New insight into the stability and dynamics of fluid-conveying supported pipes with small geometric imperfections

In several previous studies,it was reported that a supported pipe with small geometric imperfections would lose stability when the internal flow velocity became sufficiently high.Recently,however,it has become clear that this conclusion may be at best incomplete.A reevaluation of the problem is undertaken here by essentially considering the flow-induced static deformation of a pipe.With the aid of the absolute nodal coordinate formulation(ANCF)and the extended Lagrange equations for dynamical systems containing non-material volumes,the nonlinear governing equations of a pipe with three different geometric imperfections are introduced and formulated.Based on extensive numerical calculations,the static equilibrium configuration,the stability,and the nonlinear dynamics of the considered pipe system are determined and analyzed.The results show that for a supported pipe with the geometric imperfection of a half sinusoidal wave,the dynamical system could not lose stability even if the flow velocity reaches an extremely high value of 40.However,for a supported pipe with the geometric imperfection of one or one and a half sinusoidal waves,the first-mode buckling instability would take place at high flow velocity.Moreover,based on a further parametric analysis,the effects of the amplitude of the geometric imperfection and the aspect ratio of the pipe on the static deformation,the critical flow velocity for buckling instability,and the nonlinear responses of the supported pipes with geometric imperfections are analyzed.

STABILITY ANALYSIS OF MAXWELL VISCOELASTIC PIPES CONVEYING FLUID WITH BOTH ENDS SIMPLY SUPPORTED

On the basis of some studies of elastic pipe conveying fluid, the dynamic behavior and stability of Maxwell viscoelastic pipes conveying fluid with both ends simply supported, which are gyroscopic conservative system, were investigated by using the finite difference method and the corresponding recurrence formula. The effect of relaxation time of vis coelastic materials on the variation curve between dimensionless flow velocity and the real part and imaginary part of dimensionless complex frequencies in the first-three-order modes were analyzed concretely. It is found that critical flow velocities of divergence instability of Maxwell viscoelastic pipes conveying fluid with both ends simply supported decrease with the decrease of the relaxation time, while after the onset of divergence instability ( buckling) critical flow velocities of coupled-mode flutter increase with the decrease of the relaxation time. Particularly, in the case of greater mass ratio. with the decrease of relaxation time, the onset of coupled-mode flutter delays, and even does not take place. When the relaxation time is greater than 10(3), stability behavior of viscoelastic pipes conveying fluid is almost similar to the elastic pipes conveying fluid.

STABILITY ANALYSIS OF VISCOELASTIC CURVED PIPES CONVEYING FLUID

Based on the Hamilton' s principle for elastic systems of changing mass, a differential equation of motion for viscoelastic curved pipes conveying fluid was derived using variational method, and the complex characteristic equation for the viscoelastic circular pipe conveying fluid was obtained by normalized power series method. The effects of dimensionless delay time on the variation relationship between dimensionless complex frequency of the clamped-clamped viscoelastic circular pipe conveying fluid with the Kelvin-Voigt model and dimensionless flow velocity were analyzed. For greater dimensionless delay time, the behavior of the viscoelastic pipe is that the first, second and third mode does not couple, while the pipe behaves divergent instability in the first and second order mode, then single-mode flutter takes place in the first order mode.

Effects of supported angle on stability and dynamical bifurcations of cantilevered pipe conveying fluid

The effects of the supported angle on the stability and dynamical bifurcations of an inclined cantilevered pipe conveying fluid are investigated. First, a theoretical model of the pipe is developed through the force balance and stress-strain relationship. Second, the response surfaces, stability, and critical lines of the typical hanging system （H-S） and standing system （S-S） are discussed based on the modal analysis. Last, the bifurcation diagrams of the pipe are presented for different supported angles. It is shown that pipes will undergo a series of bifurcation processes and show rich dynamic phenomena such as buckling, Hopf bifurcation, period-doubling bifurcation, chaotic motion, and divergence motion.

