Вы находитесь на странице: 1из 11

Finite Element Analysis of

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

Keywords: earthquake engineering, seismic design, sloshing, liquid container, pressure


vessel, finite elements, variational methods

1 Introduction et al. 关12兴 for a thorough presentation and a concise literature


review of liquid storage tank response under seismic loads, in-
The calculation of hydrodynamic pressures and forces on the
cluding fluid-structure and soil-structure interaction effects.
wall of moving liquid containers constitutes a crucial issue for
The above studies concern mainly on vertical-cylindrical tanks,
safeguarding their structural integrity. In particular, liquid sloshing
and secondarily rectangular tanks. On the other hand, relatively
on the free surface may have a significant influence on the re-
sponse of the container. Mathematically, assuming an ideal liquid few publications have been reported on liquid sloshing in other
and irrotational flow, the linear sloshing formulation leads to an geometries, such as horizontal cylinders or spheres, which have
eigenvalue problem in terms of the fluid velocity potential, which significant industrial applications. The American Petroleum Insti-
represents the free-surface oscillations inside a motionless con- tute seismic provisions for liquid storage tanks 关13兴 refer exclu-
tainer. In the presence of external excitation, the problem becomes sively to vertical cylinders, whereas the recent European rules
transient and the solution provides the hydrodynamic pressures 关14兴 and the New Zealand recommendations 关15兴 refer to indus-
and force on the container’s wall 关1,2兴. trial pressure vessels 共i.e., horizontal cylinders or spheres兲 in a
Earthquake-induced sloshing has been recognized as an impor- very approximate manner.
tant issue toward safeguarding the structural integrity of liquid Linearized liquid sloshing in circular horizontal cylinders and
storage tanks or vessels. The pioneering work of Housner 关3兴 pre- spheres has been investigated through semi-analytical or numeri-
sented a solution for the hydrodynamic effects in nondeformable cal special-purpose formulations 关16–21兴. For the particular case
upright-cylindrical and rectangular containers, splitting the solu- of axisymmetric vessels, numerical solutions for sloshing have
tion in two parts, namely the impulsive part and the convective been reported, employing either boundary elements 关22,23兴 or fi-
part. Housner’s work has been extended to include the effects of nite elements 关24,25兴, whereas general-purpose numerical meth-
shell deformation on the response of upright cylinders 关4–6兴, odologies for liquid sloshing have been mainly based on the
whereas uplifting of unanchored tanks and soil-structure interac- boundary element method 关26–29兴.
tion effects 关7–10兴. All those works considered linear sloshing, The present paper presents a general-purpose finite element for-
assuming small-amplitude free-surface elevation. Nonlinear slosh- mulation for linear liquid sloshing analysis in both horizontal-
ing effects have been shown not to affect the value of peak hy- cylindrical and axisymmetric nondeformable containers subjected
drodynamic force and, therefore, they can be neglected in the to horizontal external excitation, based on modal analysis. The
calculation of the seismic force in liquid storage tanks and vessels study is motivated by the earthquake design and analysis of in-
关11兴. The reader is referred to the review paper of Rammerstorfer dustrial pressure vessels. Those vessels are thick-walled to resist
high levels of internal pressure and, therefore, they remain prac-
tically undeformed. The formulation is a generalization of the
special-purpose variational methodology presented in Ref. 关21兴
1
Corresponding author.
Contributed by the Pressure Vessel and Piping Division of ASME for publication
in the JOURNAL OF PRESSURE VESSEL TECHNOLOGY. Manuscript received April 12, 2008;
for two-dimensional circular canals and spherical containers, and
final manuscript received February 8, 2009; published online July 24, 2009. Review is suitable for the analysis of horizontal cylinders of arbitrary
conducted by Samir Ziada. Paper presented at the ASME PVP 2005 and PVP 2008. cross-sectional shape and axisymmetric vessels of arbitrary merid-

Journal of Pressure Vessel Technology Copyright © 2009 by ASME OCTOBER 2009, Vol. 131 / 051301-1

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a


ian shape. Using appropriate trigonometric functions for the slosh-
ing potential in the third direction, sloshing frequencies, and
modes representing fluid motion within the motionless container,
are calculated solving a two-dimensional eigenvalue problem
through a finite element discretization that employs constant-
strain triangular finite elements, and a static condensation tech-
nique that increases computational efficiency. Subsequently, the
transient problem of externally-induced sloshing is solved through
a modal analysis, and an efficient methodology for the calculation
of sloshing 共or convective兲 masses is developed, which can be
used for the seismic design and analysis of industrial vessels.
Numerical results for sloshing frequencies and masses are pre-
sented for horizontal-cylindrical, spherical, and conical vessels.
Fig. 1 Liquid vessel under horizontal external excitation
The numerical results are compared with available experimental „along the x̂-axis…
data and other semi-analytical or numerical results. Finally, for the
particular case of a horizontal cylinder subjected to longitudinal
external excitation, its equivalence with an appropriate rectangular
container is investigated. In the absence of external excitation X̂ = 0, ⌽U = 0, and the
boundary condition 共7兲 becomes homogeneous, and solutions of
the problem 共5兲–共7兲 are sought in the form

