natural frequency of the
body in motion, (fn) a phenomenon, referred to as “lock
in”,[1] occur and as a result, much larger amplitudes of
vibration can occur[A]. Due to this aspect of vortex induced Fig 2. Vortex shedding at different flow regimes.
vibration, lock in, which has traditionally been of greatest
concern to structural engineers, since it poses the greatest risk Where, ρ is the fluid density, D is the cylinder diameter, U
of damage or failure. is the flow velocity, is the fluid dynamic viscosity. Fig 1
shows the flow regime as Re increases for a smooth circular
VIV features cylinder. As the Reynolds number increases beyond 40, the
unstable pair of vortices begins to shed in the downstream part
The phenomenon of lock in depends on flow speed. As the of the cylinder. These structures in the wake region are known
flow velocity U increases, lock-in for a high mass ratio system as the von Karman vortex street.[1] These structures travel in
is reached when the vortex shedding frequency is close the downstream region along the flow of free stream, getting
enough to the cylinder’s natural frequency in water.Ratio dissipated away. Both the frequency and the three
of oscillating to displaced fluid mass m* Govardhan and dimensionalities of the vortex shedding depend upon the free
Williamson [2] observed that there exist two distinct types of stream velocity. If the cylinder, however is oscillating
response, depending on high or low combined mass-damping transverse to the flow, then the pattern in which the vortices
m*ζ. In the classical high m*ζ case, the “initial” and “lower” shed from the surface are different from the traditional von
amplitude branches are separated by a discontinuous mode Karman street (Fig 2). The various patterns in which the
transition but in the case of low mass damping parameter they vortices shed by a transversely moving cylinder were studied
observed ‘upper’ branch. This is the required branch for in detail by [5] using a forced vibration of the cylinder.
designing a device to extract useful energy from vortex
induced vibrations this also affects the wake pattern mode.
Due to nonlinear resonance VIV achieve large amplitude
over a broad range of Reynolds number but due to large
motion of cylinder vortex pattern alters which further stops the
oscillatory motion of the cylinder that’s why VIV is a clearly
self-limiting phenomenon. Over a broad range of Reynolds
number various type of vortex pattern has been observed such
as 2S, 2P, P+S, 2T (see fig 2). [5]
 Important Non – Dimensional Parameters:
Following table shows a list of important non dimensional
parameters used in designing and developing experimental set
up.
Table 1. Important Non-Dimensional parameters
Parameter Symbol expression

Mass Ratio m*

Damping Ratio z

Velocity ratio U*
Amplitude Ratio A*

Frequency Ratio f*

Drag coefficient CD
Transverse force
Fig 3. Vortex shedding patterns coefficient Cy

Strouhal Number(St) Reynolds number Re

A non-dimensional parameter to relate the frequency of
vortex shedding (fviv) to the flow conditions. This is given by
the Strouhal’s number St, where U is the free stream velocity, MATHEMATICAL MODEL
and D is the cylinder diameter. Assumption: Circular cylinder
is considered to be a smooth surface. So Strouhal’s number is The hydrodynamic coefficients over the cylinder are given
assumed to be constant (0.2) over a range of Reynolds number as follows (as per Sarpakaya) [11]
between 104 - 105).[8]
........(1) (3)

(4)

(5)

Fig 4. Strouhal’s Number Vs Reynolds Number

Reduced Velocity (U *)
The velocity of the flow is the mean velocity normalized
by the oscillation frequency and cylinder diameter reduced
velocity is given by Fig 6. Drag and Lift coefficients vs. time
...........(2)
Governing differential equations for the motion of the
The peak of the normalized amplitude of the VIV cylinder is given as follows,
phenomenon normally occurs at Ur = 5 to 8.[5]
(6)
Effect of Reynolds Number (Re) on Lift and Drag Coefficient:
There is significant influence of Reynolds number on drag
SPANDANA DESIGN UNDER LOCK-IN CONDITION
and lift coefficient as it clearly shown in the fig 4. In order to
harvest useful energy from vortex induced vibrations Re
To achieve lock-in conditions as described in Williamson
number must an order of 104 to 105.[3]
and Govardhan [2]; it is required to design suitable parameters
of set up which are discussed below.
Details of the set-up are as follows,
Length of the hollow oscillating cylinder, L = 0.925 m
Diameter of the hollow oscillating cylinder, D = 0.1153 m
Mass of the water displaced = 9.5 kg.

For infinite synchronization, we need m* ≤ 0.54, as given by

Williamson and Govardhan [2];

Fig 5. Drag and lift coefficient vs. Re (Zdravkovich 1997)

Therefore, adjusting the oscillating mass we get,

This mass contains the cylinder mass, the mass of the

accessories, and one-third of the spring mass, i.e.

In order to initiate lock-in, the vortex-shedding frequency

must be equal to the wet natural frequency of the oscillating
cylinder, i.e. (7) Fig 7. Displacement vs Time
The regime of Reynolds number for alternate vortex shedding
(Karman Street) is , [1].
Kinematic viscosity of water at is

For a free stream current speed of U = 0.35 m/s,

The frequency for alternate vortex-shedding is given as, Fig 8. Velocity vs Time

where, where Strouhal number St = 0.2.

