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Externally-Induced Sloshing in
Horizontal-Cylindrical and
Axisymmetric Liquid Vessels
Spyros A. Karamanos1 Motivated by the earthquake response of industrial pressure vessels, the present paper
Mem. ASME
e-mail: skara@mie.uth.gr investigates externally-induced sloshing in horizontal-cylindrical and axisymmetric liq-
uid containers. Assuming ideal and irrotational flow, small-amplitude free-surface eleva-
tion, and considering appropriate trigonometric functions for the sloshing potential, a
Dimitris Papaprokopiou two-dimensional eigenvalue problem is obtained for zero external excitation, which is
solved through a variational (Galerkin) formulation that uses triangular finite elements.
Manolis A. Platyrrachos Subsequently, based on an appropriate decomposition of the container-fluid motion, and
considering the eigenmodes of the corresponding eigenvalue problem, an efficient meth-
Department of Mechanical Engineering,
odology is proposed for externally-induced sloshing through the calculation of the cor-
University of Thessaly,
responding sloshing (or convective) masses. Numerical results are obtained for sloshing
38334 Volos, Greece
frequencies and masses in horizontal circular cylindrical, spherical, and conical vessels.
It is shown that, in those cases, consideration of only the first sloshing mass is adequate
to represent the dynamic behavior of the liquid container quite accurately. For the case
of a horizontal cylinder subjected to longitudinal external excitation, its equivalence with
an appropriate rectangular container is demonstrated. The numerical results are in very
good comparison with available semi-analytical or numerical solutions and available
experimental data. 关DOI: 10.1115/1.3148183兴
Journal of Pressure Vessel Technology Copyright © 2009 by ASME OCTOBER 2009, Vol. 131 / 051301-1
Assuming ideal fluid conditions, the liquid motion in an unde- leading to the following eigenvalue problem:
formed 共rigid兲 container, under horizontal excitation displacement ⵜ 2 S = 0 in ⍀ 共10兲
X̂共t兲 in the x̂ direction 共Fig. 1兲, is described by the flow potential
⌽共x , y , z , t兲, so that the liquid velocity is the gradient of ⌽ 共u S
=0 on B1 共11兲
= ⵜ⌽兲, which satisfies the Laplace equation n
2⌽ 2⌽ 2⌽ S 2
ⵜ 2⌽ = + + =0 in ⍀ 共1兲 − S = 0 on B2 共12兲
x2 y 2 z2 y g
subjected to the following boundary conditions at the wet surface The solution provides the so-called sloshing frequencies n and
of the vessel wall and the free surface the corresponding sloshing modes ⌿n共x , y , z兲 共n = 1 , 2 , 3 , . . .兲,
which satisfy the orthogonality conditions
⌽ ˙
n
= X̂共ê · n兲 on B1 共2兲
冕⍀
共ⵜ⌿m兲 · 共ⵜ⌿n兲d⍀ = 冕 B2
⌿m⌿ndB2 = 0 m⫽n 共13兲
2⌽ ⌽
2 +g =0 on B2 共3兲 Upon calculation of n and ⌿n共x , y , z兲, the solution of the tran-
t y
sient problem 共5兲–共7兲 can be expressed in terms of ⌿n as follows:
˙
where X̂ = dX̂ / dt, ê is the unit vector in the x̂ direction, and n is the ⬁
outward normal unit vector at any point of the lateral 共wet兲 sur-
face B1. The unknown potential ⌽ can be decomposed additively
⌽S共x,y,z,t兲 = 兺
n=1,2,3,. . .
Ẏ n共t兲⌿n共x,y,z兲 共14兲
in two parts: the sloshing motion potential ⌽S and the uniform where the dot denotes derivative with respect to time, and Y n共t兲
motion potential ⌽U are generalized coordinates. The admissible function ⴱ共x , y , z兲 in
˙ Eq. 共8兲 is also expressed in the same manner
⌽U = X̂共t兲共x̂ − c兲 共4兲
⬁
where c is a constant. One may readily show that ⌽U satisfies
Laplace equation 共1兲 and the nonhomogeneous boundary condi-
ⴱ共x,y,z兲 = 兺
n=1,2,3,. . .
