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modal vibration of
cylindrical structures
M. R. Maheri
Department of Civil Engineering, Shiraz University, Iran
R. T. Severn
Department of Ovil Engineering, University of Bristol, Bristol, UK
(Received January 1990; revised March 1991)
0141-0296/92/030163-13
1992 Butterworth-Heinemann Ltd
163
D----153108 ~
_= 2 6 1 ( a v e r o a e } ~_
t =2"286
571(overage)
----'"
1330
512
~235(overage)
I
L.
400
I--
Figure 1
164
"- 0 942
....
_1
b 3~,_.~
!_.~_
I -'-'-~ -20
Geometry of the cylinders. (a), Small cylinder; (b), slender cylinder; (c), large cylinder
(overoge)
820
I600
Z20
thickness-to-diameter ratios of 0.009 and 0.015, respectively. The third model (referred to as a large cylinder)
is basically, an open-ended, large oil barrel, purposely
manufactured without any circumferential stiffeners.
The effective height-to-diameter and thickness-todiameter ratios of this cylinder are 1.53 and 0.001,
respectively. The dimensions of the three cylinders are
shown in Figure 1.
(1)
Mode
Empty
100%
Water-surrounded
Water-filled
Exper.
Theor.
Exper.
Theor.
Exper.
Theor.
1
1
1
2
2
3
4
4
177.5
282.7
502.1
700.1
210.0
301.8
511.8
722.4
112.0
172.0
324.0
457.5
135.0
192.9
349.0
492.0
128.2
178.6
327.0
468.8
171.3
244.7
428.5
603.6
(2)
(3)
fdfw = (MwlM,)"2
(4)
(5)
Empty
Mode
100%
Water-surrounded
Water-filled
Exper.
Theor.
Exper.
Theor.
Exper.
Theor.
1
1
1
2
3
1
2
2
1
2
71.2
248.0
291.0
399.0
484.0
78.3
256.0
299.0
460.0
509.0
39.2
154.0
182.0
239.0
304.0
48.3
158.0
190.0
274.0
318.0
43.0
164.0
226.0
332.5
61.1
206.9
262.7
352.5
402.4
1
1
1
1
2
2
4
5
6
5
Empty
Water-filled
(Exper.)
(Exper.)
35.4
23.6
28.6
40.6
87.4
61.0
77.0
99.0
231.0
Case
Added-mass in the
fundamental mode
(kg)
Theoretical added-mass
in rigid vibration
(kg)
Water-filled
small cylinder
27.1
26.3
Water-filled
slender cylinder
24.9
24.4
Water-surrounded
small cylinder
20.9
19.8
Eng. Struct.
1992,
Vol.
14, No 3
165
Hz
m=l
Hz
m=3
m=2
'
/,00" .
500 2
800
"Oo
~X
x...
300"
"0..
400"
"o
"0.
. O . ' ~ X
"0
too!
:-
' ......
0
0
o
"...
X~x~
. . . . . . . O..o," o..X.-T.x
. .
30
. . .
60
80
I00
% Full
"..X
. o , ~ X .,,,,~ 0
"" o . . ~ " . X
Eng. S t r u c t .
1 9 9 2 , V o l . 14, N o 3
''.. ,k
600
~n=~
500-
n=!--0
100
0
,
30
, , ,1,
60
80 I00
% Full
Figure 2 Effects of water level on the natural frequencies of water-filled slender cylinder. (
experimental; n, lateral mode number; m, circumferential mode number
166
~"
X-----.__X~n--l
n=3
" o o..o.~.
3o01....
200"
700
~00
I
0
11111
100
% Full
), t h e o r e t i c a l ;
( ....
o ....
),
~'~x
~00 ~
500
"o.
m=2
Hz
m=l
X~,.X,
n =2
0.
300
Hz I
m=3
~X~x
"0
o..
~00"
XX'~x,,~
"~:"
700 . . . . . "e
"0
". n--3
",
0
300 I
200.
X
"
~
X
.....
0 ....
"0..0.
200-
n=l
X ,..-.X .....v
~ X . . .
~ .
-o. ~ x
"
". .
. . . . . .
30
60 80 I00
% Water level
100
0
~x n--2
"..
~x
"~X*~ X
0, 0
x..~:.
n=2
"'o
X.~x
O.
