Вы находитесь на странице: 1из 6

February

- 20, 2015. Vienna


University
of Technology,
Vienna,
8th
Vienna18International
Conference
on Mathematical
Modelling
8th
Vienna18International
Conference
on Mathematical
Modelling
Austria
February
- 20, 2015. Vienna
University
of Technology,
Available
online at Vienna,
www.sciencedirect.com
February
Austria 18 - 20, 2015. Vienna University of Technology, Vienna,
Austria

ScienceDirect

Low Frequency Correction


Low Frequency
of a Multi-degrees-of-freedom
ModelCorrection
for Hydraulic Pipeline Systems
Low Frequency
Correction
of a Multi-degrees-of-freedom Model for Hydraulic Pipeline Systems
of a Multi-degrees-of-freedomGudrun
ModelMikota*
for Hydraulic Pipeline Systems
IFAC-PapersOnLine 48-1 (2015) 435440

Gudrun
Mikota*
Gudrun
Mikota*
*Institute of Machine Design and Hydraulic
Drives, Johannes Kepler University Linz,

*Institute
of Machine
Design
and Hydraulic Drives,
Johannes
Kepler University
4040
Linz,
Austria
(Tel:
+43-732-2468-6538;
e-mail:
gudrun.mikota@
jku.at)Linz,
*Institute of Machine Design and Hydraulic Drives,
Johannes
Kepler University
Linz,
4040 Linz, Austria (Tel: +43-732-2468-6538; e-mail: gudrun.mikota@ jku.at)
4040 Linz, Austria (Tel: +43-732-2468-6538; e-mail: gudrun.mikota@ jku.at)
Abstract: For hydraulic pipeline systems, a multi-degrees-of-freedom model is developed from the
Abstract:
For hydraulic
systems,
a multi-degrees-of-freedom
model and
is developed
from the
modal decomposition
of pipeline
the transfer
function
between flow rate excitation
pressure response.
Abstract:
For hydraulic
pipeline
systems,
a multi-degrees-of-freedom
model and
is developed
from the
modal
decomposition
thethe
transfer
function
flow rate excitation
pressure
response.
Eigenvectors
are taken of
from
undamped
case. between
Natural frequencies
and damping
ratios
are calculated
modal
decomposition
of
the
transfer
function
between
flow
rate
excitation
and
pressure
response.
Eigenvectors
are taken from the
undamped
case.pipelines
Natural frequencies
damping
ratios are calculated
from modal approximations
of the
individual
with single and
frequency
approximations
at the
Eigenvectors
are taken from the
undamped
case.pipelines
Natural frequencies
and
damping
ratios are calculated
from
modal
approximations
of
the
individual
with
single
frequency
approximations
at the
pipeline system resonances in the low frequency range. The multi-degrees-of-freedom pipeline system
from
modal approximations
thelow
individual
pipelines
withmulti-degrees-of-freedom
single frequency approximations system
at the
pipeline
inofthe
frequency
range. The
model is system
rebuilt resonances
from its modal
description
and evaluated
for a network that connects a pipeline
pump with two
pipeline
system
resonances
in
the
low
frequency
range.
The
multi-degrees-of-freedom
pipeline
system
model
is rebuilt from its modal description and evaluated for a network that connects a pump with two
closed volumes.
model
is rebuilt from its modal description and evaluated for a network that connects a pump with two
closed volumes.
closed
2015,volumes.
IFAC
(International
Federation
of Automatic
Control)
Hosting by
ElsevierEigenvalues,
Ltd. All rights
reserved.
Keywords:
Hydraulic
pipelines,
Approximate
analysis,
Eigenmode
analysis,
Eigenvectors,
Keywords:
Hydraulic pipelines, Approximate analysis, Eigenmode analysis, Eigenvalues, Eigenvectors,
Transfer
functions
Keywords: Hydraulic pipelines, Approximate analysis, Eigenmode analysis, Eigenvalues, Eigenvectors,
Transfer functions
Transfer functions