bn⌿n共x,y,z兲 共15兲
tion 共2兲. Therefore, the sloshing potential ⌽S should satisfy
where bn are arbitrary constants. Inserting Eqs. 共14兲 and 共15兲 into
ⵜ 2⌽ S = 0 in ⍀ 共5兲 the variational equation 共8兲, and using the orthogonality of
⌿n共x , y , z兲, one readily obtains a series of uncoupled linear ordi-
and the following boundary conditions:
nary differential equations in terms of Y n共t兲
⌽S ¨
=0 on B1 共6兲 M̄ nŸ n + 2nM̄ nY n = − P̄nX̂, n = 1,2,3, . . . 共16兲
n
where
冕
2⌽ S ⌽S 2⌽ U
+ g = − on B2 共7兲 1
t2 y t2 M̄ n = ⌿2ndB2 共17兲
g B2
ⴱ
Considering an admissible function 共x , y兲 and using Green’s
theorem, the variational form 共weak statement兲 of problem 共5兲–共7兲
is expressed as follows: P̄n =
1
g
冕 ⌿n共x̂ − c兲dB2 共18兲
冕 冕 冕
B2
1 ⌽S ⴱ
2
1 ⌽U ⴱ
2
共ⵜ⌽S兲共ⵜⴱ兲d⍀ + 2 dB2 = − dB2 The hydrodynamic pressures p共x , y , z , t兲 are calculated directly
⍀
g B2
t g B2
t2 from the fluid potential ⌽ through the Bernoulli equation 共p =
共8兲 −⌽̇兲, and the total hydrodynamic force at the container wall is
F=− 冕冉 B1
⌽U ⌽S
t
+
t
共ê · n兲dB1冊 共19兲
FU = − 冕 B1
⌽U
t
¨
共ê · n兲dB1 = − MLX̂ 共20兲
where ML is the total liquid mass, and the force FS associated with Fig. 2 Horizontal cylinder of arbitrary cross section under
sloshing transverse or longitudinal excitation
FS = − 冕B1
⌽S
t
共ê · n兲dB1 = − 兺 F̄ Ÿ
n
n n 共21兲
⬁
冕
n=1,2,3,. . .
F̄n = ⌿n共ê · n兲dB1 共22兲 Equation 共31兲 implies that the total mass ML is the sum of the
B1 convective 共or sloshing兲 masses MnC共n = 1 , 2 , 3 , . . .兲 associated
Therefore, the total hydrodynamic force on the container’s wall is with free-surface elevation 共convective motion兲, and the impulsive
⬁
mass MI, which follows the container motion X共t兲.
an = 冉 冊
M̄ n
P̄n
Yn and un = an + X̂ 共24兲
cylindrical liquid storage tanks, analytical expressions for n and
⌿n共x , y , z兲 exist 共e.g., Refs. 关1,2兴兲, and the above methodology
becomes trivial. On the other hand, such analytical expressions do
not generally exist for vessels of different geometry and should be
the liquid motion equation 共16兲 becomes
computed numerically. In the following, the above general formu-
¨ lation is applied for the analysis of horizontal-cylindrical vessels
än + 2nan = − X̂共t兲, n = 1,2,3, . . . 共25兲
with arbitrary cross-sectional shape, as well as for axisymmetric
or equivalently vessels of arbitrary meridian shape.
The weak form of the above eigenvalue problems is obtained 3.2 Horizontal Cylinders Under Transverse Excitation.
using an arbitrary trial function ⴱ, and using Green’s identity, one Consider that the nondeformable horizontal-cylindrical vessel is
readily obtains the following variational equation subjected to transverse excitation along the x-axis 共Fig. 2兲, with
冕 ⍀
共ⵜ p兲共ⵜⴱ兲d⍀̂ + k2p 冕 ⍀
pⴱd⍀̂ −
2
g
冕
Bˆ2
pⴱdB̂2 = 0, p
displacement X̂ ⬅ X共t兲. Under this type of excitation, and consid-
ering c = 0 due to skew-symmetry of excitation, the uniform mo-
tion potential is
= 0,1,2,3, . . . 共38兲
⌽U = Ẋx 共50兲
Subsequently, Galerkin discretization of the unknown functions
p and the arbitrary functions ⴱ, is considered as follows: Therefore, the solution of the transient problem 共5兲–共7兲 should be
independent of the z coordinate, so that p = 0 in Eq. 共49兲 and
N
冉冕 冊
ⵜ p = 关B兴q p, p = 0,1,2,3, . . . 共41兲
1
ⴱ ⴱ M̄ n = 共u0n兲T 关N兴T关N兴dB̂2 u0n = 共u0n兲T关M兴u0n, n = 1,2,3, . . .