2 General Formulation ⌽S = ␾S共x,y,z兲ei␻t 共9兲

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


⳵ 2⌽ S ⳵ ⌽S ⳵ 2⌽ U
+ g = − on B2 共7兲 1
⳵ t2 ⳵y ⳵ t2 M̄ n = ⌿2ndB2 共17兲
g B2

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ⵜ␸ⴱ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

051301-2 / Vol. 131, OCTOBER 2009 Transactions of the ASME

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a


obtained through an appropriate integration of those pressures on
the wet surface of the container in the direction of the earthquake
excitation

F=−␳ 冕冉 B1
⳵ ⌽U ⳵ ⌽S
⳵t
+
⳵t
共ê · n兲dB1冊 共19兲

Equation 共19兲 indicates that the force F can be expressed as a


summation of the uniform motion force FU

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

where FS = − 兺 MnCän 共32兲


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.

兺 ¨ In the above analysis, the key step toward calculation of the


F=− F̄ncŸ n − M LX̂ 共23兲 dynamic response of the container, is the solutions of eigenvalue
n=1,2,3,. . .
problem 共10兲–共12兲 for the sloshing frequencies ␻n and mode
Using the following change of variables shapes ⌿n共x , y , z兲. In nondeformable rectangular and vertical-

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.

ün + ␻2n共un − X̂兲 = 0, n = 1,2,3, . . . 共26兲


Equations 共25兲 express the liquid motion with respect to the con-
3 Analysis of Horizontal-Cylindrical Liquid Vessels
tainer, and Eq. 共26兲 expresses the total liquid motion 共including
the motion of the container兲. In those equations, dissipation effects In this section, the dynamic response of nondeformable
can be easily considered, introducing a damping term, so that Eq. horizontal-cylindrical liquid vessels with arbitrary cross-sectional
共25兲 becomes shape is analyzed under horizontal external excitation in both the
transverse and the longitudinal directions 共x and z, respectively兲,
¨
än + 2␰n␻nan + ␻2nan = − X̂共t兲, n = 1,2,3, . . . 共27兲 as shown in Fig. 2.
where ␰n is the damping ratio of mode n. Furthermore, the hydro- 3.1 Three-Dimensional General Solution. The solution of
dynamic force in Eq. 共23兲 becomes the eigenvalue problem 共10兲–共12兲 in a horizontal-cylindrical ge-
⬁ ometry 共Fig. 2兲 is sought in the following form:
F=− 兺
n=1,2,3,. . .
¨
MnCän − MLX̂ 共28兲 ␾S共x,y,z兲 = ␾ p共x,y兲cos k pz 共33兲
where k p = p␲ / L, p = 0 , 1 , 2 , 3 , . . ., so that the homogeneous
or equivalently,
boundary condition 共11兲 at the end sections z = 0 , L of the cylinder
⬁ is satisfied. Inserting Eq. 共33兲 into the eigenvalue problem
F=− 兺 ¨
MnCün − MIX̂ 共29兲 共10兲–共12兲, a series of two-dimensional problems in domain ⍀̂
n=1,2,3,. . .
共Fig. 2兲 are obtained
where
ⵜ2␸ p − k2p␸ p = 0 in ⍀̂ p = 0,1,2,3, . . . 共34兲
P̄nF̄n
MnC = , n = 1,2,3, . . . 共30兲 with the following boundary conditions:
M̄ n
⳵␸ p
and =0 on B̂1 p = 0,1,2,3, . . . 共35兲

⳵n
MI = ML − 兺 MnC 共31兲
⳵␸ p
n=1,2,3,. . . − ␻ 2␸ p + g =0 on B̂2 p = 0,1,2,3, . . . 共36兲
⳵y
Note that the force FS associated with sloshing can be written as
follows: where in Eq. 共34兲

Journal of Pressure Vessel Technology OCTOBER 2009, Vol. 131 / 051301-3

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a


ⵜ 2␸ p =
⳵ 2␸ p ⳵ 2␸ p
+ 共37兲 ⌽S = 兺 兺 Ẏ np关N兴unp cos k pz 共49兲
⳵ x2 ⳵ y2 p=0,1,2,3,. . . n=1,2,3,. . .