range. They were explained by the fact that for damped


1. INTRODUCTION

range.
werethe
explained
by the fact that
damped
pipelineThey
systems,
modal approximation
of anforindividual
1. INTRODUCTION
range.
They
werethe
explained
by the fact that
forindividual
damped
pipeline
systems,
modal
approximation
of
an
1.
INTRODUCTION
is
rather
inaccurate
in
the
frequency
range
below
the
Undamped fluid flow in a pipeline is described by the wave pipeline systems, the modal approximation of an individual
pipeline
is
rather
inaccurate
in
the
frequency
range
below
first
pipeline
resonance.
If
the
pipeline
becomes
part
of
Undamped
fluid Ingard
flow in(1988)
a pipeline
by model
the wave
equation, which
treatsisasdescribed
a common
for pipeline is rather inaccurate in the frequency range below the
thea
Undamped
fluid Ingard
flow in(1988)
a pipeline
isasdescribed
by model
the wave
first
pipeline
resonance.
If
the
pipeline
becomes
part
of
network,
this
frequency
range
will
contain
one
or
more
equation,
which
treats
a
common
for
electromagnetic waves on a cable, sound waves in a fluid, first pipeline resonance. If the pipeline becomes part of aa
equation,
which Ingard
(1988)
treatssound
as a common
model
for network, resonances,
this frequency
range will
contain one orwill
more
for which
the approximation
be
electromagnetic
waves
a cable,
waveswaves
in
a fluid,
longitudinal waves
on aonsolid
bar, and
torsional
on a network
network,
this frequency
range will
contain one orwill
more
electromagnetic
waves
on
a
cable,
sound
waves
in
a
fluid,
network
resonances,
for
which
the
approximation
wrong.
longitudinal
waves
on
a
solid
bar,
and
torsional
waves
on
a
rod. If damping is taken into account, the model for oil network resonances, for which the approximation will be
be
longitudinal
wavesis on
a solid
and torsional
waves onoila wrong.
rod.
If damping
taken
intobar,
account,
the Itmodel
hydraulic
applications
becomes
more
specific.
can befor
based wrong.
rod.
If damping is taken
into more
account,
the Itmodel
for
oil In this paper, the modal approximations from Mikota (2013)
hydraulic
becomes
specific.
can be
based
on
laminarapplications
flow conditions
since
turbulence
increase
paper, in
thea modal
approximations
fromfrequency
Mikota (2013)
hydraulic
applications
becomes
more
specific. would
It can be
based In
arethis
modified
way that
corrects the low
errors
on laminar
turbulence
would increase
this
paper, in
thea modal
approximations
fromfrequency
Mikota (2013)
pressure
lossflow
andconditions
is usuallysince
avoided
in oil hydraulics.
The In
are
modified
way
that
corrects
the
low
errors
on laminar
flow
conditions
since
turbulence
would increase
for
a
predefined
pipeline
system.
Proportional
damping
is
pressure laminar
loss andflow
is usually
avoided inNewtonian
oil hydraulics.
modified
in a pipeline
way that system.
corrects Proportional
the low frequency
errors
transient
of a compressible
fluid The
in a are
for
a predefined
damping
is
pressure
loss
and
is
usually
avoided
in
oil
hydraulics.
The
enforced
on
the
pipeline
system
model
so
that
all
transient circular
laminar flow
of a compressible
fluid in a for a predefined pipeline system. Proportional damping is
straight
pipeline
was describedNewtonian
by transcendental
enforced
on can
thebe pipeline
system
model so
that
all
transient
laminar
flow
of
a
compressible
Newtonian
fluid
in
a
eigenvectors
taken
from
the
undamped
case.
In
the
straight
circular pipeline
was described
by and
transcendental
enforced on the pipeline system model so that all
transfer functions
from D'Souza
et al. (1964)
has further eigenvectors
be taken
the undamped
case. In
the
straight
circular pipeline
was described
by and
transcendental
low
frequencycan
range,
naturalfrom
frequencies
and damping
ratios
transfer
functions
from
D'Souza
et
al.
(1964)
has
further
eigenvectors
can
be taken
from
the undamped
case. In
the
been modelled by rational fraction modal approximations. low
frequency from
range,single
naturalfrequency
frequencies
and damping of
ratios
transfer
functions
from
D'Souza
et
al.
(1964)
and
has
further
are
calculated
approximations
the
been
modelled
by
rational
fraction
modal
approximations.
low
frequency
range,
natural
frequencies
and
damping
ratios
Such models were published by Almondo et al. (2006), are calculated from single frequency approximations of the
been
by rational
fraction modal approximations.
individual pipelines. Higher natural frequencies and
Such modelled
models
published
et al. (2006),
calculated
from single
frequency
approximationsand
of the
Ayalew
et al. were
(2005),
Hsue etbyal. Almondo
(1983), Mkinen
et al. are
individual
pipelines.
Higher
natural
the
Such
models
were
published
by
Almondo
et
al.
(2006),
damping ratios
are
takenfrequencies
from the viscous
Ayalew van
et al.
(2005), (1997),
Hsue etand