ⵜ = 关B兴q 共42兲 g Bˆ2
Substituting Eqs. 共39兲–共42兲 into Eq. 共38兲 and considering arbitrary 共54兲
qⴱ, one results in the following series of discretized eigenvalue
problems:
共关K P兴 − 共 P兲2关M兴兲q p = 0, p = 0,1,2,3, . . . 共43兲 P̄n = 共u0n兲T 冉冕1
g Bˆ2
关N兴TxdB̂2 , 冊 n = 1,2,3, . . . 共55兲
冕 冕
n = 1,2,3, . . .
Bˆ1
关K 兴 =
p
关B兴 关B兴d⍀̂ +
T
k2p 关N兴 关N兴d⍀̂,
T
p = 1,2,3, . . .
⍀̂ ⍀̂ Upon computation of the above integrals, the sloshing masses
MnC are directly computed from Eq. 共30兲, and the impulsive mass
共44兲
MI from Eq. 共31兲.
关M兴 =
1
g
冕 ˆ
〉 2
关N兴T关N兴dB̂2 共45兲
3.3 Horizontal Cylinders Under Longitudinal Excitation.
The nondeformable horizontal-cylindrical vessel is subjected to
longitudinal excitation along the z-axis 共Fig. 2兲, with displacement
The solution of the above problems provide the sloshing frequen- X̂ ⬅ Z共t兲. Under this type of excitation, the uniform motion poten-
cies 共np is the nth sloshing frequency of the pth longitudinal tial is written
冉 冊
mode兲 and the corresponding vectors unp, so that the corresponding
L
eigenfunctions np共x , y兲 of the problem 共34兲–共36兲 are ⌽U = Ż共t兲 z − 共57兲
2
np共x,y兲 = 关N兴unp, p = 0,1,2,3, . . . , n = 1,2,3, . . . 共46兲
Equation 共57兲 can also be written in the following form in terms
and satisfy the orthogonality conditions of trigonometric functions:
冕 ⍀̂
共ⵜmp兲共ⵜnp兲d⍀̂ + k2p 冕 ⍀̂
mpnpd⍀̂ = 冕 Bˆ2
mpnpdB̂2 = 0 ⌽U = Ż共t兲 兺
p=1,3,5,. . .
冉 −
4L
p 2 2
冊
cos k pz 共58兲
⌿np共x,y,z兲 = np共x,y兲cos k pz = 关N兴unp cos k pz Inserting Eqs. 共58兲 and 共59兲 into Eqs. 共5兲–共7兲, a series of transient
problems is obtained
p = 0,1,2,3, . . . , n = 1,2,3, . . . 共48兲
ⵜ2sp − k2psp = 0 in ⍀̂, p = 1,3,5, . . . 共60兲
and from Eq. 共14兲, the solution of the transient problem 共5兲–共7兲 is
sought in the following form: subjected to the following boundary conditions:
冕 ⍀
共ⵜsp兲共ⵜⴱ兲d⍀ + k2p 冕 ⍀̂
spⴱd⍀̂ +
1
g
冕 Bˆ2
2sp ⴱ
t2
dB̂2
In nondeformable axisymmetric vessels under horizontal exter-
nal excitation 共Fig. 3兲, the flow potential can be written as a sum
of the uniform motion potential
ត
=Z
␣p
g
冕Bˆ2
ⴱdB̂2 共64兲 ⌽U = Ẋ共t兲x = Ẋ共t兲r cos
and the potential associated with sloshing ⌽S, which should sat-
共76兲
Discretizing the admissible function ⴱ similarly to the unknown isfy the Laplace equation 共5兲 in the three-dimensional fluid do-
function sp main, the kinematic boundary condition 共6兲 at the wet surface B̂1,
whereas the boundary condition 共7兲 on the free surface becomes
ⴱ共x,y兲 = 兺 np共x,y兲n , p = 1,3,5, . . . 共65兲
2⌽ S ⌽S
n=1,2,3,. . . ត r cos 共77兲
2 +g =−X
where n are arbitrary constants, and taking into account the or- t y
thogonality condition 共47兲, one obtains the following ordinary dif- Therefore, taking into account the requirement of periodicity in
ferential equations in terms of the generalized coordinates Y np共t兲: terms of coordinate, and the form of the excitation term on the
right-hand side of Eq. 共77兲, the solution of S in the eigenvalue
M̄ npŸ np + 共np兲2M̄ npY np = P̄npZ̈, n = 1,2,3, . . . p = 1,3,5, . . . problem 共10兲–共12兲 is sought in the following form:
共66兲 S共r,y, 兲 = 共r,y兲cos 共78兲
where Substitution into the Laplace equation 共10兲, results in the follow-
M̄ np = 共unp兲T 冉冕 1
g Bˆ2
关N兴T关N兴dB̂2 unp, 冊 n = 1,2,3, . . .
