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Filmed as Xerox University Microfilms ‘00 or zeeb Ro ‘an Abo Mlhigen 4810876-21 ,727 YANG, Jong Yih, 1941- DYNAMIC BEHAVIOR OF FLUID~TANK SYSTEMS. Rice University, Ph.D., 1976 Engineering, civil Xerox University Microfilms , ann arbor, Michigan 48106RICE UNIVERSITY DYNAMIC BEHAVIOR OF FLUID-TANK SYSTEMS by Jong Yih Yang A THESIS SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF Doctor of Philosophy ‘Thesis Director's Signature: “ aE S49 —_§_ Houston, Texas March, 1976ACKNOWLEDGEMENT. ‘The author wishes to express his sincere appreciation and gratitude to Professor Anestis S, Veletsos for his guidance and encouragement throughout this work. He is also thankful to his friend Dr. Y.T. Wei for his encouragements, ‘The graduate study of the author leading to this dissertation was supported mainly by Rice University fellowship and partly by National Science Foundation grant GK-25917. ‘The author also wishes to thank Mrs. Suzanne Street for her excellent typing of this thesis. Deepest gratitude is expressed to the author's family for their sacrifices, understanding and encouragement during the preparation of this thesis.L mL IL. CONTENTS INTRODUCTION . . . Ld. 12. 1.3. HYDRODYNAMIC FORCES ON RIGID TANK . 2d. 2.2, 2.3, 2.4, 2.5. 2.6. 2.7. FLUID-TANK INTERACTION UNDER ASSUMED MODE , 3.1. 3.2. 3.3. 3.4. 3.5. Objective... . Scope of Study . . Notation. . . Introduction... System and Assumptions , Fundamental Equations, Impulsive Solution . Convective Solution , 2.5.1. Harmonic Response . 2.5.2. Transient Response , Mechanical Model Presentation of Data , Introduction... System and Assumptions . Hydrodynamic Pressure , Equation of Motion . 3.4.1. External Forces 3.4.2, Equation of Motion , 3.4.3. Solution of Equation , Effective Masses , 12 12 14 15 17 22 22 22 23 24 25 25 +27Vv. ve VL 3.6. 3.7. Presentation of Data . GENERAL THEORY FOR DYNAMIC ANALYSIS OF FLUID- TANK SYSTEM SUBJECTED TO LATERAL EXCITATION , 41. 4,2, System and Assumptions . 4.3, FREE VIBRATION OF EMPTY TANKS Sle 5.2. 5.3. 5.4. 5.5. 6 5.7. 5.8. 3.5.1. ‘Maximum Effects , Vibration Mode and Natural Frequency , Introduction . Method of Analysis 4.3.1. 4.3.2, 4.3.3. 4.3.4. 4.3.5. Introduction , Presentation of Numerical Results , Solutions for Fundamental Frequency . Solutions for Second Frequency . Generalized Forces Equations of Motion Dunkerley's Approximation . Beam Solution . ‘Three-Term Solution . Kinetic Energy of Fluid Equations for Free Vibration Natural Frequencies of Modes with n> . FREE VIBRATION OF FLUID-TANK SYSTEM , 6.1. 6.2, Presentation of Numerical Results Introduction Strain Energy and Kinetic Energy of Shell . 28 29 + 30 33 33 34 34 36 37 40 40 47 49 49 50 52 56 57 57 59 59 62 62 646.3, Solutions for Fundamental Frequency: . 2. 2... 66 6.4. Solutions for Second Natural Frequency. . . . . . . 72 5. Dunkerley‘s Approximation... 2. 2... ee 73 VII. RESPONSE OF FLUID-TANK SYSTEM TO VERTICAL EXCITATION © 2 6 6. ee ee ee Tee TnbcochicelOn ett ie 7.2, System and Assumption. . . 2... 1. 1 Th 7.3. Method of Analysis... . 2 1 ee ee ee TB 7.3.1, Strain Energy and Kinetic Energy of Shell . . . 75 7.3.2. Hydrodynamic Forces on Rigid Tank. . . . . 76 7.3.3. Hydrodynamic Forces on Flexible Tank for an Assumed Mode of Vibration. . . . . - + 77 7.3.4, Kinetic Bnergy of Fluid»... 1. + + + -78 7.3.5. Generalized Fores, . . . . . 1... 179 7.3.6. Equation of Motion. 2. 2. eee ee 19 7.3.7. Equation for Free Vibration , Gide | Rres Vibration of Empey Tanks eet ree ied 7.5, Free Vibration of the Fluid-Tank System . . . . . . 87 VI SUMMARY AND CONCLUSION. © 2 6 1) ee ee ee 89 REFERENCES . 6 2 ee ee ee APPENDIX A DERIVATION OF EQUATION2.25 .. . 2. 1 + + 96 APPENDIX B DERIVATION OF EQUATION 3.4... 2 1 2 1 101 TABLES 2 1 2, ee ee OE FIGURESINTRODUCTION 1.1 Objective ‘The ultimate objectives of the investigation reported herein are: (1) to develop information and concepts which will lead to an improved understanding of the dynamic behavior of liquid-filled containers subjected to earthquakes and other types of dynamic excitations; and (2) to provide a sound basis for the de- velopment of improved design procedures for such systems. ‘The studies presented in this report represent important steps toward this end, and deal with the following aspects of the response of circular cylindrical tanks: + The dynamics of rigid tanks; - The dynamics of flexible tanks, analyzed on the assumptions that the cross section of the tank remains circular during vibration and that the height- wise distribution of the deflection is of a prescribed form; + The evaluation of the natural frequencies and modes of vibration of flexible tanks. Both empty and liquid-filled tanks are considered, ‘The subject matter is covered in six chapters, the scope of which is described in the following section. Each chapter is written in a self-contained manner, and may be read more or less independently of the others, Because of the indepen- dence of the various chapters, certain details are repeated at times, and it is hoped that this repetition may prove helpful to the reader, ‘The first section of each chapter is devoted to a brief literature review of the subject matter treated in that chapter.1.2. Scope of Study Chapter II deals with the dynamic responses of rigid circular tanks. Both the impulsive and convective effects are considered. Chapter III presents an approximate procedure for evaluating the impulsive effects in flexible tanks. The convective effects are considered to be practically independent of the tank flexibility. In Chapter IV a general energy procedure is formulated for the analysis of the dynamic response of the fluid-tank system to an arbitrary excitation of the base. The method involves the use of the Rayleigh-Ritz, procedure along with the deflection functions representing the natural modes of vibration of uniform canti- lever beams. Chapter V presents a comprehensive study of the free vibrational character- istics of empty tanks. Numerical data and simple concepts are presented with the aid of which the natural frequencies and modes of such tanks may be estimated rapidly. In Chapter VI this study is extended to flexible tanks filled with liquid. ‘The material in Chapters IV through VI deals with the modes of vibration associated with a lateral excitation. In Chapter VII, the response of the fluid- tank system to a vertical excitation is investigated, and a study is made of the natural frequencies and modes of axisymmetric vibration. Both empty and liquid- filled tanks are considered. ‘Throughout these studies, the liquid is considered to be incompressible and inviscid.1,3 Notation ‘The letter symbols used are defined where they are first introduced in the text, and they are summarized herein in alphabetical order: a Radius of tank; A Spectral value of pseudo acceleration; Submatrices of mass matrix; C Damping matrix; Cj Damping coefficient for the it" mode; D Spectral displacement; d Surface displacement of the flui E Modulus of elasticity for shell; Submatrices of stiffness matrix; g Gravitational acceleration (32.2 ft/sec?); h Wall thickness of tank; H Height of tank; Submatrices of stiffness matrix; i,j Subscripts; I, Modified Bessel function of the first kind of the it? order; J, Bessel function of the first kind of the ith order; k Summation index; K __ Stiffness matrix of the fluid-tank system; Kj __ Stiffness coefficient of the ith mode; £ Subscript index for liquid; m Order of vibrational mode along the height; 3mp m, mp m5 my Pi or Total mass of liquid and shell, respectively; Virtual masses of liquid and shell, respectively; Generalized mass of liquid associated with the displacement functions ¥,(2) and 4(2); Generalized mass of shell associated with the u-displacement functions ¥(z) and ¥j(z); Generalized mass of shell associated with the v-displacement functions ¥y(2) and ¥4(2); Generalized mass of shell associated with the w-displacement functions (2) and 9(2); Mass matrix of the system; Modal mass of the itt mode; Order of the circumferential mode; Generalized force matrix of the system; The modal force of the it® mode; Submatrices of the force matrix associated with the u-, v- and w-displacement functions; Hydrodynamic pressure; Hydrodynamic pressure associated with the ith mode; Generalized coordinates (Uy, or Vz» or Wy); Generalized force associated with the generalized coordinate qy; Cylindrical coordinate in radial direction; Function of r in the velocity potential function; Subscript for shell or tank; 4Ty Ts T t uy w Up Vie Wi Up Vp Wi Pgr Ps YH ‘Total strain energy of the fluid-tank system; Total kinetic energy of the fluid-tank system; Kinetic energy of shell or tank wall; ‘The kinetic energy of liquid; Time; Displacements in axial, circumferential and radial directions, respectively; Time dependent coordinates in the expansion of u-, v-, and w-displacements; Modal displacement coefficients of u-, v- and w-displacements, or amplitude of Uj, Vj, Wi respectively; Cartesian coordinates; Ground accelerations in x or z directions, respectively; Coefficients in expressions for the displacement functions ¥j(2) and 4,(2); Damping factor, in percent of critical damping; Cylindrical coordinate; Mass density of liquid and shell; Poisson ratio for the material of shell; Mass density of liquid and shell, respectively; Displacement functions corresponding to modal shapes of canti- lever beam; Velocity potential function for liquid; A AA Matrix of modal displacement coefficients (fj, Vj, Wit. 5Il HYDRODYNAMIC FORCES ON RIGID TANK 2.1 Introduction Before investigating the response of flexible tanks, it is desirable to re- view the hydrodynamic forces induced on rigid tanks. In previous studies, it was found convenient to divide these effects into two parts; (a) the impulsive effects which are computed by neglecting the effect of surface waves, i.€., by assuming the pressure at the free surface to be zero, and (b) the convective forces, which are associated with the sloshing of the fluid inside the tank, ‘The impulsive effects turn out to be proportional to the accele- ration of the ground motion whereas the convective effects depend on the sloshing frequencies of the fluid, The impulsive forces acting on a rigid tank appear to have been first in- vestigated by Jacobsen (1 ), and a simple approximate procedure for estimating both the impulsive and convective effects are proposed by Housner (2-6), who also presented a simple physical model describing the behavior of the fluid-tank system. In Housner's approach the component effects are evaluated independently. ‘The problem was also studied by Baul?) who presented the exact solution for the total hydrodynamic effects. Although the impulsive and convective parts can be identified in Bauer's solution, the identity of the solution presented by Jacobsen and Bauer for the impulsive part is by no means clear. ‘The objective of this chapter is twofold: (1) to formulate the exact solution for the problem in such a way that when the convective effects are neglected the solution reduces exactly to that given by Jacobsen; and (2) with the ai d of nu~ merical data, to provide improved insight into the nature of the impulsive and 6convective effects. ‘The separation of the total hydrodynamic effects into the impulsive and convective parts is fundamental to the approach used in Chapter III to account for the effect of tank flexibility. 