al. Yang
(1983),
Mkinen
etthey
al. respective
individual
pipelines.
Higher
natural
frequencies
and
the
(2000),
Schothorst
et
al.
(1991);
respectiveapproximaton
damping ratios
are
taken
from
the
viscous
Ayalew et al. (2005), Hsue et al. (1983), Mkinen et al. damping
as used by Mikota (2014). The new
(2000),
van for
Schothorst
(1997),
and Yang
etare
al. well
(1991);
they
respective
damping
ratios
are
taken
from
the
viscous
can
be
used
time-domain
simulation
and
suited
to
by Mikota
(2014).
new
(2000), van Schothorst (1997), and Yang et al. (1991); they damping
isapproximaton
applied to as
theused
pipeline
network
fromThe
Mikota
can be used
time-domain
simulation
and are wellpipelines.
suited to method
damping
as
by Mikota
(2014).
The
new
study
the for
dynamic
behaviour
of individual
method
isapproximaton
applied
tosignificant
theused
pipeline
network
from
Mikota
can
be
used
for
time-domain
simulation
and
are
well
suited
to
(2014)
and
leads
to
a
improvement
of
the
multistudy the todynamic
behaviour model
of individual
pipelines.
Compared
the transcendental
by D'Souza
et al. method
is
applied
to
the
pipeline
network
from
Mikota
(2014) and leads to pipeline
a significant
improvement
of the multistudy
the todynamic
behaviour model
of individual
pipelines.
system
model.
Compared
the
by
D'Souza
al. degrees-of-freedom
(2014) and leads to pipeline
a significant
improvement
of the multi(1964), Kojima
et transcendental
al. (2002) encountered
large
errors et
when
degrees-of-freedom
system
model.
Compared
to
the
transcendental
model
by
D'Souza
et
al.
(1964),
Kojima modal
et al. (2002)
encountered
errors when
they combined
approximations
for large
the simulation
of degrees-of-freedom pipeline system model.
(1964),
Kojima modal
et al. (2002)
encountered
errors when
2. EXAMPLE SETUP AND PREVIOUS RESULTS
they
combined
approximations
for large
the simulation
compound
pipeline systems;
they therefore
suggested of
to
2. EXAMPLE SETUP AND PREVIOUS RESULTS
they
combined
modal
approximations
for
the
simulation
of
compound
pipeline systems;
theyfunctions
therefore ofsuggested
to
calculate transcendental
transfer
the entire
2. EXAMPLE SETUP AND PREVIOUS RESULTS
compound
pipeline
systems;
they
therefore
suggested
to
calculate
transcendental
transfer
functions
of the entire
system
and
approximate
the
result
in
a
second
step.
calculate transcendental transfer functions of the entire
system and approximate the result in a second step.
system
and approximate
theinjected
result inflow
a second
For
a closed-end
pipeline,
rate step.
excitations and
For
a closed-end
injected
flow (2013)
rate excitations
resulting
pressurepipeline,
responses,
Mikota
derived and
the
For
a closed-end
injected
flow (2013)
rate excitations
and
resulting
pressurepipeline,
responses,
Mikota
derived
the
modal decomposition
of the transcendental
pipeline
model.
resulting
pressure responses,
Mikota (2013)
derived
the
modal
decomposition
the transcendental
pipeline
model.
Transcendental
modal of
transfer
functions were
approximated
modal
decomposition
of
the
transcendental
pipeline
model.
Transcendental
modalexpressions,
transfer functions
by rational fraction
whichwere
lead approximated
to a multiTranscendental
modalexpressions,
transfer functions
were
approximated
by
rational
fraction
which
to a Mikota
multidegrees-of-freedom description of the lead
pipeline.
by rational fraction description
expressions, ofwhich
to a Mikota
multidegrees-of-freedom
the a lead
pipeline.
(2014)
used this model to investigate
specific pipeline
degrees-of-freedom
description
of
the
pipeline.
Mikota
(2014)
used
this model to
investigate
a specific
pipeline
network
and experienced
similar
problems
as Kojima
et al. Fig. 1. Hydraulic pipeline network.
(2014) used
this model to
investigate
a specific
pipeline
network
and
experienced
similar
problems
as Kojima etand
al.
(2002).
However,
by
comparing
transcendental
1. Hydraulic pipeline network.
network and experienced similar problems as Kojima et al. Fig.
Fig. motivate
1. Hydraulic
network.
(2002). However,
comparing
and To
approximated
transferby
functions
of the transcendental
network, it became
the pipeline
necessity
of a low frequency correction,
(2002).
However,
by
comparing
transcendental
and
approximated
functions
of theinnetwork,
became To
motivate
the necessity
of a low
frequency
correction,
clear that thesetransfer
problems
were located
the low itfrequency
example
and results
from Mikota
(2014)
are summarized
in
approximated
functions
of theinnetwork,
became To
motivate
the necessity
of a low
frequency
correction,
clear that thesetransfer
problems
were located
the low itfrequency
example
and results
from Mikota
(2014)
are summarized
in
clear that these problems were located in the low frequency example and results from Mikota (2014) are summarized in

