BRIEF NOTES

Wickert, J. A., 1993, "Free Linear Vibration of Self-Pressurized Foil Bearings,"

ASME Journal of Vibration and Acoustics, Vol. 115, pp. 145-151.

The Nonlinear Sloshing of Liquid in

X
Tank With Pitching

z
L . Y i n , 1 B . W a n g , 1 X. M a , 2 a n d J. Z o u 1

In this paper, a method used to analyze the sloshing of liquid in a /

tank subjected to forced pitching and (or) yawing oscillation is
presented. First, a variational principle for a liquid in a container
under pitching and (or) yawing oscillation is proposed. Based on
the preceding variational principle and new Lagrangian, the non-
linear sloshing of liquid in a circle cylindrical tank under pitching
excitation is studied analytically for the first time.
1 Introduction
Since analysis of sloshing can be applied to the design of
spacecraft or to the earthquake resistant underground tank, slosh-
ing has been widely studied. The liquid sloshing is one of the most
difficult mathematical problems to be solved numerically as well
as analytically, because the kinematic and dynamic boundary
condition (Bemoulli's equation) at the free surface is nonlinear and
the position of the free surface is time-dependent, not known a
prior. Therefore, most of studies which have been conducted so far
were based on the linear theory where the amplitude of liquid
motions is far less than the characteristic length of the container,
and the frequency of excitation is far away from the natural
frequencies for the liquid inside the tank. Linearized theory of
sloshing seems now well established, and it has been used widely
as a practical technique (cf. Abramson, 1966; Buseck and Ben-
aroya, 1993).
Among a few existing theoretical studies of finite amplitude
liquid sloshing, most of them are conducted to nonlinear free
oscillation of liquid and nonlinear forced oscillation of liquid at the
case of horizontal or vertical translation of container (cf. Hutton,
1963; Miles, 1976). There are few studies dealing with the non-
linear oscillation of the liquid in a container subjected to forced
pitching oscillation (cf. Faltinsen, 1974; Nakayama and Washizu,
1980), but these studies only focus on two-dimensional sloshing of
liquid in a rectangular tank.
First, we establish the nonlinear initial-boundary partial differ-
ential equation system for the sloshing of liquid in a container
subjected to forced pitching and (or) yawing oscillation. Then, a
variational principle for a liquid in a container subjected to forced
pitching and (or) yawing oscillation is proposed. Based on the
preceding variational principle and new Lagrangian, the nonlinear
sloshing of liquid in a three-dimensional, circle cylindrical, rigid
open tank under pitching excitation is studied analytically for the
first time.
Fig. 1 A container under pitching and yawing excitation
velocity vector ll(t). Figure 1 shows a three-dimensional cylin-
drical container in motion. A Cartesian coordinate system,
O-XYZ, is an inertial system. Z-axis is directed upward, namely,
in the opposite direction to the gravity. Another Cartesian coordi-
nate system, o-xyz, is fixed to the container in such a manner that
x-axis is parallel to the undisturbed free surface and the z-axis is in
coincidence with the center line of the container. The distance
between the undisturbed free surface and the x-axis is denoted by
e, which is taken positive when the free surface is above the x-axis.
h is the depth of liquid. The origin o is taken as the center of
rotation, ax(t) and Oty(t) is the angular of inclination of container
at the time t.
It is assumed that the liquid is invisid and incompressible, and
the flow is irrotational. The sloshing of liquid in container under-
going pitching and (or) yawing motion can be reduced to the
following nonlinear, initial boundary value problem:
V2~=O inV (1)
0(P 1
tg---t-+ 2 ( V ~ ) 2 - (aX r).V~-g'r=0 onSy (2)
07
0---t-= ( V ~ - ~ x r ) . V F onS s (3)
0n ( ~ X r) n onS~ (4)
where V is the liquid region, g is the vector of gravity in the
coordinate system o-xyz, r is the position vector of the liquid
particle, n is the unit normal drawn outwardly on the wetted wall
Sw, and F = z - ['0(x, y, t) + e] is the equation of the free
surface. 'r/(x, y, t) is the height of the free surface measured from
the undisturbed free surface. Up to now, the problem we are
concerned with is expressed by Eqs. (1), (2), (3), and (4).
2.2 A Variational Principle. In the light of the ideas sug-
gested by Luke, the expression of the pressure for a liquid in a
container subjected to forced pitching and (or) yawing oscillation
is used as the Lagrangian. Then, the variational principles is

2 A Variational Principle for Liquid Sloshing

2.1 Governing Equations. In the present context, we con-
sider that container is forced to pitch and (or) yaw with an angular
8J = 8
f"1
L(~, 7)" dt (5)

where
Department of Astronautic and Mechanics, Harbin Institute of Technology,
Harbin 150001, P. R. China. L ( ~ , 7) = - - ~ - + ~ (V~) 2 - (Sq x r). V~
2 The Chinese Academy of Space Technology. L ~-(h-e)
Contributed by the Applied Mechanics Division of THE AMERICANSOCIETYOF
MECHANICALENGINEERSfor publication in the ASME JOURNALOF APPLIEDMECHANICS.
Manuscript received by the ASME Applied Mechanics Division, July 9, 1998; final
-g'r]dz}dS (6)
revision, July 8, 1999. Associate Technical Editor: D, A. Signier.