2,2. System and Assumptions ‘The system considered is shown in Fig. 2. 1(a). It is a rigid circular cylinder of radius ‘a’ fixed to a rigid base. The tank is filled with a fluid of density p toa level H. The total mass of the fluid is denoted by mg. The fluid is assumed to be incompressible and nonviscous. The effect of compressibility of the fluid is not considered here. The fluid-tank system is presumed to be subjected to a horizontal ground acceleration X(t) directed along the x-axis. 2,3 Fundamental Equations ‘The equation of motion for the fluid, referred to the cylindrical coordinate system shown in Fig.3.1, is sh 4 2h 1 th a Sri t Far ty eer + azr = O° Q.1) in which @ is the velocity potential function. The velocity components of the fluid in the radial, tangential and vertical directions are given by Ye = - 36 @.2) pete 32 ‘The hydrodynamic pressure, p, is related to by the equation ad p=Q3t @.3)‘The boundary conditions of the problem are as follows: (a) Atz=0, v,, must be zero; therefore 2e we 7? @.4) fluid must be equal to (b) At r=a, the radial velocity component of the corresponding component of the ground motion; therefore ae p - SE] = cH) se 2.5) (c) Let d(t) be the instantaneous value of the vertical displacement of the fluid at the surface, then the pressure at z=H is given approximately by en) 2.6) ‘This expression neglects the contribution of the inertia force associated with the displacement d(t). Noting thatp,=-g99/2t and differentiating with respect to t, one obtains has 2¢ 20 @.7 It is convenient to express the solution of Eq. 2, 1 as the sum of the two partial solutions bao th (2.8) with $, subject to the following boundary conditions: AL z=0 ° rea 2B = ~ ey cose @9) zen 2% 5 0‘Then $, must satisfy the following boundary conditions: At z20 2% - 0 ree ores 2.10) zsh Seto 3B = -9 4% ‘The physical significance of Eq, 2. 9c is that the pressure at z=H is zero. ‘Thus, , represents the solution for the so-called impulsive effects, The so- lution ¢,, which effectively corrects for the difference between the correct boundary condition (2.7) and the one defined by Eq.2.9c, represents the so-called convective effects. 2.4 Impulsive Solution The solution for this case is given by a S een! 1 [en-F F] = RUM C02 EL aE Tan E a] cos[(an-0%H] 11) where I, is the modified Bessel function of the first kind and Ij is its derivative. The solution for this case, in somewhat different form, appears to have been first given by Jacobsen (Ref. ), The derivation of Eq. 2. 11 can also be obtained asa special case of the more general solution given in Appendix B (see, in par- ticular Eq.B. 15). ‘The pressure, p, induced by the impulsive effects is obtained by applica - tion of Eq, 2, 11 into Eq. 2.3: : S get! Llanes) Xe) BH ese To ali Blane a] wos[ten-) FF] (2.12) 9‘The total hydrodynamic force exerted by the liquid on the tank, which is also equal to the total base shear, is obtained from x aa. f [Plea cos @ a de dz (2.13) with the following result peeeN Giese 7E)Diare eel yas Lanne Sy) Quy ‘The corresponding overturning moment about the base of the tank is de~ termined from moa ff with the following result cos @-z- a do dz (2.18) Mose HeomHaE te, Blan E#) ro 2 Tanya Tle bay’ Sco] 248 Gna ‘The hydrodynamic pressure on the base of the tank is obtained from Eq. 2,12 by setting z=0, and the corresponding overturning moment is obtained from f Pi... cose v2 drde @17 with the result recy Tlen-E4) [e@n-)m)> Tan ef] 2.18) 10It is of interest to examine the limiting behavior of Eq. 2. 12 as H/a ap- proaches zero or infinity. As H/a ~0 (or a/H~=), I,/lj tends to unity, and Eq, 2, 12 reduces to yA a ee ~ a) & Heose QNewe 2 Tan cos an-) 34 2.19) which, with =0, is identical to the expression given in Ref, 8 for the hydro- dynamic pressure exerted by the fluid ona rigid dam. The same limiting be- havior also holds true for the expressions for Qo,» and Mo, g- As H/a~@( or a/H~0), I, (X)/I,(x)=x. By using the series (See Page 83 of Ref.9 ) BL = cos x — SEP 4 SSSA STA 2.20) Eq, 2. 12 reduces, as it should, to 2.21) p= - Net) gr cose ‘The hydrodynamic pressure in this case becomes linear along the radial direc~ tion and there is no variation along the z-direction. ‘The vertical component of velocity for any particle at the surface of the fluid, =H, is DET (2.22) 2 = EH] ‘ = I,Lt@n sk ese F ae Pian ‘Along the curved boundary, r=a, Eq. 2.22 is unbounded, since for large n, I,/1j +1, and the sum = 1/(2n-1) has no limit, In otherwords, the vertical velocity at r=a and z=h has a singularity, However, the vertical velocities at other points are finite, For a further discussion of this matter, reference is LLmade to pp. 199-201 of Ref.l . ‘The vertical displacement of any particle at the free surface of the fluid is obtained by integration of Bq,2. 22, as follows dey = five at 2K (t) co £4 _ alan tH] 23 xe) cove F arte tess] 2.23) It is apparent that the radial distributions of the vertical velocity component and the vertical displacement are the same. For the special case of a harmonic base excitation, %, eM, the solution >, for steady-state response is obtained from Eq, 2. 11 as et yuose & — 8 eo! Tenn EF] &, Fancon}® lanza] oe ahle 29) 2.5 Convective Solution, 5 Before obtaining the solution for an arbitrary ground motion. it is desirable to consider the solution for a harmonic ground acceleration, % 2.5.1 Harmonic Response, The function $. which satisfies Eq. 2. 1 and the boundary conditions defined by Eq. 2. 10 is given by OnE) cosh (an) 0 CH we F ap =e NEaT TG) cosh Gnd) (2.25) inwhich, X45 are the zero's of J (x)=0 and uj s are the natural frequencies of sloshing fluid, given by 12we = 228 tanh (xn) 2.26, ‘The derivation of Eq. 2.25 is given in Appendix A. ‘The harmonic convective pressure for the tank is obtained by application of Eq. 2, 25 into Eq, 2.3: x gil A = nw) cash (An! p= Xe" en Bcosoy —t 2 BOE) corer) (2.27) BY On ‘The corresponding total hydrodynamic lateral force exerted on the wall of tank is obtained by application of Eq. 2. 13, and is given by Go a cen meno TSEER Gay teh md) 229 ‘The overturning moments created by the hydrodynamic pressure on the wall and the bottom of tank are obtained by application of Eq, 2, 15 and Eq. 2. 17, with the following results: 2 (2, 29) e! tng FE NOrT SZ tanh(rn thy — 229) Mos. + Lin xy tanh Sty] TQ) 1 Tan) hee — 290) The vertical velocity component for any particle at the surface of the fluid, z=H, is 2am Tink) @.3)) ene Fp = conn ASE aon) 13 Vz =~ 2% anh (ante)and the corresponding displacement component, d, is obtained by integration of Eq, 2.31, with the following result: 0 GS nm LOE etese = BB Gn D tanh (ant) 2-32) 2.5.2 Transient Response, With the harmonic response of the system de- termined, the response to any transient excitation, X(t), can be obtained by ap~ plication of the inverse Fourier Transform and the convolution (Duhamel's) integral. ‘The procedure will be discussed by considering the evaluation of the pressure p. The frequency response function for p, defined by Eq, 2.27, is of the form Eye eee) 2, 33) P Cw) x 1) (2.33) The pressure, hp(t), induced by a unit impulsive acceleration, %(t)= 6(t), may then be expressed by the inverse Fourier Transform of Eq. 2.33 as (2. 34a) or (2.34b) ‘The pressure, p(t), for an arbitrary acceleration input, %(t), is then given by = + pare S Fcne 2d f wo, Ky sinLo, 2) de 2.38) nal , in which the integral is the well known Duhamel's integral which represents the instantaneous value of the pseudo-acceleration, A,(t), of a single-degree-of- freedom system having a circular natural frequency wp and subjected to the 14prescribed ground acceleration ‘%(t). Thus, the counterpart of Eq, 2.27 for transient response may be written as 2 Tink) cosh Owe) TOn) cosh (nt) ~ Pet) = GH coe > ns AA) 2.36) ral Proceeding ina similar manner, one finds the following expressions for the other response quantities: Son me pt Tate y FH tanh nd) Anct) (2.37) Moa= mH F Rata A F tanh Ont) [1 x Sp tan nant Janey (2.38) BOD ce On) cach tay Mn Gt) 2.39) One) v(t) = ~ ee Ze aEer Gao” tanh (antl) Wit) (2. 40) dcty= -cose S Zan LOE tanhcadt) Dec) 2.41) Ti An) Rel ‘The symbols V,(t) and D,(t) in the last two equations represent, respectively, the pseudo-velocity and deformation of the single-degree-of-freedom system, ‘They are related to Ap(t) by the equations Vi Ct) AQ) and DAG) = Go VCE) @, 42) 2.6 Mechanical Model It has been shown (Ref, 2 to 7 ) that, in so far as the computation of the 15base shear and the base moment concerned, the tank-liquid system may be modeled as shown in Fig, 2.1. The mass mg is attached rigidly to the wall of the tank at a distance hg from the base, and each of the other masses is attached through two springs, cach of stiffness kn/2, at a height hp from the base, If up is the displacement of the nth mass relative to the ground, the equa- tion of motion for the mass is mM, (¥ + Uy) + kn Un = 0 (2. 43) Furthermore, if A, is the pseudo-acceleration of a single-degree-of-freedom system, as previously defined, the shear and overturning moment at the base of the tank may be written as : = 2.44) y+ FT MAAR (+) @, (t) = and (2. 45) ME) = ms he ROD +E Mn he An Cb) Comparing these expressions with those for the tank-fluid system presented in the preceeding sections, the following expressions are found for the characteristics of the model: “me 2 16 H Tftan- E41 (2. 46) ma Se L@n-nm]> % Flere] Mn 2 a ma” AEaT aw tehOn th) ean 16feared l dp F pete Meme | 2.48) tae tanh (APH) +4 G BOo) mrad 2.49) ws an tanh (An tL) 2.50) wr My (2.51) where a and f are constants having the following values, If the hydrodynamic pressure at the bottom of tank is to be included in the computation of the over~ turning base moment, a and @ must be taken as unity. On the other hand, if the effect of the pressure on the base is to be disregarded, a must be taken as zero, and B= 1/2. ‘The mass mg which is rigidly attached to the tank is known as the im- pulsive mass, whereas the flexibly mounted masses are known as the convective masses. 2.7 Presentation of Data ‘The hydrodynamic pressure exerted on the tank wall may conveniently be expressed in the form pcze.t) = CP BH ese Ant) (52) where CP is a dimensionless function of z, which depends on the height-to-radius ratio for the tank, H/a. A value of n=0 corresponds to the impulsive solution, 7whereas n=1,2,3... correspond to the convective solution. For n=0, A, = KC). ‘The function Ch for n=0 is plotted in Fig. 2.2. for several different values of H/a. It is seen that when H/a is smail, the distribution is close toa cosine curve, and when H/a is large, the distribution is close to the uniform dis- tribution defined by Eq. 2.21. The functions CP of n=1and 2 are given in Fig.2.3. It can be seen that, whereas for large values of H/a, the convective pressure coefficient is small and localized near the free surface, for the small values of H/a, the convective pressure is large and penetrates to the base of the tank. It should be noted, however, that a large value of Ch does not necessarily imply a large pressure, as the latter is also a function of A(t) which depends on the natural frequency of sloshing motion of the liquid. ‘The hydrodynamic pressure on the base of the tank can be expressed ina form analogous to Eq, 2.52 as pwet=> CP Cr) BH ces © Ant) (2.53) ‘The function C8 (c) for n=0 is plotted in Fig. 2. 