Int. J. Pres. Ves.

& Piping 36 (1989) 185-197

Waves in Elastic Fluid-Filled Tubest

R. K. C h o h a n *

Department of System Science, City University, London ECI 0HB, UK and

Dodsal GmbH, Houndsditch, London EC3 1LC, UK

(Received 28 April 1988; accepted 7 May 1988)

ABSTRACT

Wave propagation through fluid-filled elastic tubes is considered, and a simple

model developed. Tube material compressibility and axial load effects are
taken into account. Wave speed expressions obtained are compared with
existing expressions in the literature and with some experimental results.

1 INTRODUCTION

Wave propagation through fluid-filled tubes has been investigated for

centuries. In particular the wave speed at which pressure waves propagate
through a fluid, contained in a tube, has been studied since the work of
Thomas Young I (see review by Skalak2). Many of these studies pertain to
blood flow, pressure transients in pipes or acoustic waveguides (see,
respectively, Skalak, 2 Streeter & Wylie, 3 and Redwoo&). Most of these
pertaining to blood flow assume the fluid to be incompressible, whilst most
of those dealing with acoustic waveguides assume the duct to be rigid. On the
other hand, water hammer studies usually take into account both the
compressibility of the fluid and the elastic deformation of the pipe wall.

* Present address: 124 Staines Road, Ilford, Essex IG1 2UY, UK.
t For recent information on the subject, see Ref. 6.
185
Int. J. Pres. Ves. & Piping 0308-0161/89/$03"50 © 1989 ElseCcier Science Publishers Ltd,
England. Printed in Great Britain
186 R. K. Chohan

A disturbance in a fluid travels at the speed of sound. When the fluid is

confined in a deformable pipe, the speed of propagation of a disturbance is
lower. The true wavespeed is dependent on the deformation characteristics
of the pipe wall. In this paper, pipe elasticity is considered. Elastic
deformation is a reversible deformation, i.e. the original dimensions are
recovered upon removal of the applied stresses. Plastic deformation (an
example of irreversible deformation) is considered elsewhere. It is usually
assumed that elastic d e f o r m a t i o n occurs instantaneously with the
application of the external stress.
Here, a model is put forward so that both the fluid compressibility and the
elastic deformation of the pipe wall are taken into account. This
complements those reported on to date. An expression for the speed of a
pressure wave propagating through the fluid is derived. The features
included in the model are the duct wall compressibility and the longitudinal
support effects. In the limit of a rigid tube the wave speed reduces to that
corresponding to an unbounded fluid of infinite extent. Attention is focused
subsequently on the other limit, viz. that of an incompressible fluid. The
resulting wave speed expression is compared to other previously derived
expressions. Two limiting cases of longitudinal support are also considered.
The wave speed model is similar to the one that was proposed for the
situation when plastic deformation of the tube wall is induced by the
pressure transient. 5 In this case the pressure wave is dispersed, i.e. the
waveform continuously changes as the wave propagates. Here it is found
that the dispersion is negligible for elastic deformation unless the axial
loading of the pipe is large. This result follows from the fact that the modulus
of elasticity is very much larger, for structural materials, than the
circumferential stress. This is no longer true when plastic deformation is
induced.
The following assumptions have been made: there is a (1) thin-walled
circular cylinder that deforms elastically; and there is (2) homogeneous,
inviscid, one-dimensional single-phase flow in the cylinder.

2 MODEL

We are concerned here with wave disturbance propagation through fluid-

filled tubes of circular cross section. It is assumed that the pipe wall material
is homogeneous and isotropic. Consider an inviscid fluid contained in the
elastic tube which is thin. A fluid element of length 1 has a volume V, in the
undeformed state, where V is
V = I-IR2l (1)
 Waves in elastic fluid-filled tubes 187

where R is the radius. A pressure wave causes this fluid element to be

compressed and the tube to expand. The fluid compression is given by
dP
d V1 -- - - ~ - . V (2)

where K is the bulk modulus of the fluid and d P is the pressure rise. The
volume change due to pipe expansion is given by
dVp = 2HRldR + HR 2 dl (3)

It is convenient to define, at this stage, Ep as

dR _ d~r0 (4)
R E.