Thus, . (8)

Added mass ,

where added mass coefficient for a cylinder.

Then from (a) and (b), the spring constant required for the
spring to be used in the set can be calculated as,

213N/m (9)
Fig 9. Displacement Vs Time
Table 2. Spring parameters
K (total stiffness) 213 N/m
[B] Spandana -2
The aim of developing this experimental modal was to
k (Stiffness of one spring) 107.8 N/m
achieve large cylinder oscillations amplitude with stable limit
20 cm
cycle oscillations using the cylinder of length 60 cm and
amplitude 20 cm diameter 6 cm. This time we reduced cylinder aspect (L/D) as
12.5 cm well as mass ratio (m*) to 10 and 2.08 respectively.The
d .4 cm cylinder was made of PVC pipe .The objective of this
LS 50 cm experiments was just to ensure the sinusoidal behavior of the
n 12 - cylinder (Lock -in) due to flow induced vibrations. Although
G (Carbon Steel) Pa the range of synchronization was not infinite because the value
of mass ratio was higher than critical value (m*=1.8). While
doing numerical simulation we assumed the total damping
ANALYATICAL APPROACH factor 10 % and flow velocity 0.35 m/s got the following
results shown by figures 10 ,11,12 by solving G.D.E (6) of
[A] Spandana -1 elastically supported cylinder using MATLAB Runga Kutta -
This was the first experimental model constructed with the 2 method. We achieved fully limit cycle oscillations and
parameters as mentioned in table 3. Before evaluating maximum VIV oscillation amplitude 0.085 (approx.)
experimental analysis we tried to analysis analytical results as
mentioned by the figure 7,8,9. Results of Amplitudes of
vibrations with respect to various damping ratios from the
mathematical model using MATLAB are mentioned here. It is
shown in Fig.4 that increasing damping affects the self
limiting ranges of oscillation and the frequency of oscillations.
Analytical results shows that due to large aspect ratio(42.1)
and higher mass ratio (m*=15.9) fully lock in condition could
not be achieved .Also we could not achieve fully stable limit
cycle oscillations (figure 9). High mass ratio directly affected
the cylinder ‘s displacement and velocity amplitude as can be
seen from figure 7,8. Fig 10. Displacement Vs time.
 Fig 11. Velocity Vs time

Fig 14. Spring supported cylinder (lab model)

Fig 12. Velocity Vs displacement (Phase Plane)

EXPERIMENTAL SETUP

The experimental set-up consist of rigid cylinder, rollers,

stainless steel rods, traversing plate, indicator pin, an
aluminum frame, aluminum angle bars and custom made
extension springs figure 13,14,15. The cylinder is placed with
its axis in the z direction perpendicular to the flow velocity U,
which is in direction x. The cylinder oscillates in the y
direction, which is perpendicular to its axis in z and the flow
velocity in x. First a hollow cylinder (SPANDANA - 1) is
considered for this experiment and Table.2 shows that. (Note:
N-D refers to Non-dimensional quantity). The setup is
composed of a cylinder secured horizontally in a stationary
frame and allowed to oscillate transverse to the direction of
water flow. The cylinder is connected to the static frame at the
ends of the cylinder, where rollers connected to cylinder move
up and down over a c-channel figure 15. Using forced
vibrations, parameters such as phase difference, lift and drag
coefficient and modes of vortex shed from the cylinder is
studied.
Fig 15. Roller-cylinder-frame connection
Spring design: The design of the spring has the following
constraints
a) Type of spring: The buoyancy of cylinder is more than its
weight. Therefore, in the static condition, the spring will
experience a compression , where
(12)
Thus, we need to use a compression-type spring.
b) Length must be more than maximum total compression:
The maximum compression that the spring can undergo
must be more than the sum of the static compression and
the amplitude of oscillation.
Dynamic deflection

Lift force = , damping ratio =

At lock-in,

c) Avoid Buckling: For no buckling of the compression

spring, the ratio of the length to the diameter of the
spring must be , as given by [3]. Thus we