4 for the same range of H/a values, It is seen that for values of H/a greater than 1,0, the distribution is for all practical purposes linear. ‘The function CR(r) for n=1 and n=2 are plotted in Fig. 2.5. The variation in this case is a Bessel function of the first kind of first order. The same results are plotted in Fig. 2. 6 normalized with respect to the pressure at r=a. ‘The base shear induced by the hydrodynamic pressures can be expressed 18in the form QE Co mM An tt) where ce is a dimensional coefficient equal to the mass ratiom,/mg. The variation of the coefficient as a function of H/a is shown in Fig. 2.7 for the impulsive case (n=0) and the convective case (n=1 and 2), Note that whereas CRamo/my increases with increasing H/a, the reverse is true of C2=m, /img and CQ= ma/mg. Note further that CQ is generally small compared to ck. However, the base shear associated with the second convective term (i.e. cQ= m,/m,) may not be negligible since the maximum value of Az (t) may be substantially large than that of A,(t). This is likely to be the case for tanks having small values of H/a. ‘The overturning base moment induced by the pressures exerted on the wall may be expressed similarly in the form Ech mHA. (2.54) Wo Mo, where CM are dimensionless coefficient. ‘The variations of the coefficients with respect to H/a are shown in Fig. 2.9. The general trends of the curves in this figure are similar to those of the curves for base shear. For the purpose of comparing with the results presented in the preceeding figure, the overturning moment induced by the pressures on the base of the tank can most conveniently be expressed in the fom ge Mee = 2 Ca ms HA, C+) 2.58) ‘The quantities CM’ are dimensionless coefficients which vary with H/a as shown in Fig. 2. 10. 19‘As H/a~ 0, the value of CM” for n4 0 tend to infinite, However, the product of CM’ and An(t) is finite for the following reason, The low frequency limit of the maximum value of Ag(t) is An = Wh Xo (2.56) Now substituting Eq. 2, 56 into Eq. 2. 55 and making use of the expressions for o% and CM" defined by Eq. 2.50 and 2.39, respectively, one finds that as H/a +0 tS 2An Je On) ie os “RAE -1 Titan) #9 %e @.57) which are definite for all n. It is of interest to compare this moment with the corresponding moment induced by the impulsive pressure on the tank base, Noting that the latter is given by Eq, 2. 18, the ratio is (es eonvective # An Ja Qn) xs ms g (2.58) (ic neetinives | wintialy Jicee) a In Fig. 2. 11 are given plots of the equivalent heights hg and hy for the model discussed previously. Also included are the values of hy and hj which define the heights on which the masses mg and m, must be applied to yield the total overturning moment for the tank, including the contribution of the pressures on the tan’ base. ‘The distributions of the surface displacements associated with the first two modes are plotted in Fig. 2. 12 for several different values of H/a. It is important to note that the displacements corresponding to the 20impulsive effects represented an instantaneous quantity. ‘The total displacement can be evaluated from Eq, 2. 41 by taking the maximum value of Da(t) from the corresponding response spectrum of the ground excitation. A sample of the response spectrum diagram, which represents the maxi- mum values of A), V(t) and D(t), is shown in solid line in Fig.2. 13. ‘The numerical data used in the preparation of the figure presented in this Chapter are listed in Tables 2. 1 through 2.8 along with some additional data, a1Il FLUID-TANK INTERACTION UNDER ASSUMED MODE 3.1 Introduction In this chapter, the fluid-tank system is analyzed approximately by assuming that the tank behaves as a beam, without change in its cross section, ‘The same approach was used ina recent study by Veletsos (10) based on the further assumption that the hydrodynamic pressure at 6=0 is equal to the pressure induced against a straight wall storing a reservoir: clearly, the latter assumption is reasonable only for tanks with small height-to-radius (say, values of H/a less than about 1.2). Inthe present study this assumption is relaxed, but, as before, it is assumed that the tank cross section does not change its shape during deformation. Only the impulsive effects are considered, It is presumed that the con vective effects are not influenced by tank flexibility and that they can be evaluated by the procedure described in the preceding chapter and appropriately superim- posed on the impulsive effects evaluated herein, ‘The presentation of the material in this section follows closely that of Ref.10 . 3.2 System and Assumptions ‘The tank-fluid system considered is shown in Fig. 3,1. It is circular cylindrical structure of arbitrary wall thickness having radius a, height Hs, and containing fluid to a height H. The mass per unit of area of the structure without the fluid is denoted by (2), the total mass of the shell is denoted by ms, and the total mass of the roof, including the appropriate live load, is denoted by mr. A. point on the middle surface of the shell is defined by the coordinates z and 6, and 22the plane 8=0 is taken parallel to the direction of ground motion, Fundamental to the analysis presented is the assumption that the system responds as a single-degree-of-freedom system. Specifically, it is assumed that the cross-section of the tank does not change shape during deformation, and that the deflection configuration of the tank at any time is of a prescribed term. It is further assumed that the liquid is incompressible and inviscid, and only the impulsive effects are investigated herein. It is assumed that the convective effects are insensitive to the flexibility of the tank, and can be taken equal to those for a rigid tank. 3.3. Hydrodynamic Pressure Let ¥(z) be a dimensionless function defining the heightwise distribution of the mode of vibration and let #(t) be the acceleration of the tank wall at the surface of the liquid, then the acceleration of the tank at any height z is W(t) ¥(2), and the corresponding velocity is w(t) 4(2). Since the fluid is assumed to be incompressible and nonviscous, the ve- locity potential function of fluid @ must satisfy Laplace's equation, Eq. 2.1, and the following boundary conditions ag @) 52 = -W He)eoso at r= (3.1) ro) ae 0 at z=0 (3.2) © w%=0 at z=H (3.3) Thesdlution of the Eq, 2. 1 is then given by (see Appendix B). 23ules a (@n-1)> 9] g= ie) cosy, gt, BOE Tz Gat Ray in 08 (On 3.4) t Lenny A] where 1 2 Tz ad yz) cos ([@n-)> al dz (3.5) © ‘Three different functions of (2) are considered in this study. These are shown in Fig. 3.2. The values of ap for these cases and for 4(z)= 1, which corresponds to a rigid body motion, are as follows: For Wz) = sin (> z 2/ten-1y(-y 41 10 2 2 p For ¥@) = For (2) = r-cos (IE (3.6) For 4) ‘The hydrodynamic pressure, in excess of the hydrostatic, acting on the tank wall is obtained by application of Eq, 2.3 of the preceding chapter as 4on L[6en-0F A) pl, t) = Wit) pcos @) pt A Hees) Gay tea 5 (3.7) 3.4 Equation of Motion Let x(t)=the ground displacement at any time t, and w(t)=the displacement relative to ground of a section of the tank at the liquid level. The absolute accele- ration of the tank at a distance 2 from the base may then be expressed as 24@(z,t) = ¥(t) + ¥(z) Wt) (3-8) where a dot superscript denotes differentiation with respect to time, and the di- mensionless function ¥(z) defines the assumed mode of deformation for the tank. Only functions for which 9(0)=0 are admissible in this case. 3.4.1 External Forces. The external forces associated with the uniform component of the acceleration ¥(t). They consist of the structural inertia forces; these include a distributed force of intensity p(2)X(0) and a concentrated force at the top of magnitude m,X(t); and «the hydrodynamic force, p,(2,t), which can be determined from Eqs. 3.7, and 3.6 by taking 4(z)=1 and replacing a(t) withx(t). ‘The forces associated with the nonuniform acceleration component, (2) W(t). They consist of + the inertia forces due to the mass of the structure; these include, in addition to a distributed force of magnitude p(z) 4(z)W(t) per unit area, a concentrated force of magnitude m,,¢(H.,) W(¢) at the top; and the hydrodynamic force Pw(z,t), which can be determined from Eqs. 3.7 and 3. 6 using the assumed deflection function 4(z) and taking a(t)=¥(t). 3.4.2 Equation of Motion, With the hydrodynamic and inertia forces identified, the equation of motion for the tank-fluid system may be determined by application of the virtual work principle. By equating the work done at any time t by the external forces during a virtual displacement 6w(z, t)= y(z) bw to the work done by the internal forces, the following equation is obtained Emit mp] Wt Ch Wwe Kew = -Links tmie] Xcty (3.9) 25where mie = ff Suc Hee ade do +m, Won) (3.10) : ancl Mt “f Sw (=) W(z) cose a dz do (3.11) * anc Hs mas =[ H(z) W(z) a dz de + mM, ¥ (Hs) (3.12) x an Hs mage if , Sx) W(z) cose adz de (3.13) ‘The quantities s4(z) and sw(z) in the above equations represent, respectively, the forces p,(z,t) and py(z, t) when X(t ‘The right hand member of Eq. 3.9 and the first term on the left hand member represent the work done by the external forces, hereas the second and third terms represent the work done by the damping forces and internal forces. The sum mk, , + mf, =m represents the effective mass of the system for the rigid body component of motion, and mf %, 5 and m§, p represent the contributions of the structural mass and liquid mass, respectively. In an analogous manner, my, «+ mf, g= mi, represents the effective mass of the system for the motion specified by y(@) and mg, , and mg, 9 represent the contributions of the structural mass and liquid mass, The quantities c* and k*, which stand for the effective damping coefficient and the effective stiffness of the system, may also be expressed in terms of 4(z), but this is not generally necessary. Dividing Eq. 3.9 by m¥, leads to 26+ 2tgow 0% ws -C KC) (3.14) in which w=the circular natural frequency of the system corresponding to the assumed vibration mode, ¢=the damping factor, and me, mast mee c = Mee Mys* Tee 3, 15) ma Mays + en is the participation factor. The evaluation of the natural frequency, w, is considered ina later section, 3.4.3. Effective Masse: The values of m%, » and mf, ¢ corresponding to the three deflection functions referred to previously are plotted in Fig. 3. 5. Note that the value of m$,, » corresponding to a given ¥(2) is significantly smaller than the associated value of m§, ». Note further that, whereas both of these values are sensitive to variations in (z), the participation factor, C, is relatively in- sensitive to such variations, The values of my, , and mi, s corresponding to the three deflection functions referred to previously are listed in Table 3, 1 for two different values of Hg/H. The deflection function betweenz =H andz=Hs is assumed to be a straight line tangent to the deflection curve atz=H, and the wall thickness of the tank is assumed to be constant, 3.5 Solution of Equation ‘The solution of Eq. 3. 