where Ep is a modulus and the circumferential stress, ~0, given by

PR
- (5)
t
Substituting eqn (4) into eqn (5), and expanding
dR R PR dR PR dt
- dP+---- (6)
Ep R t t R t t
This equation involves the incremental circumferential strain, thickness
strain, and internal pressure. The strains are related to the stresses in a thin-
walled elastic tube by
Eeo = a0 - - ~(o" r + O'z)
E~ z = a z - #(at + a0) (7)
Ee r = err -- p ( a o + az)

where #, E are the Poisson's ratio and the Young's modulus of the tube
material, respectively. These constitutive equations (7) can be generalized
further to allow for anisotropy (see, for example, MirskyV). However, these
simplified relations will be used here. In these equations the radial stress, a~,
can be neglected because it is much smaller than a o or a z. It is further
assumed that the axial and circumferential stresses are related by a z = ~lao
where ~1 is a constant. The first eqn in (7) gives E, (eqn (4)) as
da o E (8)
Ep----- d~0 = i l -~1/~)
It is assumed that, generally, the tube wall material is compressible, i.e.
~r + ~0 + ~z = A (9)
188 R.K. Chohan

where A is the dilatation. Because the strains are, generally, pressure-

dependent so is A. The incremental strains are related by

de r + de 0 + de z = dA (1o)
or

dt dR dl
T +-R--+ T = dA

From eqn (7) and from the assumptions made above, the axial and
circumferential strains are related by

(11)
\1 - ~ l u J
Substituting into eqn (10), one arrives at the following

de r + 1+ -1--- da0=dA (12)

Substituting for er from eqn (12) into eqn (6),

E dR=_Rdp+ dA- 1+ (13)

PR t t R t 1 - 0q~JJ

This can be simplified to

dR= l f(tdP--
g2
dA } (14)

where ¢ is given by

~=IEp-a°( 2q "~-~~
1-~-~-{~l].I}J (15)
Substituting eqns (14) and (11) into eqn (3) and simplifying, the following
relation can be obtained

dVp dP [R dA\/ _~A- / ~ _'~ (16)

This is the expansion felt by the fluid element due to an increase in internal
pressure by dP. Therefore the compressionfelt by the fluid is

dV2 dVp (17)

V V
 Waves in elastic fluid-filled tubes 189

and the total compression felt by the fluid is given by the sum o f d V1 and d V2
(eqns (2) and (17))
dV _ dV 1 + V
d____Z2 (18)
V V V
The wave propagation speed is defined by
1 dP
C 2 -- (19)

Substituting eqns (18), (2), (17), (15) and (8) and simplifying, a wave speed
expression is obtained
1
C2- (20)
[-1 All
oL +gJ
where

A1= - tr0d-fi (2 - 2#~1 + ~1 - #)

B 1 = (E - or0(2 -- 2#~1 + cq - p))

3 THE COMPRESSIBILITY

The wave speed given by eqn (20) is dependent on the following parameters,
besides others: ~1, #, A(= A(P)). Equation (20) requires knowledge of the
dilatation as a function o f internal pressure in the tube. However, a change in
dilatation would propagate through the tube wall at a higher speed than the
pressure wave in the tube and therefore is a possible precursor wave. For an
extended elastic m e d i u m a local change (at some point in space) in dilatation
is propagated through the medium as described by the wave equation
t~2A
P s ~ - = (2 + 2G)V2u (21)

where 2 is one of the two Lame's constants, G is the shear modulus and Ps is
the material density. 8 This equation does not account for any dispersion and
dissipation, i.e. the wave form is unaltered as it propagates.
Smith 9 presents a derivation and discussion of all possible waves in a thin
shell, their velocities, shapes, etc. for all frequencies. N o simple expressions
such as eqn (21) are available. Instead, all waves are shown to disperse and
190 R. K. Chohan

possess a number o f modes. Two types of waves discussed are axial and
helical waves in the wall of the tube. Real disturbances can have a number of
frequency components and therefore can have very complex propagation
properties. A simple expression for the wave speed was derived by Lamb ~°
at the end o f the last century:

CL= (22)