Copyright 2015, IFAC


435
2405-8963 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Copyright
under
2015, responsibility
IFAC
435Control.
Peer
review
of
International
Federation
of
Automatic
Copyright 2015, IFAC
435
10.1016/j.ifacol.2015.05.081

MATHMOD 2015
February 18 - 20, 2015. Vienna, Austria Gudrun Mikota et al. / IFAC-PapersOnLine 48-1 (2015) 435440
436

excitation Qex at the axial coordinate xk and the pressure


response P at the axial coordinate xj reads

this Section. Figure 1 shows the pipeline network under


consideration. It consists of pipeline 1 with l1 = 2.3 m, which
is connected to a pump, and pipelines 2 and 3 with l2 = l3 =
3.0 m, each of which leads to a closed volume with
Vc = 1 dm3 (e.g. a cylinder volume). The inner radius of all
pipelines equals r = 1 cm. The fluid bulk modulus is taken as
E = 2109 Pa and the fluid density as = 1000 kgm-3, leading
to a speed of sound c =
viscosity is taken as

P( x j , s )
Qex ( xk , s)

Als

(1)

nx j
2E

Gn ( s) cos

Al n 1
l

nxk
cos

l
with the modal transfer function

E / 1414 ms-1; the kinematic

= 510-5 m2s-1.

Gn ( s)

s
nc
s

l
2

(2)

where l denotes the length of the pipeline, A is the pipeline


cross-sectional area, E is the bulk modulus of the fluid, and c
is the speed of sound.
The mobility function of a mechanical system is defined as
the frequency response function between excitation force and
velocity response. For undamped and proportionally damped
systems, Ewins (2000) derives the description of the mobility
function in terms of eigenvalues and mass-normalized
eigenvectors.
In the following, flow rate excitation and pressure are
considered at the discrete coordinates x1, x2, , xN+1. If (1) is
truncated after mode N, the respective frequency response
function can be recognized as mobility function of an
undamped mechanical multi-degrees-of-freedom system with
mass-normalized (N+1)1 eigenvectors

Fig. 2. Comparison of transfer functions between flow rate


excitation and pressure response at the inlet of pipeline 1. (a):
magnitude, (b): phase. line 1: approximated (uncorrected
multi-degrees-of-freedom), line 2: transcendental.

The pump injects a defined flow rate excitation at the inlet of


pipeline 1. It therefore makes sense to consider the transfer
function between flow rate excitation and pressure response.
By a comparison of transcendental and approximated transfer
functions, Fig. 2 shows how an uncorrected multi-degrees-offreedom approximation exaggerates the magnitudes at the
lower two resonances. A linear amplitude scale is used to
demonstrate the extent of the problem.