14 can be obtained by analogy to that governing the motion of a simple mass~spring-dashpot oscillator. Let D and A be, respectively, the maximum deformation and pseudo- acceleration of a simple oscillator which has the same natural frequency and damping factor and is subjected to the same excitation as the actual tank-fluid system. The 27maximum value of w(t) and the associated pseudo-acceleration are then given by = A = cp sc “ye (3. 16) ww, = CA (3.17) With w, determined, the maximum relative displacement of a general section of the tank is 4(y)W, and the associated pseudo-acceleration is y(z)CA. ‘The values of D and A for the oscillator may be determined from the re- sponse spectrum corresponding to the particular input motion considered, A rep- resentative spectrum, plotted in the familiar tripartite form, is shown in solid lines in Fig. 2. 13, where V=0 D=A/u, 3.5.1 Maximum Effects. The maximum hydrodynamic pressure on the tank wall may be determined from Eq, 3.7 by replacing the acceleration W(t) with the pseudo-acceleration W,. This leads to * ate P(z)= CA RH cso > me EFI 4 cosfamn $F] (0.18) net EH) ‘The maximum value of the base shear induced by the hydrodynamic pressure, Qop is obtained by application of Eq. 2. 13 of the preceding chapter, with the following result Qag= mip cA (G19) ‘The base shear, Qo, due to the combined effect of the hydrodynamic pressure and the structural inertia is then given by a= [mi, + mgs] ca (8.20) 28‘The overturning moment at the base due to the hydrodynamic pressure on the wall, Mg, 9» is obtained by application of Eq, 2. 15 with the following result . 2 8 H Dlr % ey (3.21) Mga = CAMH Tome a ¥[e@n-0 £4] onl 1~ Grane] and the total moment, including the contribution of the structural inertia forces, is Hs an M, Moet c.f Miz) Wz) za dz dO (3.22) + mr (Hs) Hs CA Finally, the additional overturning moment, Mp, g, due to the pressure on the base of the tank is obtained by application of Eq, 2. 17 with & alen0F 8 4 (3.23) Maa = CAMH 3 Ghana Tiler 3.6, Vibration Mode and Natural Frequency ‘The configuration of the assumed mode 4(z) depends on the relative mag: nitudes of flexural and shearing deformations of the fluid-filled tank during free vibration. These magnitudes, in turn, depend on the dimension of the tank, such as H/a and h/a, and on the relative weights of the roof system to the virtual mass of the contained fluid, In general, for large H/a, h/a and my, the mode 4(z) will be more like a flexural type. In contrast, for small H/a, h/a and m,, the mode Wz) will be more like a shear beam type. ‘The following procedures to select a reasonable vibration mode }(z) was suggested by Veletsos (10). 1, Assume a trial configuration 4(2); for convenience, it may be taken equal to one of the functions considered in Fig. 3.2. 2. Computed the resulting inertia and hydrodynamic forces which are given in Eq. 3.7. 293, Compute the deflection of the tank due to the forces determined in step 2, con- sidering the effects of both flexural and shearing deformations. 4, The desired 4(z) is the deflection determined in step 3, normalized with re- spect to the deflection value computed at 2=H. After the vibration mode is selected, the circular natural frequency of the fluid-tank system, w, may be computed by Rayleigh's quotient, u® = o/Tor Vor the maximum potential energy of the system, is obtained by integrating the product of forces, including the inertia force of tank and the hydrodynamic pressure asso- ciated with the prescribed mode, and the corresponding deflection. Tg the pseudo- kinetic energy of the system, is given by To = (mist myn) w? (3.24) mites Be in which,m¢, », defined in Eq, 3, 10 and 3.11, are the virtual masses of the tank and fluid associated with the prescribed mode and w is the deflection at z= 3.7 Presentation of Data In Fig. 3.3 is shown the hightwise variation of the pressure on the tank wall along 0=0, and in Fig. 3. 4 is the corresponding variation of the pressure on the base. Two values of H/a are considered, one corresponding to a short stubby tank, and the other to a relatively slender tank. The results are expressed in terms of HCA, in which C and A are, respectively, the participation factor and pseudo-acceleration value, as previously defined, It can be seen that, when expressed in this form, the results for the flexible tank are materially different from those from the rigid tank, The results for the flexible tank are also sensitive to the assumed mode of vibration. In Fig. 3.5, the virtual masses my, » and m§, ¢ appearing on the left and 30right members of Eq. 3.9, are plotted as a function of H/a for each of the three modes of vibration considered in this study. The initial portions of the curves, corresponding to values of H/a < 1.5, are in good agreement with the expressions for mg, » and mf, » presented in Ref, 10. From Eq. 3, 19 it follows that the ratio mg, /mg in Fig. 3,5 is related to the hydrodynamic base shear, Qo, 9, as follows: mint Qos my, CA a ‘The values of this shear for the flexible tank, for each of the three modes of vi- bration considered, is compared in Fig. 3. 6 with the corresponding shear for a rigid tank. In Figs. 3.7 and 3.8 similar comparisons are made for the overturning base moments Mo, g and Mj, g- Note that all of these quantities are expressed in terms of the participation factor C, which depends not only on the assumed mode of vibration and the ratio H/a, but also on the relative mass of the tank and the liquid (See Eq.3. 15). If the masses appearing in Eq, 3. 15 are expressed in the form Mis = Cus Ms Mas = Coys Ms and * . (3.26) man 2 Cayo Me mae Cue mg Eq, 3. 15 can be rewritten in the form VY Cus + 3% Cure TCs t BH Cw eh 0 (3.27) where + is the ratio of the unit weights of the tank and the contained fluid, In Figs. 3.9 through 3, 13 the result presented previously in Figs.3.3, 3.4, 3.6, 3.7 and 3.8 are plotted ina form which does not explicitly include the par- 31ticipation factor, C. These results are limited to the special case of a steel tank with h/a= 1/1000, completely full with water. The value of p., for this case is 7.85 and that of pg is 1.0. The effective masses of the tank, mf, . and mf, , for the various assumed modes of vibration are listed in Table 3. 1, along with the base shear and base moment corresponding to these masses. In assessing the significance of these results, it should be kept in mind that whereas A for a rigid tank is equal to %,, the value for a flexible tank is a function of the natural frequency of the system, and may be materially greater than ig. ‘The numerical data used in the preparation of the data presented in Figs. 3.3 through 3, 13 are listed in Table 3.2 through 3.9. 32IV GENERAL THEORY FOR DYNAMIC ANALYSIS OF FLUID- TANK SYSTEM SUBJECTED TO LATERAL EXCITATION 4,1 Introduction In the approximate study presented in the preceeding chapter, the hydrody- namic forces on flexible tanks were evaluated based on several assumptions. One of these is that the cross-section of the shell remains circular during vi- bration. This assumption appears to be justified only for slender tanks with large height-to-radius ratios, but may not be reasonable for relatively shallow tanks. ‘The second assumption is that the tank vibrates in a prescribed mode and hence acts as a single-degree-of-freedom system. In an effort to obtain improved understanding of the response of the fluid- tank system, these assumptions are relaxed in this chapter, and the system is analyzed as a multidegree-of-freedom system. The different methods have been used in the past to analyze the dynamic response of the fluid-tank system: (1) the energy procedure, and (2) the finite element method of analysis, ‘The first method was used in Refs.11 and12, whereas the second was employed in Ref, 13. In Ref.11 the deflection of the tank were expressed in terms of the natural modes of vibration of the empty tank, whereas in Ref. 12 it was expressed in terms of the natural modes of a uniform beam. ‘The approach used here is fundamentally the same as that employed in Ref. 12, except that the virtual mass of the liquid is evaluated in a consistent manner from the assumed deflection functions. In Ref.12 the virtual mass used was that computed in Ref. 1] for a tank hinged at the base. ‘The present approach also includes several other improvements identified in the following sections. 334,2 System and Assumptions ‘The fluid-tank system is as shown in Fig.2.1, It is a circular cylindrical shell with uniform thickness, h, radius, a, and height, H, The tank is considered to be completely full. The cylindrical shell is fixed at the base and free at the top. The density of fluid is denoted by p,, and its total mass is denoted by m. ‘A point of the fluid-tank system is defined by the coordinates, r, @ and z, and the displacements of the point in the x, 9 and z directions are denoted by u, v and w, respectively. ‘The analysis is based on the following assumptions: 1, The fluid is incompressible and nonviscous. .cted to the ground ac- 2, ‘The tank is fixed to a rigid base, which is sul celeration %(t). Only the impulsive effects are investigated herein. As the preceeding chap- ter, itis assumed that the convective effects can be evaluated with reasonable accuracy from the solution for rigid tank, 4.3 Method of Analysis ‘The analysis is carried out by application of the Rayleigh Ritz method. More specifically, the deflection of the tank is assumed as a linear combination of terms, each composed of a prescribed, admissible function multiplied by a time-dependent generalized coordinates qj. ‘The tank displacements are expressed in the form we SUL) ¥ (2) cosne (4.1.0) 34< 0 Ne = V. (4) ¥,@) sinne (4.1) 3 u Ns Tw, (+) ¥; (2) cose where (2) and y;(2) are admissible functions which satisfy the geometric boundary conditions of the shell and N,, Nz and Ng are the number of functions considered, In this study, the functions 4;'s are taken equal to the natural modes of vibration of a uniform cantilever beam, and 4;'s are taken as the first deri- vatives of 4;'s. These functions are given by (See Refs.14 and 15 ), Y, = cosh (8, H) - 608 (8, — tz Lsink os) — Sim COs) oy 4. ¥, = Sink (0;%) +51n (GH) — oy Leash (pit)~ cos (OH) where the values of a; and 8 are as listed in Table 4.1. These functions satisfy the geometric boundary conditions at the base of the tank, i.e., u=0, v= 0, w =O and ow/az = 0. At the top of tank, the forced boundary conditions are (4.3) K aw av “ne = az ('- 9) (Gaze aaz ) = ° where hn? = Eh = En D> KS Oo For the functions considered, y"= j' = 0atz=H. Hence #w/dz* = du/dz = 0, so that the assumed functions satisfy the dominant terms in the first and the third of Eqs. 4.3. The boundary conditions on Nxz and Mx® are not satisfied. 354.3.1 Strain Energy and Kinetic Energy of Shell, From theory of elasticity, the strain energy of an elastic body can be represented by 15” 4 + 2ver€ojadydz-rde (4.4) S= ea Sfflet+ e+ where ¢, and eg are the normal strains inz and 0 directions. y,q is the shear z 8 Yea strain inz-0 plane. According Fliigge theory (See Ref.16, page 212) the above strains are as following 5 i ke f2= ez y az e,2 bay ey ot wy iw z* a 36 @ ary oer’ a+y (4.5) 1 aw ala yatovi 7 ye atw +O - (at bzee Substituting Eq, 4, 5 into Eq. 4. 