consider (9)
Fig 13. Schematic diagram of cross – section of setup
d) Length of spring: Maximum compression must be less
than the fully compressed length of the spring subtracted
from the total length, i.e.,
(10)
Here, L = total spring length, d = wire diameter, n =
number of turns. So,
Now using the stiffness expression in terms of spring
parameters and using equation (8), (9) and (10). Let,
(11)
Solving equations (8), (9), (10) and (11) simultaneously, we
get
Experimental Facility: This section provides an overview of
the experimental facility used for the current VIV study, a
design of the used experimental set-up and the various
experiments that were performed.
cylinder attached to it was given an initial displacement from
the mean zero position. This is performed when the velocity of
water in the test section is zero. Due to the viscous damping
provided by the water in the tunnel, the vibrating cylinder
would eventually come to rest back at its mean position where
δ is called as the logarithmic decrement, ζ is the damping
ratio, x is the peak displacement from the mean, k is the total
stiffness of the spring in N/m, m is the system mass and c is
the damping constant in N-s/m. Results of above tests are
discussed below in Table 4, Table 5 respectively.
Various preliminary tests were done to find out spring
stiffness, damping, Dry & Wet static extension, dry & wet
decrement results. Governing equations of those tests are
discussed below.
Dry static deflection: (13)
Spring system is left to extend in static condition using the
oscillating mass and Xdry is measured from Eq. 13.
Wet static deflection:
(14)
The system is kept inside channel under immersed
condition and the deflection is found out. It should be noted
that buoyancy here acts as a lift force. Preliminary results:
Dry static deflection X_static = 0.22m Wet Static deflection:
Xw_static = 0.15 m.
Dry Free Vibration:
(15)
In this case, system is considered to be free of external
forces. An initial measured excitation force is provided to
observe the decrement, dry damped frequency and damping
constant. Results are shown in Table 5.
Wet Free Vibration:
(16)
The system is tested inside channel with initial excitation
force to find out wet damped frequency, damping constant,
decrement. Results are shown in Table 5.

RESULTS AND DISCUSSION

Experimental Outcomes & Observations:

Fig 16. Circulating water channel [A] Spandana 1:
Observations:
Circulating Water Tunnel (IIT Kharagpur) housed in a Maximum amplitude ratio (Amax/D) of oscillation achieved
Hydrodynamics laboratory. This circulating water tunnel with 0.38 .Full Lock-in was not achieved as the frequency of
a test section of 6m long, 2m wide and 1.5m deep with flow oscillations of SPANDANA was in range of 0.2 Hz – 0.4Hz.
control facilities enables studies of flow around floating and Also aspect ratio (L/D) was too large i.e. 42.1. It should be in
submerged bodies as well as measurement of sediment between 7to 20 for larger correlation length [5]. In-line
transportation. The test section is made of tempered glass and vibrations observed due to external vibration. Cross – flow
allows views from all the three sides. The maximum velocity vibrations will be high for a steady current but Experiment
attained by the flow in the test section is ~ 1 m/s, but for all was conducted in Circulating water channel with Turbulence
the test case that was run in this water tunnel, the flow velocity intensity, ti ~11% which is classified as highly turbulent.
never exceeded 0.65m/s. The test section velocity was Higher amplitude to diameter ratio can be achieved by
calculated at 6 different water depths at various pump reducing mass and damping.
frequencies. Using a VECTRINO (Velocity meter using
turbidity) probe and a graph of pump frequency versus the test Table 3. Specifications & Results of Spandana family
section velocity was provided. The velocity in the test section
was changed by varying the pump frequency. A speed Parametres Spandana 1 Spandana 2 Units
controller attached to the tunnel was used to vary the pump D 0.038 0.06 m
L 1.6 0.60 m
frequency. The free stream velocities at different pump
U 0.5 0.35 m/s
frequencies are listed in Table 4 respectively. K 258.6 258.6 N/m
m* 15.9 2.08 ND
CALIBRATION St 0.2 0.2 ND
U* 9.19 5 ND
Before any test procedures were carried out in the test Re 1.80E+04 1.73E+04 ND
L/D 42.14 10 ND
section of the water tunnel, free damping test was performed Amax/D 0.38 1 ND
to obtain the damping constant (c) and the damping ratio (ζ) f* 1.84 0.86 - 1.02 ND
for a given cylinder. In this test, the traversing plate with the *N-D - Non-Dimensional Quantity
 Table 5. Dry Vibration Decrement test results
Table 4 and Table 5 shows Decrement values of amplitude,
dry and wet damped frequencies and Damping ratio. Table 3
shows 2cylinders with different scantling, displaced mass
Initial
yields higher peak amplitude constant by varying the mass –
Amplitude No. of Damping
damping parameters. (Xi - cm) Td( s) oscillation Decrement ratio
From Table.2 it is observed that through increasing 15 41.2 52 0.052 0.83%
diameters & different materials (MS, Aluminium, Acrylic, 14 40.7 50 0.053 0.84%
etc): 13 39.3 47 0.055 0.87%
(i) Peak amplitude increases since m* decreases which 12 36.6 45 0.055 0.88%
is the main objective. 11 33.8 42 0.057 0.91%
(ii) Operate around lock – in range since f* reaches near 10 32.2 41 0.056 0.89%
~ 1 (resonance). 9 30.4 37 0.059 0.95%
(iii) Reduced velocity (U*) drops to optimum range 8 28.5 33 0.063 1.00%
7 26 31 0.063 1.00%
(5~7).
6 22.8 28 0.064 1.02%
(iv) Damping ratio decreases by reducing mass ratio, 5 19.1 25 0.064 1.02%
transverse vibration & friction.

Future experiments are involved around achieving maximum

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Table 4. Wet vibration Decrement Test Results

Initial
Amplitude Td No. of Damping
(Xi - cm) (s) oscillation Decrement ratio
1 3 4 0 0.00%
3 5 5 0.22 3.49%
5 8 6 0.27 4.27%
7 9 8 0.24 3.87%
9 10 11 0.2 3.18%