Longitudinal vibrations of the solid wall, due to for example a precursor

wave, can be expected to introduce a disturbance in the fluid contained in the
tube. This disturbance is, in fact, a transverse wave, i.e. particle motion is
perpendicular to the direction of propagation. A most important property
of a transverse wave in a fluid is that it is rapidly attenuated in the fluid near
the solid boundary. The pertinent equation of motion is a diffusion
equation; 11 the amplitude of the disturbance fans off by a factor of fi in a
distance (the depth o f penetration)

where ~o is the frequency and v kinematic viscosity. This disturbance can

have an effect on the pressure in the fluid before the arrival of the main wave
(longitudinal). This was found to be the case by Van Citters,12 who carried
out an experimental study o f longitudinal waves in the walls o f fluid-filled
tubes. He observed that simultaneous with the arrival of the longitudinal
wave (in the tube wall), a very small pressure disturbance was detected.
Anderson & Barnes13 appear to have noticed the existence o f longitudinal
waves in the wall (precursor) in their study of pulse propagation through
cylindrical tubes. Recently, Walker & Phillips 14 have looked at this problem
from a theoretical viewpoint.

4 W A V E SPEED W H E N A = 0

The parameter A is zero when the tube wall material is incompressible. Then
the wave speed (eqn (20)) reduces to

1
C2= (23)
 Waves in elastic fluid-filled tubes 191

where
fR\
C1 = t t ) ( 2 - 2 / ~ = 1 "~-0~1

D 1 = (E -- o'0(2 -- 2/~ 1 + ~1 --/~))

This also applies, as can be seen from eqn (20), when A is constant. When the
Poisson's ratio equals a half, as for some blood vessels, eqn (23) becomes
1
C2= (24)

P[~-t-2t(E~R3/2ao,
]
There is no explicit dependence on ~ r For elastic deformation it can be
assumed that the Young's modulus is much larger than the hoop stress.
Therefore we have the result that when the dilatation is zero and the
Poisson's ratio is a half, the wave speed is not dependent on the axial loads.
When E is very large (e.g. for rigid pipes), eqn (24) reduces to the wave
speed in an unconfined fluid. However because/~ equals half of some blood
vessels, the other limit should be pursued here, viz. incompressible liquid.
For an incompressible fluid and when E >> ao, eqn (24) reduces to
2t E
C2- (25)
3aR
This is an alternative expression applicable to blood flow to the well-known
M o e n s - K o r t e w e g Equation
Et
C2F -- 2pR (26)

Equation (24) then gives wave speeds larger than M o e n s - K o r t e w e g by a

factor o f x / ~ . Bergel (1961; referred to in Ref. 15) derived an expression for
wave speed which takes into account the finite thickness of the tube wall:

( C )2 (2-7) (27)
-- (2 - 2~(1 - / ~ - 2/~2)+ y2(1 - / t - 2# 2) - 2# 2)
where 7 is the ratio o f wall thickness to the outer radius. In the thin wall limit
(y -* 0), this becomes
Et
C2- (28)
2pR(1 - #2)
which is, as M c D o n a l d 15 states, an effective simplification o f e q n (27). When
/~ = 1/2, eqn (28) assumes the expression given by eqn (25). If the Poisson's
ratio is assumed to be zero, as done by some authors, eqn (28) becomes equal
 192 R. K. Chohan

to the M o e n s - K o r t e w e g wavespeed--eqn (26). As mentioned in the

introduction, most of the work done that assumes the contained fluid to be
incompressible has been in relation to blood flow in arteries. The difference
between the M o e n s - K o r t e w e g wave speed and that given by eqn (25) lies
between 16% and 24% for arteries. ~5

5 LONGITUDINAL SUPPORT AND WALL COMPRESSIBILITY

EFFECTS

In the plastically deforming pipe case, 5 the wave speed derived was
considered for two limiting cases.
(i) When there is no axial stress, i.e. o-z = 0 and therefore ~x = 0. This is
the state of plane stress.
(ii) When there is no axial strain, i.e. ez = 0. This is the state of plane
strain.
Here we propose to do the same. W h e n there is no axial constraint (that is
~1 = 0), the general wave speed equation (eqn (20)) becomes
1
C2- (29)
I-1 E,3

where
pL + J

Because the compressibility of the wall material is not neglected and because
longitudinal movements are allowed, waves in the tube wall are present (this
m o d e of propagation is sometimes called the L a m b mode). This has been
discussed above.
Equation (29) can be simplified further when the wall material is assumed
to be incompressible (A = 0):
1
C2= (30)
I1 R ( 2 - #) 1