4 and integrating y from - h/2 to +h/2, the following expression, which is also given by Ref.17, is obtained. an -H sem ts f {[otuh +(verw)? + arate ve rmye tp o Yo (wet eve) + ae CBF [otwd + Ceo WY + ey 22 (aweet 0)” 4 202) a? (ve-wae)?4 2702 wes (Woo" Vo) ~2 @ Uz wes) f Az dO (4.6) in which, the first term in the brackets represents the extensional energy and the second term represents the bending energy. The subscripts, z and 6, in this expression represent the derivatives of the quantity considered with respect toz and 9. 36‘The kinetic energy of the shell, T,, is Ts = SRS [cate VP Ww ade do (4.7) in which a dot superscript denotes differentiation with respect to time. Substi- tuting Eq. 4.1 into Eq. 4.7 and noting that is an ° if man [Ponme sune ane f . 1 men an ° if oman freame cone aoe { : 1 af men Eq, 4.7 can be expressed as a Meme Tee LE my 1G + DE mi (4.8) in which . « mis = FHS" 8 ee az (4.9) me CH FE (ym ¥ @ az (4.10) and mg = 2lahHog. 4, represent the virtual masses of the tank associated with motion in the u-direction, and m;'j and m,%) are the corresponding virtual ‘The quantities m; masses for motions in the v- and w-directions. 4.3.2. Kinetic Energy of Fluid, The kinetic energy of the fluid is given by Ta BS (catevte w?) av (4.11) vu 37inwhich u, v and w are the velocity components in the directions of the r, 0 and z coordinates; and pp is the density of the fluid which does not change from point to point since the fluid is assumed to be incompressible, For the incompressible, nonviscous fluid considered herein, the kinetic energy of the fluid can also be ex- preseed as Pes 2 me Eile dt as (4.12) s in which @ is the velocity potential function and 86/@n is the derivative of 4 in the direction normal to the boundary of the fluid. The symbol, s, in Eq.4, 12 represents a surface integral, and the integration extends over the surface of the liquid. Eq. 4.12 can be derived from Eq, 4. 11 by application of Green's theorem as indicated on page 46 of Ref.18. ‘The only non-zero part of the surface integral in Eq. 4. 12 is the one associated with the wall of the tank. The value of 86/8n in this case is equal to 8¢/ar and this is, in term, equal to the radial velocity of the tank Ww, The part corresponding to the tank bottom is zero because the vertical velocity = 84/8n is zero in this case, Similarly, the part corresponding to the "force surface" is zero because the pressure, p=f0¢/dt, is assumed to be zero, and hence @ must be zero. It may be recalled that is expressed as the product of a function of z, @ and r and function of t only. It should be clear from Eq. 4. 12 that the kinetic energy of fluid, Ty, is a function of only the radial displacement of the tank wall, w, and that it is in- dependent of the axial and tangential displacements. For any assumed w-func- tion, the $-function can then be computed from Eq. 3.4 of Chapter Ill, and Ty 38can be evaluated by application of Eq. 4.12. Keeping in mind that 06/On= 06/ar. With the tank displacement in radial direction w expressed in Eq. 4.1, the velocity potential function @ can be obtained by the expansion of Eq.3.4, which leads to the following oe Lean B43 « pees 0k Kd ata POE chau eos [lak D EA] (4.13) 8 where ay = J ¥, (2 cos L(2k-1 EH] d= ‘The above function and its derivative with respect to rat the tank wall, or r are ore = Xftak-0 $4) = des oz KO = atts Hoe oly cos [2k EF] (4.14) ad os BE] sees oF WOOT ohn cos Leak FHI (4.15) fe & si By application of Eq. 4.12, 4.14 and 4. 15, one obtains the following expression for Ty , Me ee R= TUM wW (4.16) J where 2 = H WO Tifa Ea) ire Ate (4.17) ‘The quantities mij represent the virtual mass of the fluid corresponding to the deflection functions 9;(2) and y;(2). The larger values of nf are those cor~ responding to i=j. In Table 4,2 the values of mf, /my are listed for values of i from 1 to 5 anda range of H/a values, The results for mf, 7 my are also shown 39graphically in Fig. 4.1. 4. .3 Generalized Force, The generalized force Q,, for the fluid-tank system is determined from Sw = Gy 83, (4.18) inwhich 6W is the virtural work performed by all external forces during the virtual displacement, §$,= §Uy, or SV-,°r SWy . The external forces include (a) the distributed inertia force of the shell oh X(t); and (b) the hydro- dynamic pressure on the tank wall, assumed to be rigid. The latter pressure is defined by Eq. 2. 16 and will be denoted by Sx (z) X(t). ‘The virtual work done by these external forces during a virtual displacement with components 6u, 6v and 6w is sw = ff. hie cose Sw adods + ["f"Rhiay-sine) sv adodz Ncan + [ [See Key Swede de reel 4.3.4 Equations of Motion, The equations of motion are obtained by ap- plication of Lagrange's equation, d aT aT as Gauss) gota oacey ot (4.20) in which TT is the total kinetic energy of the fluid-tank system (this is equal to the sum of the expressions given by Eqs. 4.8 and 4, 16), S is the total strain energy of the system, defined by Eq. 4. 6; Q, is the generalized force defined by Eq. 4. 18; and Differentiation of T with respect to q, and Gy leads to the following: 40(4.21) (4.22) (4.23) (4.24) Substituting Eq. 4.1 into Eq.4.6, one obtains Eh 4 (a) {Lop eu V, cosney + (FV, Y, neosne lo Jo 5 t 2 24 29-2 (Hu, Ww, cosne)( FV; Yn cosne +E w,¥ cane) + 2 HCE UB LV, + yw yjcesne) + 152 (-F U, Yn sinnes SEY, ¥f inne) ] & [avteu i cosme)™ + (- » | My + Sw, y, cone) + 15% (-& Fw, nsinne -F Y, Wn sino} Na Me + 22S (ZV, y sinne + Fw Yon sinne) +29 ay (Fw, Yi eosne)(- E Wi, n* cos ne Ne 3, Mt , No. ” ~ EV, Hy neosne)- 2-4) (EU; Bi cosnel(T wy } : cosne)]} dz do (4.25) in which a prime superscript denotes differentiation with respect to z/H, that is Cc yen SQ (4.26) yo C Yew (4.27) 41Differentiation of S with respect to dr = Uy, °F Vp, Or Wy leads to 2S_ = R{Zu ley CML WD + Cor) nt wee Soy 7 raya ws : + BY GH) tH] + Ey Leen SH? a HC-y) nec wd +E wleveeei h> ~ EAE BHD + eT BH HOT} (4.28) os = SE at {Eu Layne Dn O-9) HBB 4+ FE Lents ted + O-9 GSW H+ ERY 30-9) CH CHM] + Bw, Lente hot ke £3 G9) mB CHD = EY mB WH DT} (4.29) os ERE [ Lule Guin Seaveay aw ew, 209) + em C9) TERY CPB +e V, Lanch te + Eowyn BY (SY WY Ev OF EC HD] 42a Lrt—SE FT 42m? OH, Bt 4 Cn) 7 (SD? OE HD = 29m (SY CH Hey = 29M (BY YH D> (4.31) ‘The symbol < > in above equation represents the integral 4 6 >see a (4.32) Similarly, substituting Eqs, 4, 1 into Eq. 4. 19, one obtains Ns Sw KODE 3 <4,> Sw, -iat Bcd Sv, 4 ROOF mi, Sw, (4.33) in which a CMe am may = J [Se ) ey cos 0 ade dz (4.34) is the rth component of the virtual mass of the fluid associated with a rigid body motion of the tank. Eq. 4.33 can also be written as swe s { KO) BE CPD + ROY mE te} Swe +E {Fw ME } 8 Vr (4.35) ‘The quantities in braces represent the generalized forces associated with the virtual displacements wy and 6vp- By repeated application of Eq, 4. 20 for each generalized coordinates dy, one obtains the following system of equations governing the motion of the fluid-tank system 43a Ses DE EY o B O|/%/ +E & Hilyvla/P (4.36) o o cllw Eu IILw Ba in which, an underlined quantity represents a submatrix, in particular, Ue {ur Vas 7 ve{vs Vac} (4.37) wef way The elements of P are =- CHD (4.38) 2 BHD Me and the elements of A through I are given by Ay= SE i &> Bi) EHD (4.39) EC y> + mh = EH {i 2 EMM Ov edb 4h BS [o--tcdayy} Y* Baya Ey = BESS [een Gui g> Cov) FH] 44Fis = RES, B {Lev cul yo] +b QV L-2 By + conc, HOT} Gye BEES [Lat yy O-9 BY] + RAY O-MRM HDT} (4.40) AnH + BEI DU MBM 29 BH HTP ays BER Leche kt Le Renn + 267 HD { camel { ret eyiy! 9a yy \ a yye teu yl +4 CoW) EHD) 200 SC 29 HD} ‘The elements of Aij through Cy define the effective masses of the system, whereas the elements Dij through Iij define the effective stiffnesses. For the particular functions of y and ¥ used, the integral appearing in Eqs. 4. 38 to 4. 40 can be determined from Ref. 15 with the following results KH HD = ole Bi CAF ABE) for i=j = pita te La 92-4 p78 8 Lepe-2} PT} ia = ply SEND KWH e KWH CRY) = RD yoy = ery 2 BO YEH) = COS 4 ae lj In the derivation of the above equation, the system has considered to be un- damped. Consideration of damping will lead to an equation of the form 46Im] {4} +Lel{e}+Lei{v} = -{Prs (4.41) [Uy Vast s Vig Vag Vag ers Wag Wag FG inwhich { 3} [C] is the damping matrix; and [M] and [K] are the mass and stiffness matrices corresponding the square matrices on the left hand members of Eq. 4.36. 4.3.5 Equations for Free Vibration, The equations for free vibration can be obtained from Eq, 4.41 by deleting the damping and loading terms. The result is Um] {%} + Ck {ft} = 0 (4.42) ‘The presence of the fluid has no effect on the stiffness matrix, [K1, but does in- fluence the mass matrix, [M}. ‘The solution of Eqs. 4.42 is obtained in the usual manner by letting {s}= {8} Sin (wt +a) (4.43) and solving the resulting eigenvalue problem Lk] {B} = 0 Im] {3} (4.44) In particular, if us cosne ¥ OG, B.@) sin Cok + &) : Ve sinno S % H(z) sin Gok ta) (4.45) (4.46)where the superscript T denotes the transpose of the row matrix. ‘The natural frequencies are determined by evaluating the roots of the de- © . Once these have been determined, terminental equation | [k] - o*LMJ the vector {41 corresponding to these values are determined from Eq. 4. 44. The modal displacements u, v and w are finally computed from Eq. 4. 45. In the solutions presented in the following sections, the number of terms considered in the expression for u, v and w will be denoted by N,, No and Nay respectively. This leads to a system of N, +N2 +No natural frequencies and modes, 48V FREE VIBRATION OF EMPTY TANKS 1 Introduction Before investigating the free-vibrational characteristics of the fluid-tank sys~ tem, it is desirable to study those of the empty tank. It is well known that the natural mode of vibration of a cylindrical shell can be defined by two integers: the number of circumferential waves, nj the number of axial waves, m. Any combination of m and n defines a natural mode and the associated natural frequency. Representation modes of vibration for a cantilever cylindrical shell are illustrated in Fig. 5.1. Theoretically, an infinite number of such modes is possible for a given shell. ‘These modes can be divided into three groups as follows: (1) Axially sym~- metrical modes, corresponding to n=0, which may be excited by a vertical ex~ citation; (2) The anti-symmetrical modes with n= 1 which may be excited by uni- directional lateral excitation; and (3) Modes with n> 1, The last group of modes has been studied extensively during the past ten years because of the importance in aerospace engineering, but the first two groups has received relatively little attention. In the analysis of the earthquake response of fluid containers, it is the first two groups that are of special interest. This chapter is devoted to a study of the second groups of modes and of the associated frequencies. ‘The natural frequencies and mode shapes of empty shells were first studied by Rayleigh (19) using both an extensional theory and an inextensional theory. ‘The most comprehensive recent investigations were conducted by Arnold and Warburton (20,21) and by Warburton (22,23), who used Fliigge's eight order differential equation. Additional studies have been performed by Weingarten @4) 49who established an approximation for the natural frequencies correponding to a large number (n > 3) of circumferential waves, and Vronary and Smith ( 25 ) who used Fliigge's eight order differential equation and carried all complex quan- tities through the solution process. 