~'~'X'~'X
"0
-C".O..o-'~
n=3
..
500-
".
0 n=2
n=l
. . . .
'J"t
30
60 80 100
~ Water level
400
0
. . . .
30
60 80
% Water level
100
Figure 3 Effects of the level of surrounding water on the natural frequencies of slender cylinder. (Key as in Figure 2)
Axis of symmetry~.~
25 s h e / / e l e m e n t s
2 0 0 f l u i d elements
, ,q
512ram
~2
L[_..
f l u i d nodes
2 6 s t r u c t u r a l nodes
8 x 237. 5 m m
.- J i/m3m0
167
M o d a l v i b r a t i o n o f c y l i n d r i c a l s t r u c t u r e s : M. R. M a h e r i a n d R. T. S e v e r n
168
Eng. Struct.
1992,
Vol.
14, No 3
120
(m=
I00
-~
I
I
I
I
I
I
8O
\
X rn=5
~o
.x.\ X
E
60
fro=5
rn=61
o
x" ".~,x~=s
"X. ~'~.
."
".~o~m=7
-^"
m=/
"~ .~
....~
"'0
"....ore=8
rn=8
~0
20
25
50
75
100
I25
Frequency (Hz)
Figure 5
25.0
20.0
f rn=2
~X rn=3
U3
t~
E 15.0
\
~
,<
m:g
rn-~
~
o~ ,
~ ~rn=5~. --
~ m=5
_
I0.0
.'t t X'...
rn=6
5.0
0.0
200
400
600
800
1000
Frequency ( Hz)
Figure 6
Experimental hydrodynamic masses in the modal vibration of water-surrounded small cylinder. (Key as in Figure 5, also
( * ) , n = 3)
Accel.
Press.
Corr. curve
Accel.
/S
x
I
/
/
X
I
X
I
p
,. . - X ~
I
!
I
X%
b ~
N/m 2
Corr. curve
a
g
Press.
N/m2/g
~
~
N/m 2
to
N/m2/g
Modal accelerations and the corresponding h y d r o d y n a m i c pressures measured along the height of the water-filled small cylinder.
(a), mode, n = 1, rn = 2, f r e q u e n c y = 1 1 2 . 0 Hz; (b), mode, n = 2, m = 4, f r e q u e n c y = 4 5 7 . 5 Hz
Figure 7
169
m=2
m..-3
. ~o
"
x" ~ - 9 - - -Z~<
..... I / / ~
.....
,. . . . . x~'.
~0'~.\X".
4g
x_,f
,
j
..~..
"
'"
"
o
o
rn-4
.~k..
m=5
I
o
,7
"
",
0
0
.?
l|".
i..
.'.
I
o
..'
O
Q
Figure 8
Modal accelerations and the corresponding hydrodynamic pressures measured around the c;~rcumference of the water-filled
small cylinder. ( . . . x . .), pressures; ( - - o - - ) , accelerations; scale: pressure 1 m m = 2 0 0 N m - ; acceleration 1 m m = 1 . 0 g
170
Accel.
Press.
?
I
o
5~
x
8
X
!
I
o
!
27
x
8
x
I
"o,
X,
X
I
P
0
Corr. c u r v e
.x~
/d
d
81
Press.
jo
108.
AcceL
Corr. c u r v e
'
~'
c5 ~
g
N/m 2
N/rn 2 / g
N/m 2
N / r n 2/g
Figure 9 Selected modal accelerations and the corresponding h y d r o d y n a m i c pressures, water-filled slender cylinder. (a), mode: n = 1,
m = 1, f r e q u e n c y = 3 9 . 2 Hz; (b), mode: n = 3, m = 1, f r e q u e n c y = 5 9 4 . 0 Hz
x tO-2m
AcceL
82"0 t
65"6 t
328 t
Press.
,J
'o
,e ~1
Accet
82. 0 "
I
65.6.
o
I
xt
32. 8"
16.4.
O=C
N/m 2
Accet
o
/
o
o
I
o
I
o
Corr. curve
I
!
I
Press.
o
I
o
!
o
I
o
t
o
e,l
49.2.
N/m2
x10"2m
'
%.
0 L.
t
!
!