E
T
1 1 1
Al

(3)

and

2E

Al
T

nx1
nx N 1
nx2
cos
,
cos
cos
l
l
l
n 1,2, , N ,

3. HYDRAULIC PIPELINE SYSTEM MODEL


Compared to Mikota (2014), the hydraulic pipeline system
model is rebuilt from a modal description in which some
natural frequencies and damping ratios are corrected.
Although the underlying multi-degrees-of-freedom model of
an individual pipeline features proportional damping, this is
not necessarily the case for the assembled multi-degrees-offreedom model of the hydraulic pipeline system. To keep
within the framework of proportional damping, the
eigenvectors of the corrected system are assumed to be real
and can therefore be taken from the undamped version of the
pipeline system model.

(4)

and natural frequencies

nc
, n 0,1, , N .
l
Using the (N+1)(N+1) matrix
n

(5)

0 1 N

(6)

and the (N+1)(N+1) diagonal matrix [n2 ] , if follows from


the orthogonality relations for mass-normalized eigenvectors
that the mass matrix of the equivalent mechanical model
reads

3.1 Undamped Case

M T

For an undamped pipeline with closed ends, the modal


decomposition of the transfer function between the flow rate

and the stiffness matrix becomes

Ku T
436

[n2 ] 1 ,

(7)

(8)

MATHMOD 2015
February 18 - 20, 2015. Vienna, Austria Gudrun Mikota et al. / IFAC-PapersOnLine 48-1 (2015) 435440

see Ewins (2000).

Gnv ( s)

The assumption of closed ends corresponds to free


boundaries in the equivalent mechanical system and still
allows the injection of flow rate excitations, which
correspond to mechanical excitation forces.

f (in )

and the global stiffness matrix

K ug K
i

(10)

of the undamped pipeline system. Ewins (2000) and Ginsberg


(2001) give the respective equation of motion for mechanical
systems.

K ug 0

(11)

yields the real eigenvectors u and the undamped natural


frequencies u .

s
nc
s2

The mass matrix of the equivalent mechanical model is given


by (7) using (6) as in the undamped case; with the
2
(N+1)(N+1) diagonal matrices [0n
] and [2 n0n ] , the
stiffness matrix becomes
1

Cv T

[02n ] 1

(17)

[2 n 0n ] 1.

(18)

For a hydraulic pipeline system, one can proceed as described


by Mikota (2014). The local mass, stiffness, and damping
matrices M l(i ) , K vl(i ) , and C vl(i ) of the individual pipelines are

(12)

(i )
,
enlarged to obtain the respective global matrices M g(i ) , K vg
(i )
and C vg
. These are assembled into the global mass

f (s)2

(16)

and the damping matrix reads

matrix (9), the global stiffness matrix

with

J 0 ir

f (s)

J 2 ir

(15)

If Gn (s) is replaced by Gnv (s) , the frequency domain form


of the truncated modal series (1) becomes the mobility
function of a proportionally damped mechanical multidegrees-of-freedom
system
with
mass-normalized
eigenvectors (3) and (4), undamped modal natural
frequencies 00 0 and (15) for n=1,2,,N, and modal

For a closed-end pipeline with laminar flow, the modal


decomposition of the transcendental transfer function
between flow rate excitation and pressure response still
follows (1), but the modal transfer function assumes the
transcendental form
2

Im
2
f (in )

.
n

2 Re
2

(
)
f
i

Kv T

3.2 Viscous Damping Approximation

Gn ( s)

damping ratios 0 0 and (16) for n=1,2,,N.

The eigenvalue problem

(14)

and

(9)

(i )
ug

0 n n Re

assembled into the global mass matrix

Mg M

s 2 n0n s 02n

where

For a system consisting of several pipelines, the local mass


and stiffness matrices M l(i ) and K ul(i ) of the individual
pipelines are enlarged to obtain the respective global matrices
(i )
according to Ginsberg (2001). These can be
M g(i ) and K ug
(i )
g

s
2

437

(i )
K vg K vg

(19)

and the global damping matrix


(13)

(i )
C vg C vg

(20)

of the hydraulic pipeline system.

where J 0 and J 2 are Bessel functions of first kind,


denotes the kinematic viscosity, and r is the pipeline radius.