2 Presentation of Numerical Results ‘The free vibrational characteristics of uniform, empty tanks were evaluated for 15 values of H/a in the range between 0.02 to 10.0, and values of h/a equal to 0.01.and 0,001. In these solutions, the number of circumferential modes, n, was taken as n=1, The solutions were obtained using three terms in the expansion for u (i.e. N, =3); four terms in the expansion for v (i.e. N,=4); and five terms in the expansion for w (i.e, N=5). This combination, which led to a system of 12 natural frequencies and modes, provided a proper balance between desired accuracy and computer cost involved. ‘The lowest three natural frequencies (m= , 2 and 3) and the displacement coefficients t}, , and i which define the associated modes are summarized in Tables 5. 1 and 5,2 and in Tables 5. 5 and 5.6, respectively. ‘The frequency values are presented in two different forms. In the first, the circular frequency a is expressed as o-8 fz (1) and the values of /A are tabulated, In the second, w is expressed in terms of (oor Which represents the mth circular natural frequency of the tank assumed to behave as a cantilever beam, The latter frequency is defined by (5.2) 50in which I=11a°h, p=21fah p, and B's are defined in Table 4.1, ‘The above equation can also be written in the form eo [= to), = Ae (om, = HE TE Jz (5.3) where pg 18 the mass density of the tank wall. It follows that the ratio w/(u,,)o is related to /Aby the equation & (5.4) The modal displacement coefficients in Tables 5.5 and 5, 6 are normalized such that the largest coefficient is always unity, Although twelve displacement coefficients are obtained for each solution, the values of Ygand @, are not reported because they are generally quite small. A limited number of solutions were also obtained for shells with h/a=0. 005. ‘The natural frequency values for this case are summarized in Table 5.3. As an indication of the accuracy of the solution presented, in Table 5.4 are summarized the lowest natural frequencies obtained for shells with h/a=0. 01 and three different values of H/a using several different combinations of terms in the expressions for u, v and w. The associated displacement coefficients are given in Table 5.7. Examination of these data reveals that the results ob- tained with the 3-4-5 combination are in reasonable agreement with those obtained by using a larger number of terms, and generally better than those obtained using other combinations of about the same number of total terms. ‘Asa further indication of the accuracy of the presented solutions, a com- parison is made in the following of the results obtained for the test problem 51analyzed in Refs.13 and 26 mode Ref. (13) Ref. (26) Present Analysis 1 213.8 212.8 217.8 2 275.5 273.4 276.6 3 280.0 277.3 280.5 4 283.2 279.7 284.3 ‘The solutions refer to a shell with 40 ft height, 60 ft radius and 1 in thickness. ‘The elastic modulus, E, and the Poisson's ratio are taken as 30 x 10° psi and 0.3, respectively. ‘The presented solution is taken 5 terms for each u, v and w displacements, and the results shown that the maximum error is about 2 # off from Ref. 3 Solutions For Fundamental Frequency. In Fig, 5.2 the fundamental natural frequency of the tank (m= n= 1) is plotted as a function of H/a for two values of the thickness-to-radius ratio, h/a, The frequency value is normalized with respect to (v,),, the fundamental natural fre~ quency of the tank assumed to behave as a cantilever beam. The natural modes of the tanks with h/a ).01 are shown in Fig. 5.3 for selected values of H/a in the range between H/a=0.02 and 10.0. Examination of these figures reveals that for the values of H/a of the order of 5, the deflection configuration for both w and v are of the same order of mag- nitude and similar to the fundamental mode of vibration of a cantilever beam, whereas the configuration for u approaches a half-sine wave. In this case, the cross section of the beam may be considered to undergo no change during de- formation and the shell effectively behaves as a long cantilever beam. This is also demonstrated by the fact that the frequency ratio u/(0,)p tends to unity (line A). The axial displacement of the shell, u, is the result of the axial strain, 52du/dx, which is proportional to the moment diagram. Considering that the latter diagram increases from zero at the free end to a maximum value at the fixed end and =0 at the fixed end, the integral of this diagram should have the general shape of a half-sine wave. As H/a decreases, the w- and v-displacement remain of the same order of magnitude (indicating that the cross section continues to remain circular) but the rate of increase of the displacements decreases with the height, and their distri- butions tend approximately to a sine curve (see curves for H/a=1.5), This trend reflects the increasing importance of the shearing deformation. As would be expected, the frequency ratio decreases with decreasing H/a. ‘The dashed line B in Fig. 5.2 represents the frequency values computed by assuming the shell to behave as a uniform cantilever shear beam. The mth cir~ cular natural frequency of such a beam is given by (On), = GEE (5.5) 2H in which k'= the shear coefficient of the cross section; A=the cross sectional area; G=the shear modulus of elasticity; p=p,A=the mass per unit of length, For a thin shell, k'=1/2 and A=2ifah, Substitution of these values into Eq. 5.5 yields (Om), = t (5.6) which, upon normalizing with respect to (om), becomes (Wms | _G@m-nm foo eau (5.7) The values of Bp, are listed in Table 4.1. For still lower values of H/a, the v-displacements become negligible in comparison to the w-displacements, and the shell behaves essentially as a 53series of isolated rings undergoing extensional vibration, The frequency values in this case are in reasonable agreement with those obtained by considering the “breathing frequency" of an arch fixed at 0=90° and 270°. The latter frequency is approximately equal (Ref.27 ) to the fundamental natural frequency of a bar of length L=Ta in axial vibration, and is defined by me ER (5.8) where D=Eh/(1-v*)= the extensional rigidity of the shell, and L=Tla= length of the arch, Substitution of D andL into Eq, 5.8 leads to 1_/z a” afiaoe ve (5.9) and normalization with respect to (0,,)o (see Eq, 5.3) leads to wa AZ Cm Pa = oe In Fig. 5.2, Eq, 5. 10 is represented by line C, The height-wise distribution of Hy? a (5.10) the w-displacements in this case is more nearly uniform. As H/a ~0, the height-wise distribution of the w-displacements once again approaches that of a cantiliver beam and the v- and u-displacements become negligibly small. The wall of the tank in this case acts as a series of independent cantilever strips. In addition to motion in the radial direction due to the bending effects in that direction, each strip may also undergo motion in the transverse (or tangential) direction due to the shearing effects in that direction, ‘The mth natural frequency of the strip in bending is given by 2 mr, = 22 /F (5.11) where D=Eh?/12(1-v the bending rigidity of the strip, and j:= gh. Substituting D and p into Eq, 5.11 and normalizing with respect to (dm)o, one obtains 54(Ome 1 ah (mle Netinvsy & (5.12) ‘The latter equation is represented by lines D and E in Fig. 5.2. ‘The mth natural frequency of the strip due to the transverse shearing effect is given by (om), = GRE [Se (5.13) in which D=AG/(1-v?) and p=p,h. Substituting the latter expression into Eq, 5. 13 and normalizing with respect to (a,)o, one obtains (5.14) Note that unlike Eq, 5. 12 which is independent of H/a, Eq. 5, 14 increases linearly with H/a. For the range of parameters considered in Fig. 5.2, the frequencies corres~ ponding to Eq, 5, 14 are higher than those corresponding to Eq, 5.12 and hence are not the controlling ones. For still lower values of H/a, however, Eq. 5. 14 may well be the controlling one. Needless to add, the frequencies defined by Eqs. 5. 12 and 5, 14 correspond to values of H/a which are too small to be of practical interest, Furthermore, the effects of shearing deformation and rotatory inertia which are neglected in the theory employed are likely to be important in these cases, ‘To summarize, the behavior of the shell is a function of the ratio H/a. For extremely small values of H/a, the shell behaves as a series of cantilever strips, whereas for moderately low values, it behaves as a series of circular arches of 180° angle of opening undergoing extensional breathing motion, For medium 55values of H/a, the entire shell behaves approximately as a cantilever shear beam, and for large values of H/a, it behaves as a cantilever flexural beam. Evidently, the transition from one type of action to the next is smooth rather than abrupt. 5.4 Solution for Second Frequency. In Fig. 5.4 and 5.5 the second natural frequencies of the shell (m=2, n=1) are plotted as a function of H/a for the same two values of h/a considered pre- viously. Also included for purposes of comparison are the results for the fun- damental natural frequency. In Fig. 5.4 the results are normalized with respect to the fundamental natural frequency of the shell considered to behave as a beam, (o,)o. Whereas in Fig. 5. 5 they are normalized with respect to the mth natural frequency of the beam, (um)o+ ‘As might be expected, the right-hand limit of the curve for m=2 in Fig. 5.4 is 63 / 62 = 6.267. It is important to note that the left-hand limit in this case is a diagonal rather than a horizontal line, The horizontal line shown dotted corresponds to the flexural strip action defined by Eq, 5. 12, whereas the limiting diagonal line corresponds to the corresponding shear action defined by Eq. 5.14. When normalized with respect to (w, Jo, these equations become (2m)e 2 1 Beh ne Vea PF e (5.15) and Coms _ Gamay \ Hn Cone 2 AP Varyaevy & (5.16) respectively. For values of H/a of the order of about 0,5, the curves for the first and second frequency are close together. This pinching effect is due to the fact that 56in this case the shell behaves as a series of isolated rings or arches and the height-wise distribution of the mode has virtually no effect on the value of the frequency. 5.5 Dunkerley's Approximation, In Figs. 5. 6 and 5.8 the natural frequency values previously in Figs. 5.2 and 3.4 are compared with those computed from Dunkerley's approximation 1 H 1 De * Wome * Gane * OF (5.17) in which (0m)g = (Wm), 18 defined by Eq, 5.3 and (4,)s and va are defined by Eqs. 5.6 and 5.9, When normalized with respect to (,)g, Eq. 5. 17 becomes wm f wuk , (wo2 , woe Ft Ge [3s ot SF] oe) ‘The comparison is limited to values of H/a >0.1. The relative values are also tabulated in Table 5.8. It is clear that the agreement between the exact and approximate solution is quite satisfactory for most practical purposes, except for the combination of values of H/a and h/a for which the exact curve turns to the left and approaches the horizontal line representing the natural frequency of a cantilever strip in flexural vibration. ‘The transition of the curve to the horizontal asymptote, although seldom of practical interest, can be determined by inspection. The values of H/a corresponding to the beginning of this transition are identified by the horizontal dotted lines in Table 5.8. 