I
x
Cork curve
x
I
x
I
x
I
x
I
o
I
o
I
Accel.
o'
~9 21
Corr. curve
Press.
o
#
o
I
o
!
o
i
!
!
N / m 2/g
Corr. curve
Press.
.%
X
!
I
x
I
x
!
|
t
!
x
#
A I
IA
I
!
'x
I
!
o
|
i
I
x
IN
IN
N/m2
o
!
,
N/m2/g
(:~ c)
d:~c5 ~(:5
N/m2/g
N/m 2
Figure 10
Selected modal accelerations and h y d r o d y n a m i c pressures, water-filled large cylinder. (a), mode: n = 1, m = 5,
f r e q u e n c y = 2 8 . 6 Hz; (b), mode: n = 2, m = 7, f r e q u e n c y = 8 0 . 2 Hz; (c), mode: n = 2, m = 5, f r e q u e n c y = 8 7 . 4 Hz; (d), mode: n = 3,
m = 6, f r e q u e n c y = 1 8 5 . 2 Hz
Eng.
Struct.
1992,
Vol.
14,
No
171
xtO-2rn Accel.
50
o
!
45"
Cofr
!0
o
5'
I
--
I
I
I
I
X
I
0
I
X
o
i
xlO-2m
Accel.
10
5
0 -C
L~
X
I
X
i
0
I
0
!
0
X
I
X
~1 1
%
%
Press,.
Corr. curve
01
X
I
io
,o,
I
X
I
,
N/m2/g
I
X
i
X
IN .,T
N/m2
0
!
0
0
!
Accel.
Corrcurve
Press.
0
I
35
30.
N/m 2
50
45
40
25
20
15
I
, , i
I
X
/
t
x
I
I0"
20"
15"
X
I
!
0
Corr. curve
Press.
0
25"
Accel.
curve
"X
I
0
40.
35"
30"
Press.
X
J
io
t
X
I
X
d
!
0
!
I
X
%
o~
t~
N/m 2
N / m 2/g
N/rn 2
N/m2/9
F i g u r e 11
S e l e c t e d m o d a l a c c e l e r a t i o n s and h y d r o d y n a m i c p r e s s u r e s , w a t e r - s u r r o u n d e d s m a , c y l i n d e r . (a), m o d e : n = 1, m = 2,
f r e q u e n c y = 1 2 8 . 2 Hz; (b), m o d e : n = 2, m = 5, f r e q u e n c y = 6 2 9 . 4 Hz; (c), m o d e : n = 1, m = 3, f r e q u e n c y = 1 7 8 . 6 Hz; (d), m o d e :
n = 2, m = 6, f r e q u e n c y = 8 7 6 . 6 Hz
172
xtO%
Acce/.
135'"
Press.
Corr. curve
Press.
Acce/.
108.
I
!
81.
X
I
X
I
I
t
l
27-
O--
N/m 2
xlO-2rn Accel
~/m~/g
Press
Corr. curve
N/m2
Accel.
N/m~/g
Press.
'
I
t
135
54-
Corr. curve
Corr. curve
!
0
108'
81
I
I
27
o-C
Xt
/
X
/
~'~," &
~ ~
g
sX
~J
'
N/m 2
'--~%
I
x
/X
/"
g.J
dR
N/rn2/g
N/rn2
N/m2/g
Figure 12
A general conclusion drawn from the above manipulations is that the constant added-mass as noted by Du
Buat in oscillation of pendulums and later formulated by
Lamb in, for example, the rigid vibration of an infinitely
long circular cylinder submerged in water is only a true
representation of the hydrodynamic effects for singledegree-of-freedom bodies (whether in rigid-body motion
or flexible motion). In multi-degree-of-freedom bodies
the added-mass is not only a function of geometry of the
body and density of the liquid, but also a function of the
dynamic properties of the system such as natural frequencies and mode shapes. This is believed to be the
reason why previous investigators using the added-mass
concept as m rigid-vibration have obtained accurate
results only for the first mode of vibration.
A second point to note is that some investigators in the
past have used equation (5) to determine the rigid-body
mass experimentally. This expression, however, corresponds to the added-mass in a purely flexible vibration
at a particular natural frequency and as was shown
earlier (Figures 5 and 6) its use in determining the rigidbody added-mass would lead to erroneous results.