The Poisson's ratio usually takes values between 0 and 0.5. F o r most cases
E>> ao and eqn (30) then can be simplified to:
1
C2= (31)
P [1fi + R(2--#) 1
 Waves in elastic fluid-filled tubes 193

Two values o f the Poisson's ratio reduce eqn (31) to previously presented
forms. When/~ = 0.5, eqn (31) becomes

1
C2- (32)

This is essentially the same as eqn (24). When p -- 0, i.e. when there is no
coupling between radial and axial motions of the tube wall, eqn (31) becomes

1
C 2 = (33)

In the incompressible limit, eqn (33) becomes the M o e n s - K o r t e w e g wave

speed, eqn (26). Expression (33) is, of course, quite well known in water
hammer theory.
When there is no axial strain (ez = 0), there is a state of plane strain in the
pipe wall. The second of eqns (7) gives

~1 = # (34)

The general wavespeed expression then becomes

1
C2_ (35)

where

dA
H 1 = ( E - O'o(2 - 2/~1))

Again assuming that E>> ao, this can be simplified further:

C2_ (36)

and for an incompressible material (A = 0), this is

C2= (37)
194 R. K. Chohan

As for the plane stress case, we look at eqn (37) when # assumes the values
0"5 and 0. When # = 0"5, eqn (37) becomes
1
C 2 - I l PK+2E~3R] (38)

which is the same result as eqns (32) and (24). When # = 0, eqn (37) is
1
C2- (39)
p

This is the same as eqn (33). It follows from the above that for the cases
considered ((i) and (ii)), for the two values of the Poisson's ratio, one has the
same result.
Mirsky v has carried out a study of pulse velocities in an orthotropic elastic
tube containing an incompressible fluid. He solved the two-dimensional
stress equations of equilibrium for the special cases of plane strain and plane
stress. For asymmetric deformations that are induced in a (generally) thick
cylinder subjected to internal pressure, the stress equation of equilibrium is

d°'rr ! (40)
dr + (trrr- ty°°) = 0

He defined the wavespeed as

1 AP 1 dP
C2 - ~ (41)
2p Ae0 2p de0
and arrived at the following wavespeeds. For isotropic materials and plane
stress (o-z= 0):

C2 = Et(2 + q) (42)
2pa[2 + 2q(1 + #) + q2(1 + #)]

and for plane strain (ez = 0)

Et(2 + q) (43)
CeZ = 2pa(1 + #)[2(1 - #) + 2q + q2]

where a is the internal radius and q is the ratio of wall thickness to inner
radius (t/a). In the thin-wall limit (q << 1), eqns (42) and (43) become
Et
C2 - (44)
2pR
 Waves in elastic fluid-filled tubes 195

which is the Moens-Korteweg Equation, and

f~2 Et
(45)
c e - 2pR(1 - #z)

which is the same as eqn (28). The present model gives, for an incompressible
fluid, the following expressions for the cases of plane stress and plane strain
(from eqns (31) and (37))

Et
C21 - (46)
p R ( 2 - t~)

and

E1
Ce21- 2pR(1 -/~a) (47)

which is the same as eqn (45). Therefore the wavespeed expression for plane
strain agrees with that of Mirsky's but for plane stress, the expressions only
correspond when the Poisson's ratio is zero.

6 C O M P A R I S O N WITH E X P E R I M E N T A L RESULTS

Krause et al.~ 6 present results of an experimental investigation of transients

in tubes containing liquids. They used aluminium and acrylic plastic tubes
and measured longitudinal and loop strain histories besides the pressure
histories. They used thin- and thick-walled pipes but, because of the thin wall
assumption in the present model, only thin wall results are discussed here.
Their aluminium tube had an internal radius of 10-29 mm and an r/t ratio of
4.26; the thin wall plastic tube had the corresponding values as 11"05 mm and
6-69 mm. The measured wavespeeds were: aluminium--1275 m/s and plastic
518m/s. The plane stress and plane strain expressions (eqns (31) and
(37)) give, for the aluminium pipe, the wave speed as 1307"28 and
1300-03 m/s. Therefore the plane strain results are in better agreement. Both
of them are in good agreement with the experimental results. For the plastic
pipe, the plane stress and plane strain results of the present model give the
wavespeeds as 630"5 and 616m/s. These results do not agree with the
experiment as well as the aluminium case. However, the present model
assumes the pipe wall to be a linear elastic solid. Krause et al. x6 have found
that the acrylic tube exhibited strong viscoelastic effects. Therefore one
would not expect the present model to give satisfactory results for the acrylic
tube.
196 R. K. Chohan