ing equation in the two-dimensional domain ⍀̂ 共Fig. 3兲
ⵜ 2 + 冉 冊
1
r r
1
− 2 = 0
r
共79兲
冉冕 冊
2 2
␣p ⵜ 2 = + 共80兲
P̄np = 共unp兲T 关N兴 dB̂2 ,
T
n = 1,2,3, . . . p = 1,3,5, . . . r2 y 2
g Bˆ2
Furthermore, should satisfy the following boundary conditions:
共68兲
The force FS due to sloshing potential is =0 on B̂1 共81兲
n
FS = − 冕 A
⌽S
t
共ez · n兲dA 共69兲
− 2 + g
y
=0 on B̂2 共82兲
F̄np = 共unp兲T 2 冉冕 ⍀̂
关N兴Td⍀̂ , 冊 n = 1,2,3, . . . 共71兲 +
1
g
冕冉 冊
Bˆ2
ⴱ
2
t2
dB̂2 = 0 共84兲
Finally, considering the following change in variables in Eq. 共66兲: Subsequently, assuming the following discretization for
冋再 冎 再 冎册冉 冊
eigenvalue problem can be written as follows:
关Kaa兴 关Kab兴 关Maa兴 关0兴 ua
− 2 =0 共93兲
关Kba兴 关Kbb兴 关0兴 关0兴 ub
where ua corresponds to the nodes on B̂2, and ub refers to remain-
ing nodes not located on B̂2. Matrix 关M兴 is singular, and the
number of noninfinite eigenvalues of Eq. 共93兲 is equal to the num-
ber of nodes on boundary B̂2, whereas the rest of the eigenvalues
have an infinite value. Typical static condensation is employed to
eliminate nodes ub from the above problem. In such a case, the
equations of the eigenvalue problem 共93兲 can be replaced by the
Fig. 3 Axisymmetric liquid container with arbitrary meridian
shape
following set of equations:
ub = − 关Kbb兴−1关Kba兴ua 共94兲
ⵜ = 关B兴q 共86兲 where 关Maa兴 and 关K⬘兴 are square symmetric matrices, and
which is analogous to Eqs. 共39兲 and 共41兲, and a discretization of 关K⬘兴 = 关Kaa兴 − 关Kab兴关Kbb兴−1关Kba兴 共96兲
ⴱ, as indicated by Eqs. 共40兲 and 共42兲, a system of homogeneous In all finite element meshes employed, the number of nodes on the
equations is obtained free surface NF is significantly smaller than the total number of
共关K兴 − 2关M兴兲q = 0 共87兲 nodes N. Therefore, instead of solving the N ⫻ N eigenvalue prob-
lem 共93兲, the condensed NF ⫻ NF eigenvalue problem 共95兲 is
where matrix 关K兴 is defined as follows: solved, reducing significantly the computational cost and improv-
冕 冕 冕
ing the numerical accuracy. Upon calculation of eigenfrequencies
1 T 关N兴 1
关K兴 = 关B兴T关B兴d⍀̂ − 关N兴 d⍀̂ + 关N兴T关N兴d⍀̂ and eigenvectors ua of problem 共95兲, the eigenvectors u
⍀̂ ⍀̂
r r ⍀̂
r2 = 关uaub兴T of the complete problem 共93兲 are calculated through Eq.
共88兲 共94兲.
and matrix 关M兴 is obtained from Eq. 共45兲. The solution of the
6 Numerical Results
eigenvalue problem 共87兲 provides the sloshing frequencies n and
the eigenvectors un, so that the corresponding eigenfunctions of The finite element methodology is employed to compute the
problem 共10兲–共12兲 are written as follows: sloshing frequencies and masses of horizontal-cylindrical contain-
ers with circular cross-section, spherical vessels, and conical 共axi-
⌿n共r,y, 兲 = 关N兴un cos , n = 1,2,3, . . . 共89兲 symmetric兲 vessels 共Fig. 4兲. Typical finite element meshes for the
Inserting Eq. 共89兲 into Eqs. 共17兲 and 共18兲, and considering c = 0 containers under consideration are depicted in Fig. 5. Conver-
and x̂ = r cos , one obtains gence of the finite element solution is examined, and the numeri-
冉冕 冊
cal results are compared with existing semi-analytical solutions,
T as well as with available experimental data.