The first-order eigenvalue problem

Av Bv

Mikota (2013) obtained a viscously damped approximation


of the transcendental modal transfer function by arguing that
for lightly damped pipelines, its major contribution to the
modal series (1) appears in the vicinity of the undamped
resonance (5). In Gn (s) , s and in were exchanged twice to
arrive at the approximated modal transfer function

(21)

with the matrices

C vg
Av
M g
and
437

Mg
0

(22)

MATHMOD 2015
February 18 - 20, 2015. Vienna, Austria Gudrun Mikota et al. / IFAC-PapersOnLine 48-1 (2015) 435440
438

K vg
Bv
0

0
M g

(23)

results in complex conjugate eigenvalues v and eigenvectors v . For undercritical damping, the eigenvalues v are

(24)

and

Im v 1 v2 v .

(25)

3.3 Single Frequency Approximation

may choose a different angular frequency a for which s and

ia are exchanged. This results in the approximation


s
2
s 2 1a01a s 01
a
2

f
(
i

)
a

(27)

and

1a

f (ia ) .

Re
2
f (ia )

1 Im
2a

(28)

Such an approximation may be rather inaccurate in the


vicinity of the first undamped resonance 1 ; a viscous

modal damping ratio 1 . The local mass matrix M l(i ) is


always given by (7).
The determination of eigenvalues follows the procedure from
Subsection 3.2. Local mass, stiffness, and damping matrices
of the individual pipelines are enlarged to obtain the
respective global matrices and assembled into the global
mass, stiffness, and damping matrices M g , K ag , and C ag of

4. LOW FREQUENCY CORRECTION


The viscous damping approximation of the hydraulic pipeline
system can in principle be used above the highest first
resonance of the individual pipelines. Of course, there is an
upper frequency limit that can be extended by including more
pipeline modes, but the focus of this paper is a suitable
description in the low frequency range. In particular, the
behaviour at the pipeline system resonances should be
captured. Inaccuracies in the modal approximations of the
individual pipelines must be avoided around these specific
frequencies. A single frequency approximation is therefore
used for each pipeline system resonance below the highest
first resonance of the individual pipelines; its contribution to
the corrected pipeline system model consists of two complex
conjugate eigenvalues c , from which an undamped natural
frequency c and a damping ratio c can be extracted with

Rec cc

damping approximation with G1a ( s) instead of G1v ( s) will


in general lead to poor results for an individual pipeline.
However, for a 1 , this approximation is accurate in the

(29)

and

Im c 1 c2 c .

vicinity of a since higher modes do not contribute much in


the frequency range below the first pipeline resonance. The
frequency domain form of the truncated modal series (1) then
becomes the mobility function of a proportionally damped
mechanical multi-degrees-of-freedom system with massnormalized eigenvectors (3) and (4), undamped modal natural
frequencies 00 0, (27), and (15) for n=2,3,N, and modal

(30)

Above the highest first resonance of the individual pipelines,


undamped natural frequencies and damping ratios are
transferred from the viscous damping approximation. In this
way, all eigenvalues of the corrected pipeline system model
are collected.
Although both viscous damping and single frequency
approximation of an individual pipeline feature proportional
damping, this is not necessarily the case with the respective
global models of the pipeline system. The latter may exhibit
complex eigenvectors, which do not fit into the framework of
(7), (17), and (18). However, Ewins (2000) states that
significant complexity in a structure's modes will only arise if
two or more modes are "close". For the hydraulic pipeline
system, it is assumed that all modes are sufficiently
separated, and proportional damping is enforced on the

damping ratios 0 0, (28), and (16) for n=2,3,N.

For a system of several pipelines, one may wish a precise


approximation at a specific angular frequency a . The
approximation of an individual pipeline then depends on the
relation between a and the first undamped resonance 1 . If

a 1 , the local stiffness and damping matrices K al(i ) and


C al(i )

C al(i ) Cvl(i ) . If

a 1 , the local stiffness matrix K al(i ) is calculated from


(17) by replacing 01a for the first undamped modal natural

(26)

with

01a 1 Re

and

the pipeline system. The corresponding eigenvalue problem


yields the complex conjugate eigenvalues a . If a is a
pipeline system resonance frequency, the single frequency
approximation can be expected to provide accurate
eigenvalues c near ia .