7 CONCLUSIONS

A model of wave propagation through an elastic tube filled with fluid is

presented in this paper. This model allows for pipe wall material
compressibility and axial load effects. The wall compressibility explains the
propagation through the tube wall of longitudinal waves. These waves
induce transverse waves in the fluid adjacent to the wall and therefore
explain the precursors observed by other workers when the wall material is
assumed to be incompressible, and some of the well-known expressions can
be obtained. The well-known Moens-Korteweg wave speed can be arrived
at by assuming an incompressible tube wall, Poisson's ratio equalling zero
and an incompressible fluid. Thus, particular cases of longitudinal support
are considered, viz. plane stress and plane strain. These are compared to
Mirsky's results and it is found that the result agrees in the case of plane
strain. Plane strain results are also found to be in better agreement with
experiments. It is discussed elsewhere that, because of the inviscid fluid
assumption, the wavespeeds predicted by the present model should be
slightly higher than experimental values.17'~s This is found to be the case
above. Equation (20) shows that only when the hoop stress is comparable
with Young's modulus, is the wavespeed dependent on the pressure.
However, for materials having modulus values around 10 6 N/m 2 (such as
rubber), the constitutive equations are no longer the same as those of linear
elastic materials. Therefore, for elastically responding pipes, the waveform
should be unchanged in form, only attenuated. This is confirmed by
experiments like those carried out by Florence, 19 who further found that
waveform changed when plastic deformation took place.

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1. Young, T., On the propagation of an impulse through an elastic tube. Trans. R.

Soc., 98 (1808), 164.
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1966.
3. Streeter, V. & Wylie, E. B., Hydraulic Transients. McGraw-Hill, New York,
1967.
4. Redwood, M., Mechanical Waveguides. Butterworth, London, 1960.
5. Chohan, R. K., Plastic deformation induced by pressure transients in fluid-filled
pipes. Int. J. Pres. Ves. & Piping, 33 (1988), 33343.
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through fluid-filled tubes. International J. of Mech. Science, 21 (1979) 223-36.
7. Mirsky, I., Tube velocities in an orthotropic elastic solid. Bull. Math. Biophysics,
29 (1967) 311-19.
8. Kolsky, M., Stress Waves in Solids. Dover, New York, 1963.
 Waves in elastie fluid-filled tubes 197

9. Smith, P. W., Phase velocities and displacement characteristics of free waves in a

thin cylindrical shell. J. Acoustical Soc. Am., 27 (1955) 1065-72.
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walls. Mere. of Manchester Lit. and Phil. Soc., July 1898.
11. Landau, L. D. & Lifshitz, E. M., Fluid Mechanics. Pergamon Press, Oxford,
1959, pp. 88 9.
12. Van Citters, R., Longitudinal waves in the walls of fluid-filled tubes. Circulation
Res., 8 (1960) 1145-8.
13. Anderson, D. V. & Barnes, C., The dispersion of a pulse propagated through a
cylindrical tube. J. Acoustical Soc. Am., 25 (1953) 525-8.
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University of Illinois, Report No. 404.
15. McDonald, D., Blood Flow in Arteries, 2ndedn. Arnold, London, 1974, p. 254.
16. Krause, N., Goldsmith, W. & Sackman, J. L., Transients in tubes containing
liquids. Int. J. Mech. Sci., 19 (1977) 53-68.
17. Chohan, R. K., Wave propagation through fluid-filled tubes. Extended abstract,
City University, London, 1977.
18. Chohan, R. K., Wave propagation through fluid-filled tubes. Report (in
progress).
19. Florence, A. L., Pulse propagation in fluid-filled pipes. In Proc. 3rd Conf. on
Structural Mechanics in Reactor Tech., London, Paper F4/8, 1978.