5.6 Beam Solution. ‘The dashed line in Fig, 5.7 represents the fundamental natural frequency of the tank computed on the assumption that the tank acts us a cantilever beam with- out change in cross section but considering the effect of both flexure and shear. 57‘The frequency was computed by application of Rayleigh's method assuming that the deflected shape of the structure is the same as that induced by a load, q, uni- formly distributed along the height of the shell. ‘The deflection of the beam, y, may then be expressed as Ya Ws Ye (5.19) in which y, is the deflection due to flexure and y, is the deflection due to shear. With the origin of z taken at the fixed base. y she (39 [e-4&)+ HI (5.20) and y, is determined from 37 ye wv dz* RAG (5.21) with the following result aye GHA (2)? ee = 2cty) (F) SE (A) D-2 4) (5.22) In Eq. 5.21, V=q(H-z), A= 2tah and kt ‘The natural frequency may then be determined from ws S/T (5.23) — as S=f"yyaz = ¢, SE (5.24) at F en hy (5.25) 4 i Be? Te f myde = Cl, Te (5.26) Lod 4 Letty Bye Ba vyeceyt (5.27) 2" Go as * 6 and =the mass per unit of length of the tank. Whence it follows that 58(5.28) 1 Taree [ee (5.29) Note that the results for values of H/a > 2.5 are in excellent agreement with the or exact values but the agreement deteriorates rapidly for lower values of H/a. The results obtained from Eq. 5.29 are also tabulated in Table 5.9. 5.7 Three-Term Solution It is also of interest to compare the fundamental natural frequencies of tanks having different values of H/a with those obtained by use of a single term in the expressions of u, v and w. The dotted line in Fig. 5,7 represents the results obtained with WE) = U, By (z) Cos 8 Sin Cwt + A) V(t) = Vi YG) Sin@ Sin (wt + ot) (5.30) we) = W, Yi (2) cs @ Sin (wt +) Note that for H/a < 0.3 the approximate frequency values are in good agreement with the more nearly exact results. This result could have been anticipated from the fact that the assume deflection shape is a good approximation of the actual mode (see Fig. 5.7 and numerical data in Table 5.5). The maximum discvepancy between the two sets of results occurs for a value of H/a=2.0 and it is approximately 23 4. 5.8 Natural Frequencies of Modes with n > 1. ‘The result presented in the preceeding sections are for a natural mode of vibration having a single wave in the circumferential direction (i.e. n= 1). 59In particular, the fundamental natural frequency, m= the natural frequencies computed with n= 1. ‘The lowest natural frequencies of tank with h/a=0,01 are also evaluated considering values of n=2, 3, 4,...,10, and the results are listed in Table 5, 10 and shown graphically in Fig. 5.9. ‘The reported value in each case is the lowest circular frequency for the par~ ticular value of n considered, and is denoted by the symbol #, y- In other words, m=1 inall these solutions. The results are normalized with respect to (;)o, the fundamental natural frequency of the tank considered to behave as a flexural beam without a change of its cross section, These solutions are obtained using 3 terms in the expression for u, 4 terms in the expression for v, and 5 terms in the expression for w. With few minor exceptions, the frequency values for n> 2 are lower than those obtained for n= For small values of H/a, of the order of less than 0. 1 for the particular value of h/a considered, all curves merge and approach the same horizontal asymptote on the left. ‘The shell in this limiting case vibrates as a series of isolated strips and the frequency value is independent of the number of circum - ferential wave, n, involved. ‘The high frequency limit of the curves can also be predicted by noting that, in this‘case, the shell vibrates as a series of isolated rings in flexure. Excluding the case of n , for which a flexural, inextensional motion of the ring is not possible, this limiting frequency is given by the following expression applicable to rings (see page 61-19 of Ref.28), 60Ex wp), = af EL (Wan ae 7 (5.31) Letting I= h?/12(1-*) and p= sh, Eq. 5.31 can be rewritten as mn (m2- h E Wa), = emtan b [ES (ae* Totty oF 1 Fe (5.32) whence (Wan | aon Loh cay (nd. Imes Bale @ Se (5.33) The values predicted by Eq, 5.33 are shown in dotted lines. Note that the higher the value of nis the lower is the value of H/a for which the ‘exact’ result are approximately equal to those predicted by Eq. 5. 33. 61VI FREE VIBRATION OF FLUID-TANK SYSTEM 6.1 Introduction The free vibration of liquid-filled circular cylindrical containers has been the subject of numerous investigations,in the last 15 to 20 years, Most of these studies were motivated by interest in the response of fuel containers in space vehicles, and dealt primarily with the response of the liquid rather than that of the tank, Accordingly, the results are not applicable to civil engineering applica- tions. ‘These_studies can broadly he classified in two groups. (1) Those based on the assumption that the cross section of the tank remains circular during vibra~ tion; and (2) those for which the tank is presumed to vibrate with a large number of circumferential waves, usually values of n= 3. The latter values normally correspond to the lowest natural frequencies, References32, 33 and 34are representative examples of group 1 studies, whereas References 11, 12, 35, 36 and 37 are representative examples of group 2 studies. ‘The assumption of no change in cross section, while reasonably good for tanks with large height-to-radius ratios or for tanks which are reinforced with large number of stiffeners; is clearly unacceptable for short tanks of the type normally used for oil or water storage tanks. Likewise, the solutions for n 2 3 are of no interest for the type of excitation associated with earthquakes and other forms of horizontal ground shaking. Of interest, in such application is the solu- tion corresponding to n= 1. Of special relevance to the present study are the studies reported in Refs. 12, 13, 26 and 38, which deal with modes corresponding to n= 1. ‘The scope of 62of the study reported herein is basically the same as that of the studies re- ported in the latter references, except the approach used is generally different and the results are more comprehensive and conclusive than those reported pre- viously. A few brief comments follow concerning Refs. 12 and 11, Ref. 11 dealt with the free vibration of a circular tank simply supported at one end and free at the other. The solution was obtained by application of the energy method using the mode shapes of the empty tank. It was shown that the natural frequencies and modes of the system, including the free surface effects, are nearly the same as those obtained by neglecting the surface effects, and that the sloshing frequencies are for all practical purposes the same as for a rigid tank, In Ref. 12a cantilever tank is analyzed by the same procedure as the one used herein except that the virtual masses used in this reference are not com- patible with the assumed deflection function. 636.2 Presentation of Numerical Results In a manner analogous to that used in the study of empty tanks, the free vi- brational characteristics of the fluid-tank system were evaluated for 15 values of H/a in the range between 0,02 to 10.0, and values of h/a equal to 0,01 and 0.001. In these solutions, the tank was considered to be made of steel and to be full with water. Poisson's ratio was taken as v= 0.3, and the ratio of the relative density of the liquid and the shell was taken as p »/,= 62, 4/490=0. 127. All solutions refer to a value of n=1. Except where otherwise indicated, they were obtained using three terms in the expansion for u(i.e. Ny =3); four terms in the expansion for v (i.e. N,=4); and five terms in the expansion for w (ie. No=5). ‘The lowest three natural frequencies (m= 1,2 and 3) are summarized in Tables 6.1 and 6.2, and the displacement coefficients 0;, 0; and W, which define the associated modes are summarized in Tables 6.4 and 6.5, respectively. ‘The frequency values are presented in two forms. In the first, the mth circular natural frequency, ut, is expressed as ws = & (6.1) and the values of /A are tabulated, In the second, ot, is expressed in terms of (o%,)o» Which represents the mth circular natural frequency of the tank and the contained liquid assumed to behave as a cantilever beam. The latter frequency is defined by wn, = & FE in which 8, are dimensionless coefficients given in Table 4. 1; (6.2) 64= the mass per unit length of the fluid-tank system, the latter quantity is given by Ms anahe+nath = amahelitg HX] or A Be Ms Lite EFI (6.3) in which p, =the mass per unit of length of the tank without the liquid. Eq, 6.2 can also be written in the form bao 1 = Te Wie ee Ue (6.4) (on), = Hence, the ratio wt,/(uf,)y is related to /Aby the equation wn (wm (6.5) ‘The modal displacement coefficients in Table 6, 4 and 6.5 are normalized such that the largest coefficient is always unity. Although twelve displacement coefficients are obtained for each solution, the values of ¥, and W, are not reported because they are generally quite small. As an indication of the accuracy of the solution presented, in Table 6,3 are summarized the lowest natural frequencies obtained for shells with h/a=0.01 and three different values of H/a using several different combinations of terms in the expressions for u, v andw. The associated displacement coefficients are given in Table 6.6. Semin of these data reveals that the results obtained with the 3-4-5 combination aré’in reasonable agreement with those obtained by using a larger number of terms, and generally better than those obtained using other combina- tions of about the same number of total terms. The 3-4-5 combination is believed to provide a reasonable compromise between desired accuracy and the desire to 65minimize the cost of obtaining these solutions. 6.3 Solutions For Fundamental Frequenc In Fig. 6. 