Conclusions
An accurate experimental method of evaluating the
hydrodynamic mass in flexible cylinders is found by
considering the correlation between the hydrodynamic
pressures and the corresponding accelerations.
Manipulation of the test results and the evaluated masses
leads to the following conclusions. The amount of the
hydrodynamic mass in the fundamental mode represents
the classical added-mass in rigid-body vibration, leading
to the further conclusion that the classical added-mass is
applicable to single-degree-of-freedom bodies only,
both in the rigid-body motion and in flexible motion.
.The hydrodynamic mass associated with each pure mode
is a function of the frequency and mode shape of
vibration and appears to decrease with increasing frequency and mode number. It is also concluded that,
unlike its quantity, the distribution pattern of the
hydrodynamic mass in modal (pure flexible) vibration is
independent of the frequency or mode shape, and
remains the same as the distribution pattern in rigidbody motion.
173
x~O-2m
135..
Accel.
?
Press.
Corr. curve
Accel.
I
I
I
!
?
!
54
27
~ ~
N/rn2/g
Press.
1'
/
/
IN
(5 ~
/
x
,i ~
N/m2/g
Corr. curve
(1(
,
Press.
/'
N/m2
AcceL
Corr. cur ve
27.
1
I
Accel.
q
54
%x
N/m~
81
X.,.
b ~
I
I
x..
"0~
O-a
108"
x lO -2m
135.
curve
/J:'
108"
Cork
Press.
x/
.~'
,
~1
u~
. .
tn
N / m 2/ g
N/m2
d~
c5 r~
g
N/rn 2
r~
N / m 2/g
Figure 13 Selected modal accelerations and h y d r o d y n a m i c pressures, 8 0 % w a t e r - s u r r o u n d e d slender cylinder. (a), mode: n = 1, m = 1,
f r e q u e n c y = 4 3 . 0 Hz; (b), mode: n = 3, m = 2, f r e q u e n c y = 3 3 2 . 5 Hz; (c), mode: n = 2, m = 2, f r e q u e n c y = 2 2 6 . 0 Hz; (d), mode:
n = 4, m = 2, f r e q u e n c y = 8 4 6 . 5 Hz
References
1 Stelson, T. E. and Mavis, F. T. 'Virtual mass and acceleration in
fluids', Trans. ASCE, 1957, 122, Paper No. 2870
2 Lamb, H. Hydrodynamics, Cambridge University Press, 1932 (6th
edn)
3 Westergaard, H. W. 'Water pressures on dams during earthquakes'
Trans ASCE, 1933, Paper No. 1835
4 Jacobsen, L. S. 'Impulsive hydrodynamics of fluid inside a cylindrical tank and of fluid surrounding a cylindrical pier' Bull. Seism.
Soc. Amer., 1949, 39, t 8 9 - 2 0 4
5 Housner, G. W. 'Dynamic pressures on accelerated fluid containers',
Bull. Seism. Soc. Amer., 1957, 47, 15-35
6 Baron, M. L. and Skalak, R. 'Free vibrations of fluid-filled cylindrical shells' Proc. ASCE, 1962, EM3
7 Shaaban, A. S. and Nash, W. A. 'Finite element analysis of a
seismically excited liquid' Report NSF/RA-760261, Univ. of
Massachusetts, Amherst, Mass., 1976
8 Balendra, T. and Nash, W. A. 'Earthquake analysis of a cylindrical
liquid storage tank with a dome by finite element method', University
of Massachusetts, Amherst, Mass., 1978
9 Kalnins, A. 'Free vibration of rotationally symmetric shells' J.
Acoust. Soc. of Amer., 1964, 36, 1355-1365
10 Clough, R. W. 'Effects of earthquakes on underwater structures',
Prof. 2nd Worm Conf. on Earthq. Eng., 1960, Tokyo, Japan
11 Laird, A. D. K. 'Water effects on flexible oscillating cylinders',
Proc. ASCE, 1962, W~/3, 125-137
12 Goto, H. and Toki, K. 'Vibrational characteristics and aseismic
design of submerged bridge piers', Proc. 3rd World Conf. Earthq.
Eng., New Zealand, 1965, 2, 107-122
174
Eng.
Struct.
1992,
Vol.
14,
No
175