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ⵜ␸ⴱ兲d⍀̂ + k2p 冕 ⍀
␸ p␸ⴱd⍀̂ −
␻2
g

Bˆ2
␸ p␸ⴱdB̂2 = 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

␸p = 兺 q 共t兲N 共x,y兲 = 关N兴q ,


i=1
p
i i
p
p = 0,1,2,3, . . . 共39兲 ⌽S = 兺
n=1,2,3,. . .
Ẏ 0n关N兴u0n 共51兲

N where u0n are the eigenvectors of the discretized eigenvalue prob-


lem 共43兲 considering p = 0
␸ⴱ = 兺 q N 共x,y兲 = 关N兴q

i i

共40兲
i=1 共关K0兴 − 共␻0n兲2关M兴兲u0n = 0, n = 1,2,3, . . . 共52兲
where Ni共x , y兲 are known spatial functions, 关N兴 is a row-matrix In Eq. 共52兲, matrix 关M兴 is given from Eq. 共45兲 and
containing functions Ni共x , y兲, q̇ p is a column vector with the un-
known generalized coordinates qip共t兲, and qⴱ is a vector containing
the arbitrary coefficients qⴱi . Differentiation of Eqs. 共39兲 and 共40兲
关K0兴 = 冕 ⍀̂
关B兴T关B兴d⍀̂ 共53兲
gives
Finally, from Eqs. 共17兲, 共18兲, and 共22兲 one obtains

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

where matrices 关M兴 and 关K p兴 are given by the following expres-


sions:
F̄n = 共u0n兲T ␳ 冉冕 关N兴T共ex · n兲dB̂1 , 冊 共56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ⵜ␺mp兲共ⵜ␺np兲d⍀̂ + k2p 冕 ⍀̂
␺mp␺npd⍀̂ = 冕 Bˆ2
␺mp␺npdB̂2 = 0 ⌽U = Ż共t兲 兺
p=1,3,5,. . .
冉 −
4L
p 2␲ 2

cos k pz 共58兲

Because of this type of excitation, the solution of the transient


p = 0,1,2,3, . . . m ⫽ n 共47兲 problem 共5兲–共7兲 is sought in the following form:
The eigenfunctions ⌿np of the three-dimensional eigenvalue prob-
lem 共10兲–共12兲 are
⌽S = 兺
p=1,3,5. . .
␸sp共x,y,t兲cos k pz 共59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
ⵜ2␸sp − k2p␸sp = 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:

051301-4 / Vol. 131, OCTOBER 2009 Transactions of the ASME

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a


⳵␸sp M̄ np
=0 on B̂1, p = 1,3,5, . . . anp = Y np, n = 1,2,3, . . . p = 1,3,5, . . . 共72兲
⳵n
P̄np
⳵␸sp the generalized coordinates anp are given by the following equa-
=0 on B̂1, p = 1,3,5, . . . 共61兲 tions:
⳵n
änp + 共␻np兲2anp = Z̈共t兲, n = 1,2,3, . . . p = 1,3,5, . . . 共73兲
⳵2␸sp ⳵␸sp ត
2 +g = ␣ pZ on B̂2, p = 1,3,5, . . . 共62兲 which are analogous to Eq. 共25兲, and the sloshing masses p
MnC are
⳵t ⳵y
calculated as follows:
where ␣ p = 4L / p2␲2. Clearly, Eqs. 共34兲–共36兲 constitute the corre-
sponding eigenvalue problems of the above transient problems P̄npF̄np
共60兲–共62兲. Therefore, the solution of Eqs. 共60兲–共62兲 can be written
p
MnC = , n = 1,2,3, . . . p = 1,3,5, . . . 共74兲
in the following form: M̄ np
which is analogous to Eq. 共30兲, so that FS becomes
␸sp共x,y,t兲 = 兺 ␺np共x,y兲Ẏ np共t兲, p = 1,3,5, . . . 共63兲
n=1,2,3,. . . FS = − 兺 兺
p=1,3,5,. . . n=1,2,3,. . .
p p
MnC än 共75兲
where ␺np共x , y兲
are the eigenfunctions of Eqs. 共34兲–共36兲, given by
Eq. 共46兲. Assuming an admissible function ␸ⴱ共x , y兲, the varia-
tional form of Eqs. 共60兲–共62兲 can be written as follows:
4 Analysis of Axisymmetric Liquid Vessels

冕 ⍀
共ⵜ␸sp兲共ⵜ␸ⴱ兲d⍀ + k2p 冕 ⍀̂
␸sp␸ⴱd⍀̂ +
1
g
冕 Bˆ2
⳵2␸sp 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