1 the fundamental natural frequency of the tank (m=nz= 1) is plotted as a function of H/a for values of h/a equal to 0.01 and 0,001, The frequency value is normalized with respect to (uf), the fundamental natural frequency of the fluid-tank system assumed to behave as a cantilever beam (Bq, 6.4 with m= 1). In Fig, 62 and 6.3 are shown the associated natural modes for selected values of H/a in the range between H/a=0, 02 and 10.0. In Fig. 6.4, the convergences of some selected w-mode shapes are shown. The solid lines represent the re- sults obtained with the 3-4-5 combination of terms, whereas the dashed lines are those obtained with a 3-5-7 combination, Examination of these figures reveals that for values of H/a of 5 or larger, the deflection configuration for both w and v are of the same order of magnitude and similar to the fundamental mode of vibration of a cantilever beam, whereas the configuration for u approaches a half-sine wave. In this case, the cross section of the beam may be considered to undergo no change during deformation and the shell effectively behaves as a long cantilever beam. This is also demon- strated by the fact that the frequency ratio u* /(uf)y tends to unity; the axial dis- placement of the shell, u, is the result of the axial strain, du/dx, which is pro- portional to the moment diagram. Considering that the latter diagram increases from zero at the free end to a maximum value of the fixed end and that u=0 at the fixed end, the integral of this diagram should have the general shape of a half-sine wave. Curve A in Fig. 6, 1 was obtained by assuming that the cross section of the 66tank does not change shape and that the heightwise distribution of the deflection is the same as that for a uniform cantilever flexural beam. Let mf,, 5 be the generalized mass of the empty tank (structure without the liquid) corresponding to the assumed mode of vibration, and mj, » be the generalized or virtual mass of the fluid inside the tank, ‘The natural mode of the system in the latter case is considered to be the same as for the empty tank. If the natural frequency of the empty tank corresponding to the assumed mode is , then the natural frequency of the tank filled with fluid, w*, can be obtained by the following relationship bok 8 MR 7 (6.6) Let mf, ,= egm, and mg, = emp, inwhich the symbols ¢, and ¢p represent the virtual mass coefficients of the tank and the fluid, and mg and mg are the total masses of the tak and the fluid respectively. ‘The above equation is then rewritten as in which 0) and pg are the mass densities of the fluid and tank. ‘When the natural mode of the fluid-filled tank is taken equal to that of a uniform cantilever flexural beam, the value of ¢9(= my, o/™)) is as shown in Fig. 4.1, and the value of eg (= mi, ¢/mg) is unity for all values of H/a, It should be recalled that the modes are normalized such that the displacement value at the top of the beam is 2, Recalling that the natural frequency of the empty tank, py, is given by Eq. 5.3, the natural frequency of the full tank can be determined from Eq, 6.7 as 67* 1 bm a fe One® eae a TeV (6.8) (6.9) ‘The curve A in Fig. 6.1 is defined by Ea. 6.9. ‘As H/a decreases, the w~ and v-displacements at the top remain of the same order of magnitude, but the w-displacement becomes comparatively much larger at the lower portion of the tank. Furthermore, the distribution of the v-displacement changes shape and approaches that of a sine curve (see curve for H/a=2.0). This trend reflects the increasing influence of shearing deformations. The dashed line B in Fig. 6, 1 represents the frequency values computed by assuming the fluid-tank system to vibrate ina mode equal to that of a uniform cantilever shear beam. ‘The mth circular natural frequency of the empty tank in this case is defined by Eq. 6, and the corresponding frequency of the fluid-tank system is obtained from Eq. 6.7 as * 1 (am-) 1 i COs: Tae 3H # (6.10) THES in which k' = the shear coefficient of the cross section; A = the cross-sectional area of the tank wall; G= the shear modulus of elasticity; p= p,A= the mass per unit of length of the tank wall. For a thin shell, k’ 1/2 and A = 2Tfah, The quantity, eg (= my, g/m,), in this case is defined by Eq. 3. 11 and 3.7 and is also shown in Fig.3.5. The quantity, ¢, my, s/m,), is defined from the sum of 68mY, and mW in Eq. 4. 10 to be 1/2, Therefore, Eq. 6, 10 can be rewritten as * 1 (2m-1)m ob — (Om)s= ae nee (6.11) 1+ ee 4 fire Ps After normalizing with respect to (*,)o, one obtains the following expression for curve B in Fig. 6. 1. (wren m= z ds _@am-)Tt 1+ $ ee HH an, @D. ako [Fe ee & For still lower values of H/a, the u~ and v-displacements becomes negligible in comparison to the w-displacements, and the shell may be considered to behave asa series of isolated rings, fixed at 0= 90° and 270°, undergoing extensional vibration, ‘The natural frequency of the tank for this ring-like mode of vibration is de- termined from Eqs. 5.9 and 6.6 as 1 cet Fee (6.13) Vitze ‘The virtual mass coefficients ¢, and ¢, will be evaluated on the assumption that the w-displacement is independent of z and proportional to cos®. Letting 4(z)=1 into mf of Eq. 4. 10, we obtain mj, ,=0.5mg, The virtual mass of the fluid, obtained by substituting 4(z)=1 into Eq. 4.17, is Pe oes eee LL Dea eS [ai-or> Tle a 6.14) = 5] Cae For small values of H/a, the ratio I/I, tends to unity, and Eq, 6.14 leads mg, p= 0.543 mg H/a. Therefore, 69&= 0.543% and €,= 0.5 (6.15) Substituting these values into Eq. 6. 13 and normalizing with respect to Eq. 6.4, one obtains Jie wm ies +e a) (Oem), sn fin-ve fi Hama 7 2s Pm fimo /i+ 0,543.0 ES 3. In Fig. 6.1, the latter equation is represented by line c, For values of H/a of the order of 0.05 or less, the height-wise distribution of the w-displacements again approaches that of a cantilever beam and the v and u-displacements become negligibly small (see Fig. 6.2). ‘The wall of the tank in this case acts as a series of independent cantilever strips. As H/a tends to zero, the virtual mass ratio of liquid also tends to zero and the frequency value approaches that for a cantilever strip without any virtual liquid mass. For near-zero value of H/a, the natural frequency of the system in this case is again obtained from Eq, 6.7, where wp, is now given by Eq.5, 11. The values of ¢, in this case is unity, and the virtual mass of the fluid associated with the first mode of vibration of the beam, (2), is obtained from Eq, 4. 17 by letting Land I,/Ij 1, and the result is ele * om, HS 4 oo mine MEE acy tert 0237 my (6.17) ‘ pt uz in which ay, = af Y, 2) cos [(2k-1) FH) dz Substitution of these expressions into Eq, 6,7 together with Eq. 5. 11 leads to 2 OO ms eee HE which upon normalizing with respect to (of,), becomes 70 (6.18)wt, em VER (Ono Veu-») isons Jivoust 2S a (6.19) ‘The latter equation is represented by lines D and E in Ea, 6.1. In addition to motion in the radial direction, which is due to flexure in that direction, each strip may also undergo motion in the transverse (or tangential) direction due to the effect of shearing force in that direction. In this case, the effect of the liquid becomes negligible, and the natural frequencies of the fluid- tank system approaches those of empty tank. The latter are defined in Eq. 5. 13. Normalization of Eq, 5, 13 with respect to Eq. 6.4 leads to wis _ @m-on VGERR HW (on), 282 Jarwtony © (6.20) Eo, 6.20 increases linearly with H/a, For the range of parameters considered in Fig, 6, 1, the frequencies corresponding to Eq. 6.20 are higher than those cor- responding to Eq. 6. 19 and hence are not the controlling ones, However for still lower values of H/a or for higher modes, Eq. 6.20 may well be the controlling one, ‘That this i8 indeed possible is demonstrated by the curve for the second natural frequency presented in Fig. 6.5. Needless to add, the frequencies defined by Eqs. 6. 19 and 6,20 correspond to values of H/a which are too small to be of practical interest, Furthermore, because of the large h/H ratio, the effects of shearing deformation and rotatary inertia which are neglected in the thin shell theory are likely to be important in this case. To summarize, the behavior of the fluid-tank system is a function of the ratio H/a. For extremely small values of H/a, the shell behaves as a series of cantilever 1strips with little fluid mass attached to it. For moderately low values, it be- haves as a series of circular arches of 180° angle of opening undergoing exten- sional breathing motion, the effective mass of the fluid being approximately equal to 0. 543mgH/a in this case, For medium values of H/a, the entire shell behaves approximately as a cantilever shear beam, For large values of H/a, it behaves as a cantilever flexural beam and approximately all of the fluid is uni- formly attached to the tank wall and vibrates with it, Evidently, the transition from one type of action to the next is smooth rather than abrupt. 6.4 Solutions for Second Natural Frequency In Figs. 6.5 and 6, 6 the second natural frequency of the shell (m=2, n=1) is plotted as a function of H/a for the same two values of h/a considered pre- viously. Included for purposes of comparison are also the corresponding curves for the fundamental natural frequencies, The results are normalized with respect to the fundamental natural frequency of the fluid-tank system considered to behave asa cantilever beam, (v)g- ‘As might be expected, the right-hand limit of the curve for m=2 in Fig. 6.5 and 6,6 is equal to the value of 63 / A? = 6.267. In the middle region of H/a, the ratio of the second natural frequency to the fundamental frequency is nearly con stant. In Fig. 6.5, the left-hand limit is a diagonal rather than a horizontal line. As discussed in Section 6.3, the behavior of the fluid-tank system in this case is essentially the same as for an empty tank, The part of the curve shown dotted corresponds to a flexural action for the strip and is defined approximately by Ba. 6.19. 26.5 Dunkerley's Approximation In Figs. 6.7 and 6.8 the natural frequency values presented previously in Figs. 6.5 and 6, 6 are compared with those computed from Dunkerley's approxi- mation (6.21) in which (ut,)g» (of,)g and uf are defined by Eqs. 6.8, 6,11 and 6,13 respec tively, When normalized with respect to (uf),, which is defined by Eq. 6.4, Eq. 6.21 becomes (6.22) The comparison is limited to values of H/a> 0, 3 for h/a=0.01 and to values of H/a > 0.1 for h/a= 0.001. The numerical values used in the preparation of these figure are also listed in Table 6.7. It can be seen that, exclusing the low values of H/a, the agreement between the “exact” and the approximately values is very good particularly for the thinner tank. ‘The disagreement in the low values of H/a suggests that the procedure used to estimate the virtual mass of the liquid in the ring-like mode of vibration is pro- bably not sufficiently accurate. : It should be recalled, however, that the low values of H/a considered in this figure are of no practical interest. 73VII RESPONSE OF FLUID-TANK SYSTEM TO VERTICAL EXCITATION 7.1 Introduction ‘The behavior of liquid inside a moving container subjected to longitudinal excitation has been the subject of several investigations during the past 15 years. the majority of this effort was directed to understanding the phenomenon of liquid surface resonance, capillary wave behavior, bubble behavior and cavitation (Ref.29,30,31,38,40). By contrast, the behavior of the coupled fluid-tank system has received comparatively little attention. ‘The axisymmetric vibration of thin empty cylindrical shells supported at both ends has been studied by Forsberg (41), who compared the behavior of the shell with that of bars and rings and found good correlations. An approximate solution for the hydrodynamic pressure induced on the wall of a circular cylindrical tank subjected to a vertical harmonic excitation has been presented by Bleich (42). The solution is based on the assumptions that (a) the natural frequency of the fluid-tank system is the same as that of a circular ring without any virtual liquid mass, and that (b) the effects of the surface oscillations are negligible. The ultimate objective of the study reported in this chapter is the investiga - tion of the response of the tank-fluid system to a vertical excitation of the base. Asa step to this end, a study is made of the axisymmetric natural modes of vi- bration of the system and of the associated frequencies assuming the liquid to be incompressible. 7.2 System and Assumptions In this section we consider the response of the fluid-tank system to the 14