M̄ n = u r关N兴T关N兴dB̂2 un, n = 1,2,3, . . . 共90兲
g n Bˆ2 6.1 Horizontal-Cylindrical Vessels. Sloshing response of a
冉冕 冊
horizontal cylinder of circular cross-section under transverse ex-
T citation X共t兲 is considered first 共Fig. 4共a兲兲. Using the methodology
P̄n = u r2关N兴TdB̂2 un, n = 1,2,3, . . . 共91兲 described in Sec. 3.1, sloshing frequencies n and masses MnC are
g n Bˆ2 computed. In Fig. 6, the sloshing frequencies are depicted in terms
Furthermore, from Eq. 共22兲 of the liquid depth 共h = H / R兲 in a normalized form 共n = 2nR / g兲.
冕
The computed frequencies compare very well with the semi-
F̄n = uTn r关N兴⌻n̂dB̂1, n = 1,2,3, . . . 共92兲 analytical results in Refs. 关18,21兴, as well as with test data 关30兴. In
Bˆ1
Table 1, the convergence of sloshing frequencies is examined for
two values of liquid height 共h = 1 and h = 1.4兲. The very rapid
Upon computation of the above integrals, the sloshing masses convergence of the first sloshing frequency 1 is notable. For the
MnC are readily computed from Eq. 共30兲, and the impulsive mass particular case of nearly-full containers 共h → 2兲, all sloshing fre-
MI is computed from Eq. 共31兲. quencies approach an infinite value 共limh→2 n = ⬁兲, also noted in
the semi-analytical results reported in Ref. 关21兴. On the other
5 Numerical Implementation hand, the sloshing frequencies corresponding to the nearly-empty
The above modal-analysis methodology is implemented in a container 共h → 0兲 are consistent with the limit values reported in
finite element programming environment and is used to compute Ref. 关16兴 共limh→0 n = 2n2 − n兲.
sloshing frequencies and masses in both horizontal-cylindrical and Figure 7 depicts the sloshing masses MnC for circular cylinders
axisymmetric liquid containers. In each case, triangular constant- filled up to an arbitrary depth 共0 ⬍ h ⬍ 2兲, subjected to transverse
strain elements with linear shape functions are employed to dis- excitation, normalized by the total liquid mass in the container
cretize the two-dimensional liquid domain ⍀̂. ML. The numerical results show that the first sloshing 共convective兲
It is important to notice that matrix 关M兴 in the discretized ei- mass M1C is a substantial part of the total liquid mass ML, whereas
genvalue problems 共43兲, 共52兲, and 共87兲 is computed through an the sloshing masses corresponding to higher modes are signifi-
Table 1 Convergence of the first three sloshing frequencies with respect to the number of
finite elements NFE on the liquid surface B̂2 for h = 1.4 and h = 1
h = 1.4 h=1
NFE 1 2 3 1 2 3
冉 冊 冉 冊 冉 冊
冤 冥
2H − D 2 2
which is solved using standard finite elements and provides slosh- trary meridian shape. Numerical results are obtained for sloshing
ing frequencies and modes. The application of a static condensa- frequencies and masses in horizontal circular cylindrical vessels,
tion technique results in a significant reduction in the size of the spherical vessels, and a conical vessel with 45 deg semivertex
eigenvalue problem, increasing significantly both computational angle. For those geometries, numerical calculations based on the
efficiency and accuracy of the methodology. Using modal analy- first sloshing mass only is adequate to represent sloshing behavior
sis, a simple and efficient methodology is developed to compute accurately, especially in the case of seismic excitation. The nu-
the corresponding sloshing 共or convective兲 masses. The numerical merical results show good convergence, and are in very good
formulation is suitable for the analysis of horizontal cylinders of agreement with other results from other analytical or numerical
arbitrary cross-sectional shape and axisymmetric vessels of arbi- solutions and available experimental data. For the particular case
Equivalent Equivalent
Numerical Evans and Linton rectangle rectangle
n results 关20兴 Heq = 0.785R Heq = R
Equivalent Equivalent
Numerical Evans and Linton rectangle rectangle
n results 关20兴 Heq = 0.785R Heq = R