=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

p = 1,3,5, . . . 共67兲 where in Eq. 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

where A is the total lateral surface at z = 0 and z = L, and the slosh-


ing potential is given by Eqs. 共59兲 and 共63兲. Therefore, using ␸=0 at r=0 共83兲
cos k pL = −1 for p = 1 , 3 , 5 , . . . The weak form of the boundary-value problem 共79兲–共83兲 is ob-
tained considering an admissible function ␸ⴱ = ␸ⴱ共r , y兲 as follows:
兺 兺 F̄npŸ np , 共70兲
冕 冕 冉 冊 冕
FS = − p = 1,3,5, . . .
p=1,3,5,. . . n=1,2,3,. . . 1 ⳵␸ ⴱ 1 ⴱ
共ⵜ␸兲 · 共ⵜ␸ⴱ兲d⍀̂ − ␸ d⍀̂ + ␸␸ d⍀̂
where ⍀̂ ⍀̂
r ⳵r ⍀̂
r2

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 ␸

Journal of Pressure Vessel Technology OCTOBER 2009, Vol. 131 / 051301-5

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a


appropriate integral on boundary B̂2, which is on the liquid free
surface. Therefore, the only nonzero elements of matrix 关M兴 are
the ones corresponding to nodes located on boundary B̂2. Separat-
ing the nodes on B̂2 from the rest of the nodes, the discretized

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

␸ = 关N兴q 共85兲 共关K⬘兴 − ␻2关Maa兴兲ua = 0 共95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.


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-

051301-6 / Vol. 131, OCTOBER 2009 Transactions of the ASME

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a


Fig. 4 Horizontal-cylindrical, spherical, and conical liquid vessel with 45 deg semivertex angle

cantly smaller. In the case of nearly-full containers 共h → 2兲 the


behavior becomes “impulsive,” in the sense that the impulsive
mass is approximately equal to the total liquid mass 共MI → ML兲. In
such a case, sloshing effects are inconsequential. On the other
hand, when the liquid height is very small 共h → 0兲, the behavior
becomes “convective” in the sense that the impulsive mass is
practically equal to zero MI → 0. Furthermore, in the limit 共h
→ 0兲, the entire liquid mass is practically equal to the first slosh-
ing mass 共M1C → ML兲, whereas sloshing masses corresponding to
Fig. 5 Typical finite element meshes with triangular elements higher modes vanish 关MnC → 0, n ⱖ 2兴.
for horizontal cylinder and for sphere „h = H / R = 1.2… The sloshing force FS of a 70%-full container 共h = 1.4兲 under
the El Centro ground motion excitation is shown in Fig. 8, com-
puted using the four sloshing masses 共MnC, n = 1 , 2 , 3 , 4兲 and the
first sloshing mass only 共M1C兲. The numerical results indicate that
computations of the hydrodynamic force based on the first slosh-
ing mass only provide results of very good accuracy.
The dynamic response of a horizontal cylinder of circular cross
section under excitation Z共t兲 in the longitudinal direction z is ex-
amined next 共Fig. 4共a兲兲. The sloshing frequencies of the first lon-
gitudinal mode 共␭1n = 共␻1n兲2R / g兲 共n = 1 , 2 , 3 , . . ., p = 1兲, obtained
from the solution of eigenvalue problem 共43兲, are reported in the
second column of Tables 2 and 3, for half-full cylinders 共h = 1兲
with aspect ratio L / R = ␲ and L / R = ␲ / 2. The numerical results
are in very good agreement with available semi-analytical results
关20兴, tabulated in the third column of Tables 2 and 3. Furthermore,
sloshing frequencies ␭np = 共␻np兲2R / g for the first three longitudinal
wave numbers 共p = 1 , 3 , 5 , . . .兲 and n = 1, obtained for horizontal-
cylindrical containers with L / R = 5.8 and L / R = 3.5 are shown in
Fig. 9, respectively, in terms of liquid height within the container.
The results are in good agreement with experimental data reported
in Ref. 关30兴, also shown in Fig. 9.
It has been shown experimentally 关31,32兴 that the response of a
Fig. 6 Sloshing frequencies of two-dimensional horizontal cyl- cylinder subjected to longitudinal excitation is similar to the re-
inder „antisymmetric modes…; comparison with experimental sponse of an equivalent rectangular container, referred to as
data †30‡