1032 / Vol. 66, DECEMBER 1999 Transactions of the ASME

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 BRIEF NOTES

and where ~ ( x , y, z, t) and 'O(x, y, t) are allowed to vary, subject Z

to the restriction 6~ = 0, 6"0 = 0 at t~ and t2.
According to the usual procedure in the calculus of variations,
Eq. (5) becomes

6J = -
f)Iff
1
[[P, + (VcP) 2 - ( ~ x r ) . VP x ", x, 4 .A':":f

- g" r]8~]z=n+edSo + (6@t + V@ ' V6@

' - ( h - e)

-(,xr).V6dp)dzJdS0}dt=0 (7) O"

-10 -5 0 5 10
where So is the cross section of the container. Integrating the term Fig. 3 Response curves of the liquid motion In a circle cylindrical tank
8@, in Eq. (7) with respect to z, and applying Green's first under pitching excitation (a = 0.5 m, h = 0.5 m, e = 0.3 m, 00 = 0,08 rad)
theorem, Eq. (7) can be rewritten as

M=-
f;{ffl E
I
/Sn" -~-+~(VeP)2-(l~xr)'V~
of the tank a to be O(1) and the depth of fluid h to be either O( 1)
or infinite. The container is only forced to pitch around the y-axis
with angular velocity 1).
The motion of the tank is given as

a= 00 sinoot

where a is the angular of inclination of the container and 00 is the

+ 8qb. -~+(VqIp-lIXr).VF peak amplitude of the tank pitching motion excitation.
o z=~+e Integrating ~ , in Eq. (6) with respect to z, and expanding the
other terms by the power series of '0, and retaining the terms up to
the fourth order, Eq. (6) becomes
XdS-~-ffSw [~tff~'[~7~*n-(~Xr)n]]dS} dt=O"

Considering that &q, [Sdp] v, [6dP]sl, [6dP]s,v may be given arbi- 0

trary independent values, we can also obtain Eqs. (t), (2), (3), and
(4). Subsequently we will study the sloshing of liquid in a three-
dimensional, circle cylindrical, rigid open tank without baffles, 2 V'V-~- -~rcosOl)+ n[(l~r)'VaP]
which is forced to oscillate harmonically with small and finite
amplitude of pitching oscillation. n2 [ a [ ( l l x r ) ' V e P ] ]
+Y Oz
3 The Nonlinear Sloshing of Liquid in a Circle Cylin-
1
drical Container With Pitching + g~r cos 0 sin a - ~ g cos a ~ 2
3.1 The Formation of Lagrangian. The tank model and
coordinate system are shown in Fig. 2. It is assumed that the radius
- g'oe cos a d S Ill +~ [Cb~z COS O]dSlr= a

Z z
if
+ ~ (qbllr cos O)dSl~=~_h (8)

where So is the cross section of container. As is seen, the integrals

over the free surface Ss have been transformed into those over the
still water surface So.

3.2 Solutions. The solution of ~ ( r , 0, z, t) and 'o(r, 0, t) is

searched by the summation form of the eigenmodes as follows:

dp(r, O, z, t) = dPofl + ~ a,,qb,(r, O, z) (9)

n

2a " ~ W 'o(r, O, t) : ~ b , 6 , ( r , O, e) (10)

11
Fig. 2 Tank model and coordinate system to is the angular frequency of where ~012 takes care of the inhomogeneous body boundary
pitching condition. We found qb0 when solving the linear problem and it is

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 BRIEF NOTES

Table 1 Explanations for curves and regions in Fig. 3 Container Subjectedto Forced PitchingOscillation."Int. J. Num. Meth. Engng.. Vol.
15, pp. 1207-1220.
Curve or region Explanation
(1) backbone curve of planar motion
(2) backbone curve of rotary motion
(6), (7) response curve of planar motion
(8), (9) response curve of rotary motion
unstable region for planar motion (jump
A Generalization of Cattaneo-Mindlin
(3)-(1)
phenomenon) for Thin Strips
(1)-(4) unstable region for planar motion (appearance of
rotary motion)
(2)-(5) unstable region for rotary motion (jump
phenomenon) J. J/iger 1
(10)-(1)~ unstable region for rotary motion (decay)
(4)-(ll)J

In this paper, a generalization of the Cattaneo-Mindlin solution is

derived for thin bonded layers with arbitrary surfaces. We assume
that equal layers are in contact, and show that the normal and
tangential stress displacement equations are uncoupled and of the
= a21 z r same form. In this case the stick condition for tangential shift is
Oo
identical with the contact condition in normal direction, and the
tangential problem can be reduced to the normal problem. Finally,
- 2 ~ ch[kl,,(z+ h - e ) ] - 2ch[k,,,(z-e)] J,(k,,,r) a recursive algorithm for general load cases is proposed. We
cos 0 believe that this model illustrates typical features of elastic bodies
~ , , , ( ~ , , - 1)sh(k~,~h) J,(~,,,)
n 1 with friction. It can also serve as a model for memory effects',
(11) employing the elastic superposition technique.