Instead of fitting the transcendental modal transfer function


G1 ( s) in the vicinity of the first undamped resonance 1 , one

G1a ( s)

K al(i ) K vl(i )

frequency 01 , and the local damping matrix C al(i ) is


determined from (18) by further replacing 1a for the first

related to the undamped natural frequencies v and the


damping ratios v by

Rev vv

Subsection 3.2 so that

of the pipeline are obtained as described in


438

MATHMOD 2015
February 18 - 20, 2015. Vienna, Austria Gudrun Mikota et al. / IFAC-PapersOnLine 48-1 (2015) 435440

439

corrected global pipeline system model. Taking the


eigenvectors u from the undamped case, the pipeline system
model can then be rebuilt in the sense of (7), (17), and (18).
To begin with, the mass-normalized eigenvectors un are

required. The matrix un composed of mass-normalized


eigenvectors and the global mass matrix M g must satisfy the
orthogonality relation behind (7); it follows that

un u u T M g u ,
where u is a matrix composed
1

(31)

of arbitrarily scaled
eigenvectors of the undamped pipeline system and the square
root is taken per matrix element. Squared natural frequencies
c2 and v2 are collected into a diagonal matrix in the
order of the corresponding eigenvectors; the values 2 cc

Fig. 3. Comparison of transfer functions between flow rate


excitation and pressure response at the inlet of pipeline 1. (a):
magnitude, (b): phase. line 1: approximated (low frequency
correction), line 2: transcendental.

and 2 vv form a diagonal matrix D in the same order. The


global mass matrix of the hydraulic pipeline system is still
given by (9); the corrected global stiffness matrix becomes

K cg un

T 1

un 1

(32)

and the corrected global damping matrix reads

Ccg un

T 1

Dun .
1

(33)

If the flow rates injected at all system nodes are collected into
a global flow rate excitation vector Qex, g and the pressures at
all system nodes are collected into a global pressure vector
Pg , the low frequency correction of the multi-degrees-offreedom model for hydraulic pipeline systems is described by

s M
2

sCcg K cg Pg sQex,g .

(34)

Consequently, the global transfer function matrix between


flow rate excitation and pressure response can be calculated
as

s s 2 M g sCcg K cg

(35)

5. NUMERICAL EVALUATION
For the hydraulic pipeline network described in Section 2, the
first resonance of pipeline 1 lies at 307.4 Hz, and the first
resonance of pipelines 2 and 3 lies at 235.7 Hz. Numerical
investigations are performed with mesh nodes at every 0.1 m.
An undamped eigenvalue analysis of the network yields
natural frequencies at 63.5 Hz, 106.3 Hz, and 202.2 Hz,
which are below the first resonances of pipelines 1, 2, and 3,
and a natural frequency at 259.0 Hz, which is still below the
first resonance of pipeline 1. Single frequency approximations are used at these frequencies, and the viscous
damping approximation above. From 500 Hz upwards, 10 %
damping is assumed to capture the contribution of high
frequency modes while avoiding the tedious transfer of
individual modal parameters.

In Fig. 3, the approximation resulting from such a low


frequency correction is compared to the transcendental
transfer function between flow rate excitation and pressure
response at the inlet of pipeline 1. Although the match is not
yet perfect, a considerable improvement has been achieved
against the uncorrected multi-degrees-of-freedom model used
in Fig. 2. In particular, the magnitudes at the lower two
resonances fit much better, which is a consequence of
correcting the damping ratios.
The transfer functions plotted in Fig. 3 obviously contain
resonances near 106.3 Hz and 202.2 Hz; however, the other
two low frequency network resonances near 63.5 Hz and
259.0 Hz do not appear. This must be due to the fact that the
corresponding mode shapes exhibit a node at the inlet of
pipeline 1 and can thus not be excited by a flow rate
excitation injected at this point. It can be seen from Fig. 1
that the pipeline network is symmetric, which gives rise to a
number of modes where pipeline 1 is a nodal line. It is further
clear that all boundaries are free, resulting in an eigenvalue
that is zero and together with (35) explains the fact why the
phase starts at -90. The phase lifts between the resonances
stem from the denominator of the factorized transfer function
and are characteristic of a transfer function between two
quantities in the same position, see Ewins (2000).
6. CONCLUSIONS
By using single frequency approximations at the lower
system resonances, a fairly accurate multi-degrees-offreedom model for hydraulic pipeline systems has been
established. This model is described by a system of linear
second order differential equations with constant coefficients
and is therefore suited for time-domain simulation. Apart
from that, it gives insight into the modal properties of the
pipeline system, which helps understanding the dynamic
system behaviour.
In practical applications, hydraulic pipeline systems are
combined with valves, cylinders, accumulators, and other