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

20 1.7464 5.5798 9.9498 1.3595 4.8546 8.7544


40 1.7369 5.3507 9.0246 1.3572 4.7509 8.2056
60 1.7358 5.322 8.8937 1.3562 4.6817 7.9469
80 1.7355 5.3116 8.8464 1.3560 4.6763 7.9202
100 1.7348 5.2985 8.8032 1.3559 4.6669 7.8820
120 1.7346 5.2949 8.7882 1.3559 4.6653 7.8734
140 1.7346 5.2938 8.7827 1.3558 4.6640 7.8669
McIver 关18兴 1.7346 5.2768 8.7221 1.3557 4.6511 7.8199
Patkas and Karamanos 关21兴 1.7346 5.2768 8.7221 1.3557 4.6511 7.8199

Journal of Pressure Vessel Technology OCTOBER 2009, Vol. 131 / 051301-7

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a


mate values offer upper-bound values, but are in poor agreement
with the corresponding numerical and the analytical values, espe-
cially for the lower-mode frequencies.
6.2 Axisymmetric Vessels. Using the methodology described
in Sec. 4, sloshing frequencies and masses are computed for a
spherical vessel 共Fig. 4共b兲兲. Figure 11 shows the numerical results
for the sloshing frequencies, obtained from the solution of the
discretized eigenvalue problem 共87兲, with respect to the liquid
height, indicating a variation similar to the two-dimensional cir-
cular cylinder case 共Fig. 6兲 and very good agreement with test
data 关30兴. The ␭n = ␻2nR / g values for a nearly-empty container
共h → 0兲 approach the limiting values ␭n = 2n2 − 1 关16兴. Figure 12
depicts the sloshing masses MnC computed through Eqs. 共30兲 and
共90兲–共92兲, with respect to the liquid depth ML, and indicate a
variation in sloshing masses similar to the corresponding variation
in a two-dimensional circular canal 共Fig. 7兲. The finite element
results on frequencies and masses are in excellent agreement with
semi-analytical results 关21兴.
Finally, the proposed methodology for axisymmetric vessels is
Fig. 7 Convective and impulsive masses for horizontal cylin- applied for the case of a conical vessel with semivertex angle
der under transverse excitation equal to 45 deg 共H = R兲, shown in Fig. 4共c兲, subjected to horizontal
excitation X共t兲. The analytical solution for the sloshing potential
can be outlined as follows 关35兴. The eigenproblem expressed by
Eq. 共79兲 and boundary conditions 共81兲–共83兲 is solved first, con-
“equivalent rectangle,” which has the same free-surface dimen- sidering the following change of variables:
sions with the cylindrical vessel L ⫻ 2R, and contains the same
liquid volume 共Fig. 10兲. Using simple geometry calculations, one W=r+y
readily obtains that the liquid height of the equivalent rectangular
container in terms of the liquid height inside the cylinder is equal V=r−y 共100兲
to From Eq. 共100兲, Eq. 共79兲 and boundary condition 共81兲 become

冉 冊 冉 冊 冉 冊
冤 冥
2H − D ␲ ⳵ 2␸ ⳵ 2␸ ⳵␸ ⳵␸

冉 冊 2 sin−1 + 共W2 + 2WV + V2兲 + + 共W + V兲 + − 2␸ = 0


1 D D D 2 ⳵ W2 ⳵ V2 ⳵W ⳵V
Heq = H− + 共97兲
2 2 8 冑H共D − H兲 共101兲
The sloshing frequencies for this equivalent rectangle can be
calculated from the following equations: ⳵␸
=0 on B̂1 where V=0 共102兲
⳵V
␭1n = ␬1n tanh共␬1nHeq/R兲, n = 1,2,3, . . . 共98兲
Assuming the following series expansion for ␸共W , V兲:
␬1n = 冑共␲R/L兲 + 共共n − 1兲␲/2兲 ,
2 2
n = 1,2,3, . . . 共99兲 ⬁ ⬁