and don(r, O, z) is the nth eigenmode of the liquid motion. Wave

number k ..... = ~,,,,,/a, ~,,,,, is the eigenvalue for mode (n, m),
representing the solution of J',,(~,,,,,) = O. J,, is the Bessel function
of the first kind, order n, and the prime denotes differentiation with
respect to r.
Substituting Eqs. (9) and (10) into Eq. (8) and carrying out
integration, L can be expressed into the function of a,,, b,,, b,,.
Substituting the expression of L into variational equations, the set
of two coupled nonlinear equations of system can be obtained.
Then, the method of multiple scales is used to solve these equa-
tions.
Following the similar procedure in Komatsu's paper, the char-
acteristic of liquid sloshing can be analyzed. Figure 3 shows the
frequency-response curves and stable-unstable regions with the
explanations in Table 1. Only the solid lines are stable for the
planar and rotary motions.
4 Conclusions
A method is presented for analyzing finite amplitude sloshing of
liquid in a tank undergoing pitching and yawing motion. As an
example, the nonlinear sloshing of liquid in a circle cylindrical
tank under pitching excitation is studied analytically for the first
time. The present method can also be generalized to analyze the
sloshing of liquid in another regular geometrical tank, such as a
rectangular tank, which is forced to pitch. The effect of liquid
viscosity and surface tension should be incorporated in an appro-
priate way in the present method in future studies.
References
Abramson, H. N., 1966, "The Dynamic Behavior of Liquids in Moving Contain-
ers," NASA Report No. SP-106.
Buseck, R , and Benaroya, H , "Mechanical Models for Slosh of Liquid Fuel,"
AIAA Paper 93-1093.
Faltiusen, O. M., 1974, "A Nonlinear Theory of Sloshing in Rectangular Tanks,"
J. Ship Res., Vol. 18, pp. 224-241.
Hutton, R. E., 1963, "An Investigation of Resonant, Nonlinear, Nonplanar Free
Surfitce Oscillations of a Fluid," NASA Report No. TN D-1870.
Komatsu, K., 1987, "Nonlinear Sloshing Analysis of Liquid in Tanks with Arbi-
trary Geometries," Int. J. Non-linear Mechanics, Voh 22, No. 3, pp. 193-207.
Luke, J. C., 1967, "A Variational Principle for a Fluid with a Free Surface," J. Fluid
Mech., Vol. 27, No. 2, pp. 395-397.
Miles, J. W., 1976, "Nonlinear Surface Waves in Closed Basins," J. Fluid Mech.,
Voh 75, pp. 419-448.
Nakayama, T., and Washizu, K., 1980, "Nonlinear Analysis of Liquid Motion in a
Introduction
The problem of equal elastic spheres in contact with friction has
been solved by Cattaneo (1938) and Mindlin (1949). It was shown
that a circular stick area forms, and the tangential traction is the
difference between the normal pressure for the actual contact area
and the pressure for the stick area, multiplied with the coefficient
of friction. This solution was generalized by J~iger (1995) for
bodies of equal material with arbitrary axisymmetric surfaces in
contact. It was later shown by Jfiger (1997), that this generalization
is always valid for plane contact of arbitrary surfaces. Some
examples have been presented in J~iger (1998) and a general
algorithm for arbitrary surfaces was proposed. Ciavarella (1998,
1999) published the special case of constant normal forces of
J~iger's solutions, but Ciavarella did not relate it to the articles by
J~iger (1995, 1997). In this article, we derive a generalization of the
Cattaneo-Mindlin solution for thin elastic layers of equal material,
which are bonded to a rigid base. The method of solution and the
general algorithm are the same as in the earlier mentioned papers,
but the mathematical model is much easier to understand.
Normal Contact
Following Bentall and Johnson (1968 Eq. (A. 16)), the simplified
expressions for the normal and tangential surface displacements w
and u~, respectively, of a very thin bonded strip are
(1 - 2vk)tk (1 -- 4v~)t~ Oqk vk 4~ 0.5,
wk(x) -- il Z ~ p~(x) + (1 -- vk)4Gk 0 ~ '
(1)
(1 - 4uk)t~ Op~ tk
uk(x) = (1 - u~)4Gk Ox + ~ qk(x), (2)
where the index k characterizes strip I or II, G~ the shear modulus,
vk Poisson's ratio, Pk the normal pressure, qk the tangential trac-
I IBAMA, Goerdelerstr. 8, D-91058 Erlangen, Germany. e-maih j~jaeger@
t-online.de.
Contributed by the Applied Mechanics Division of THE AMERICANSOCIETYOF
MECHANICALENGINEERSfor publicationin the ASMEJOURNALOFAPPLIEDMECHANICS.
Manuscript receivedby the ASMEAppliedMechanicsDivision,Oct. 15, 1998; final
revision, July 9, 1999. AssociateTechnicalEditor: R. C. Benson.

1034 / Vol. 66, DECEMBER 1999 Transactions of the ASME

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