439

MATHMOD 2015
440
February 18 - 20, 2015. Vienna, Austria Gudrun Mikota et al. / IFAC-PapersOnLine 48-1 (2015) 435440

components. Although the example given in this paper only


mentions two closed volumes, it is always possible to add
dynamic relationships between pressure and flow rate as
boundary conditions of the pipeline network; they can be
linked with the global pressure vector and the global flow
rate excitation vector and thus describe the effects of various
hydraulic components coupled to the network.

Transactions of the ASME - Journal of Dynamic


Systems, Measurement, and Control, Vol. 122, pp. 153162.
Mikota, G. (2013). Modal analysis of hydraulic pipelines.
Journal of Sound and Vibration, Vol. 332, pp. 27943805.
Mikota, G. (2014). A multi-degrees-of-freedom model for
hydraulic pipeline systems. In The 9th International
Fluid Power Conference, Aachen, Germany.
van Schothorst, G. (1997). Modelling of long-stroke
hydraulic servo-systems for flight simulator motion
control and system design. PhD Thesis, Delft University
of Technology, The Netherlands.
Yang, W.C. and Tobler, W.E. (1991). Dissipative modal
approximation of fluid transmission lines using linear
friction model. Transactions of the ASME - Journal of
Dynamic Systems, Measurement, and Control, Vol. 113,
pp. 152-162.

The modal analysis of hydraulic pipelines was originally


motivated by the demand for a theory on which the
experimental modal analysis of hydraulic pipelines could be
based. With the low frequency correction, the accuracy of
damped pipeline system models is significantly increased.
The low frequency correction thus consolidates the
theoretical basis for the experimental modal analysis of
hydraulic pipeline systems.
Although in the low frequency range, the essential step has
been done, the multi-degrees-of-freedom model for hydraulic
pipeline systems could still be developed further. The
approximation would probably be improved by accepting
complex eigenvectors and dropping the assumption of
proportional damping. For higher frequencies, it would be
worth investigating the effects of discretisation and coupling
modal approximations.
REFERENCES
Almondo, A. and Sorli, M. (2006). Time domain fluid
transmission line modelling using a passivity preserving
rational approximation of the frequency dependent
transfer matrix. International Journal of Fluid Power,
Vol. 7, No. 1, pp. 41-50.
Ayalew, B. and Kulakowski, B.T. (2005). Modal
approximation of distributed dynamics for a hydraulic
transmission line with pressure input - flow rate output
causality. Transactions of the ASME - Journal of
Dynamic Systems, Measurement, and Control, Vol. 127,
pp. 503-507.
D'Souza, A.F. and Oldenburger, R. (1964). Dynamic
response of fluid lines. Transactions of the ASME Journal of Basic Engineering, Vol. 86, pp. 589-598.
Ewins, D.J. (2000). Modal Testing: Theory, Practice, and
Application. Second Edition, Research Studies Press
Ltd., Baldock, Hertfordshire, England.
Ginsberg, J.H. (2001). Mechanical and Structural Vibrations.
John Wiley & Sons, Inc.
Hsue, C.Y. and Hullender, D.A. (1983). Modal
approximations for the fluid dynamics of hydraulic and
pneumatic transmission lines. In Fluid Transmission
Line Dynamics, pp. 51-77. Special Publication for the
ASME Winter Annual Meeting, Boston, Massachusetts.
Ingard, K.U. (1988). Fundamentals of waves and oscillations.
Cambridge University Press.
Kojima, E., Shinada, M., and Yu, J. (2002). Development of
accurate and practical simulation technique based on the
modal approximations for fluid transients in compound
fluid-line systems. International Journal of Fluid Power,
Vol. 3, No. 2, pp. 5-15.
Mkinen, J., Pich, R., and Ellman, A. (2000). Fluid
transmission line model using a variational method.
440

Вам также может понравиться