where n = 1 , 3 , 5 , . . . refers to the symmetric modes, and n


␸共W,V兲 = 兺兺A
n=0 m=0
mnW
m n
V 共103兲
= 2 , 4 , 6 , . . . refers to the skew modes. A first demonstration of this
equivalence for the particular case of half-full horizontal cylinders and substituting into Eqs. 共101兲 and 共102兲 one readily concludes
共h = 1兲 was presented in Ref. 关33兴. Herein, it is generalized using that all coefficients Amn should vanish, except A20 = −A02, so that
the present finite element formulation. For a half-full container ␸ = A20共W2 − V2兲 = A20ry 共104兲
h = 1 and from Eq. 共97兲 Heq = 0.785R, and the corresponding slosh-
ing frequencies ␭1n, computed from Eqs. 共98兲 and 共99兲, are de- Therefore, there exists only one sloshing mode ⌿1 = ry cos ␪. Fur-
picted in the fourth column of Tables 2 and 3. Furthermore, pre- thermore, condition 共83兲 is trivially satisfied, whereas substitution
dictions of sloshing frequencies using this approximation are of Eq. 共104兲 into Eq. 共82兲 yields the corresponding eigenvalue
compared with the numerical and experimental results in Fig. 9 ␭1 = ␻21R / g = 1, a result also obtained in 关36兴. The value of ␭1
for horizontal-cylindrical containers with aspect ratios L / R = 5.8 computed from the finite element formulation, shown in Table 4,
and L / R = 3.5, respectively, for arbitrary liquid depth. The com- is in very good agreement with this analytical result.
parison is generally fairly good, with the exception of nearly-full Subsequently, considering ⌿1 = ry cos ␪ and conducting the in-
containers 共h → 2兲 where the cylinder’s frequency becomes singu- tegrations in Eqs. 共17兲, 共18兲, and 共22兲, one obtains from Eq. 共30兲
the analytical value for the sloshing mass M1C = ␲R4 / 4, which is
lar 共␭1p → ⬁兲. Nevertheless, it can be concluded that the equivalent
75% of the total liquid mass 共M1C / ML = 0.75兲. The remaining liq-
rectangular container concept, despite its simplicity, offers good
approximations of sloshing frequency values. uid mass corresponds to the impulsive mass 共MI / ML = 0.25兲.
An upper-bound prediction of the sloshing frequency values in Those values are in very good agreement with the finite element
a cylindrical container under longitudinal excitation can be ob- results shown in Table 4.
tained using domain monotonicity 关34兴; that is, if two liquid con-
tainers have the same free surface and one liquid region contains 7 Conclusions
the other, then the containing liquid region has larger sloshing A simple and efficient finite element modal-analysis formula-
frequencies. In the case of a half-full container 共h = 1兲, the slosh- tion has been developed for externally-induced sloshing in
ing frequencies can be approximated considering a rectangular horizontal-cylindrical and axisymmetric liquid containers, sub-
container with the same free surface 共L ⫻ 2R兲 and depth equal to jected to horizontal excitation. In both geometries, considering
the cylinder radius R. The values obtained by this approximation appropriate trigonometric functions for the sloshing potential, the
are reported in the fifth column of Tables 2 and 3. The approxi- formulation results in a two-dimensional eigenvalue problem,

051301-8 / Vol. 131, OCTOBER 2009 Transactions of the ASME

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a


Fig. 8 „a… El Centro earthquake; „b… response of a 70% full cylinder „h = 1.4… subjected to El Centro
earthquake „NM = 4…; and „c… response of a 70% full cylinder „h = 1.4… subjected to El Centro earth-
quake „NM = 1…

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

Journal of Pressure Vessel Technology OCTOBER 2009, Vol. 131 / 051301-9

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a


Table 2 Normalized sloshing frequencies ␭1n „p = 1… for a half-
full horizontal cylinder „h = 1, L / R = ␲…

Equivalent Equivalent
Numerical Evans and Linton rectangle rectangle
n results 关20兴 Heq = 0.785R Heq = R

First symm 0.6441 0.6441 0.6556 0.7616


First skew 1.6394 1.6393 1.6721 1.7743
Second symm 3.1938 3.1923 3.2599 3.2879
Second skew 4.7618 4.7562 4.8123 4.8167
Third symm 6.3316 6.3184 6.3617 6.3622 Fig. 10 Equivalent rectangle concept for horizontal cylinders
Third skew 7.9087 7.8832 7.9173 7.9174 under longitudinal excitation
Fourth symm 9.4931 9.4496 9.4777 9.4777
Fourth skew 11.0855 11.017 11.041 11.041

Table 3 Normalized sloshing frequencies ␭1n „p = 1… for a half-


full horizontal cylinder „h = 1, L / R = ␲ / 2…

Equivalent Equivalent
Numerical Evans and Linton rectangle rectangle
n results 关20兴 Heq = 0.785R Heq = R

First symm 1.7784 1.7784 1.8341 1.9281


First skew 2.3375 2.3374 2.4510 2.5119
Second symm 3.6278 3.6260 3.7027 3.7199
Second skew 5.0644 5.0585 5.1159 5.1189
Third symm 6.5635 6.5499 6.5934 6.5938
Third skew 8.0963 8.0703 8.1046 8.1046
Fourth symm 9.6506 9.6064 9.6346 9.6346
Fourth skew 11.221 11.152 11.176 11.176

Fig. 11 Sloshing frequencies in spherical vessel with respect


to liquid depth; comparison with experimental data †30‡

Fig. 9 Sloshing frequencies of two three-dimensional horizon-


tal cylinders with L / R = 5.8 and L / R = 3.5; comparison between
numerical finite element results, experimental data †30‡, and
predictions from equivalent rectangular container using Eq. Fig. 12 Convective and impulsive masses in spherical vessels
„97… with respect to liquid depth

051301-10 / Vol. 131, OCTOBER 2009 Transactions of the ASME

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a


Table 4 Convergence of the first sloshing frequency and first 关15兴 Priestley, M. J. N., Davidson, B. J., Honey, G. D., Hopkins, D. C., Martin, R.
sloshing mass of a conical container with semivertex angle J., Ramsey, G., Vessey, J. V., and Wood, J. H., 1986, “Seismic Design of
equal to 45 deg, with respect to the number of finite elements Storage Tanks,” Recommendations of a Study Group of the New Zealand
National Society for Earthquake Engineering.
NFE on the liquid surface B̂2 关16兴 Budiansky, B., 1960, “Sloshing of Liquids in Circular Canals and Spherical
Tanks,” J. Aerosp. Sci., 27共3兲, pp. 161–173.
NFE ␭1 = ␻21R / g M1C / ML 关17兴 Moiseev, N. N., and Petrov, A. A., 1966, “The Calculation of Free Oscillations
of a Liquid in a Motionless Container,” Adv. Appl. Mech., 9, pp. 91–154.
10 1.0101 0.74663 关18兴 McIver, P., 1989, “Sloshing Frequencies for Cylindrical and Spherical Con-
tainers Filled to an Arbitrary Depth,” J. Fluid Mech., 201, pp. 243–257.
20 1.0026 0.74917
关19兴 McIver, P., and McIver, M., 1993, “Sloshing Frequencies of Longitudinal
40 1.0007 0.74977 Modes for a Liquid Contained in a Trough,” J. Fluid Mech., 252, pp. 525–541.
60 1.0003 0.74989 关20兴 Evans, D. V., and Linton, C. M., 1993, “Sloshing Frequencies,” Q. J. Mech.
80 1.0002 0.74994 Appl. Math., 46, pp. 71–87.
Analytical solution 关35,36兴 1.0 0.75 关21兴 Patkas, L. A., and Karamanos, S. A., 2007, “Variational Solutions of Liquid
Sloshing in Horizontal-Cylindrical and Spherical Containers,” J. Eng. Mech.,
133共6兲, pp. 641–655.
关22兴 Hunt, B., 1987, “Seismic-Generated Water Waves in Axisymmetric Tanks,” J.
of a horizontal circular cylinder subjected to longitudinal external Eng. Mech., 113共5兲, pp. 653–670.
关23兴 Lay, K. S., 1993, “Seismic Coupled Modeling of Axisymmetric Tanks Con-
excitation, its equivalence with an appropriate rectangular con- taining Liquid,” J. Eng. Mech., 119共9兲, pp. 1747–1761.
tainer is demonstrated. 关24兴 Aslam, M., 1981, “Finite Element Analysis of Earthquake-Induced Sloshing in
Axisymmetric Tanks,” Int. J. Numer. Methods Eng., 17, pp. 159–170.
关25兴 Subhash Babu, S., and Bhattacharyya, S. K., 1996, “Finite Element Analysis of
References Fluid-Structure Interaction Effect on Liquid Retaining Structures Due to
关1兴 Abramson, H. N., 1966, “The Dynamic Behavior of Liquids in Moving Con- Sloshing,” Comput. Struct., 59共6兲, pp. 1165–1171.
tainers,” Southwest Research Institute, Washington, DC, NASA Report No. 关26兴 Hwang, I. T., and Ting, K., 1987, “Dynamic Analysis of Liquid Storage Tanks
SP-106. Including Hydrodynamic Interaction by Boundary Element Method,” Ninth
关2兴 Ibrahim, R. A., Pilipchuk, V. N., and Ikeda, T., 2001, “Recent Advances in International Conference on Structural Mechanics in Reactor Technology, Lau-
Liquid Sloshing Dynamics,” Appl. Mech. Rev., 54共2兲, pp. 133–177. sanne, Switzerland, pp. 429–434.
关3兴 Housner, G. W., 1957, “Dynamic Pressures on Accelerated Fluid Containers,” 关27兴 Koh, H. M., Kim, J. K. and Park, J.-H., 1998, “Fluid-Structure Interaction
Bull. Seismol. Soc. Am., 47, pp. 15–35. Analysis of 3-D Rectangular Tanks by Variationally Coupled BEM-FEM and
关4兴 Veletsos, A. S., 1974, “Seismic Effects in Flexible Liquid Storage Tanks,” Comparison With Test Results,” Earthquake Eng. Struct. Dyn., 27, pp. 109–
Proceedings of the Fifth World Conference in Earthquake Engineering, Rome, 124.
Italy, Vol. 1, pp. 630–639. 关28兴 Dutta, S., and Laha, M. K., 2000, “Analysis of the Small Amplitude Sloshing
关5兴 Haroun, M. A., and Housner, G. W., 1981, “Earthquake Response of Deform- of a Liquid in a Rigid Container of Arbitrary Shape Using a Low-Order
able Liquid Storage Tanks,” ASME J. Appl. Mech., 48, pp. 411–417. Boundary Element Method,” Int. J. Numer. Methods Eng., 47, pp. 1633–1648.
关6兴 Haroun, M. A., 1983, “Vibration Studies and Tests of Liquid Storage Tanks,” 关29兴 Gedikli, A., and Ergüven, M. E., 2003, “Evaluation of Sloshing Problem by
Earthquake Eng. Struct. Dynam., 11, pp. 179–206. Variational Boundary Element Method,” Eng. Anal. Boundary Elem., 27, pp.
关7兴 Natsiavas, S., 1988, “An Analytical Model for Unanchored Fluid-Filled Tanks 935–943.
Under Base Excitation,” ASME J. Appl. Mech., 55, pp. 648–653. 关30兴 McCarty, J. L., and Stephens, D., 1960, “Investigation of the Natural Frequen-
关8兴 Veletsos, A. S., and Tang, Y., 1990, “Soil-Structure Interaction Effects for cies of Fluids in Spherical and Cylindrical Tanks,” Report NASA TN D-252,
Laterally Excited Liquid Storage Tanks,” Earthquake Eng. Struct. Dyn., 19, Washington, DC.
pp. 473–496. 关31兴 Kana, D. D., 1982, “Status and Research Needs for Prediction of Seismic
关9兴 Malhotra, P. K., 1995, “Base Uplifting Analysis of Flexibly Supported Liquid- Response in Liquid Containers,” Nucl. Eng. Des., 69, pp. 205–221.
Storage Tanks,” Earthquake Eng. Struct. Dyn., 24共12兲, pp. 1591–1607. 关32兴 Kobayashi, N., Mieda, T., Shibata, H., and Shinozaki, Y., 1989, “A Study of
关10兴 Fischer, F. D., 1979, “Dynamic Fluid Effects in Liquid-Filled Flexible Cylin- the Liquid Slosh Response in Horizontal Cylindrical Tanks,” ASME J. Pres-
drical Tanks,” Earthquake Eng. Struct. Dyn., 7, pp. 587–601. sure Vessel Technol., 111共1兲, pp. 32–38.
关11兴 Chen, W., Haroun, M. A., and Liu, F., 1996, “Large Amplitude Liquid Slosh- 关33兴 Papaspyrou, S., Valougeorgis, D., and Karamanos, S. A., 2004, “Sloshing Ef-
ing in Seismically Excited Tanks,” Earthquake Eng. Struct. Dyn., 25共7兲, pp. fects in Half-Full Horizontal Cylindrical Vessels Under Longitudinal Excita-
653–669. tion,” ASME J. Appl. Mech., 126共2兲. pp. 255–265.
关12兴 Rammerstorfer, F. G., Fisher, F. D., and Scharf, K., 1990, “Storage Tanks 关34兴 Fox, D. W., and Kutler, J. R., 1983, “Sloshing Frequencies,” Z. Angew. Math.
Under Earthquake Loading,” Appl. Mech. Rev., 43共11兲, pp. 261–283. Phys., 34, pp. 669–696.
关13兴 American Petroleum Institute, 2000, “Seismic Design of Storage Tanks,” 关35兴 Levin, E., 1963, “Oscillations of a Fluid in a Rectilinear Conical Container,”
Welded Steel Tanks for Oil Storage, API 650, Annex E, Washington, DC. AIAA J., 1共6兲, p. 1447.
关14兴 Comité Européen de Normalization, 2006, “Part 4: Silos, Tanks and Pipe- 关36兴 Gavrilyuk, I. P., Lukovsky, I. A., and Timokha, A. N., 2005, “Linear and
lines,” Eurocode 8. Design of Structures for Earthquake Resistance, EN Nonlinear Sloshing in a Circular Conical Tank,” Fluid Dyn. Res., 37, pp.
1998-4, CEN, Brussels. 399–429.

Journal of Pressure Vessel Technology OCTOBER 2009, Vol. 131 / 051301-11

Downloaded From: http://pressurevesseltech.asmedigitalcollection.asme.org/pdfaccess.ashx?url=/data/journals/jpvtas/28518/ on 03/17/2017 Terms of Use: http://www.asme.org/a

Вам также может понравиться