VIBRATION AND STABILITY OF VERTICAL UPWARD-FLUID-CONVEYING PIPE IMMERSED IN RIGID CYLINDRICAL CHANNEL

A theoretical model is developed for the vibration and stability of a vertical pipe subjected concurrently to two dependent axial flows. The external fluid, after exiting the outer annular region between the pipe and a rigid cylindrical channel, is conveyed upwards inside the pipe. This configuration thus resembles of a pipe that aspirating fluid. The equation of planar mo- tion is solved by means of the differential quadrature method （DQM）. Calculations are conducted for a slender drill-string-like and a bench-top-size system, for different confinement conditions of the outer annular channel. It is shown that the vibrations of these two systems are closely related to the degree of confinement of the outer annular channel. For a drill-string-like system with narrow annuli, buckling instability may occur in the second and third modes. For a bench-top-size system, however, both buckling and flutter may occur in the lowest three modes. The form of instability depends on the annuli size.

Nonlinear Fractional-Order Dynamic Stability of Fluid-Conveying Pipes Constituted by the Viscoelastic Materials with Time-Dependent Velocity

Considering that the fluid-conveying pipes made of fractional-order viscoelastic material such as polymeric materials with pulsatile flow are widely applied in engineering,we focus on the stability and bifurcation behaviors in parametric resonance of a viscoelastic pipe resting on an elastic foundation.The Riemann–Liouville fractional-order constitutive equation is used to accurately describe the viscoelastic property.Based on this,the nonlinear governing equations are established according to the Euler–Bernoulli beam theory and von Karman’s nonlinearity,with using the generalized Hamilton’s principle.The stability boundaries and steady-state responses undergoing parametric excitations are determined with the aid of the direct multiple-scale method.Some numerical examples are carried out to show the effects of fractional order and viscoelastic coefficient on the stability region and nonlinear bifurcation behaviors.It is noticeable that the fractional-order viscoelastic property can effectively reconstruct the dynamic behaviors,indicating that the stability of the pipes can be conspicuously enhanced by designing and tuning the fractional order of viscoelastic materials.

Stability and Chaotic Vibrations of a Pipe Conveying Fluid under Harmonic Excitation

The stability and chaotic vibrations of a pipe conveying fluid with both ends fixed, excited by the harmonic motion of its supporting base in a direction normal to the pipe span, were investigated with the aid of modern numerical techniques,involving the phase portrait,Lyapunov exponent and Poincare map tc. The nonlinear differential equations of motion of the system were derived by considering the additional axial force due to the lateral motion of the pipe. Attention was concentrated on the effect of forcing frequency and flow velocity on the dynamics of the system. It is shown that chaotic motions can occur in this system in a certain region of parameter space,and it is also found that three types of routes to chaos exist in the system:(i)period doubling bifurcations;(ii)quasi periodic motions;and (iii)intermittent chaos.

Resonance System Reliability and Sensitivity Analysis Method for Axially FGM Pipes Conveying Fluid with Adaptive Kriging Model

This paper aims to solve the resonance failure probability and develop an effective method to estimate the effects of variables and failure modes on failure probability of axially functionally graded material(FGM)pipe conveying fluid.Correspondingly,the natural frequency of axially FGM pipes conveying fluid is calculated using the differential quadrature method(DQM).A variable sensitivity analysis(VSA)is introduced to measure the effect of each random variable,and a mode sensitivity analysis(MSA)is introduced to acquire the importance ranking of failure modes.Then,an active learning Kriging(ALK)method is established to calculate the resonance failure probability and sensitivity indices,which greatly improves the application of resonance reliability analysis for pipelines in engineering practice.Based on the resonance reliability analysis method,the effects of fluid velocity,volume fraction and fluid density of axially FGM pipe conveying fluid on resonance reliability are analyzed.The results demonstrate that the proposed method has great performance in the anti-resonance analysis of pipes conveying fluid.

ANALYSIS OF COUPLED-MODE FLUTTER OF PIPES CONVEYING FLUID ON THE ELASTIC FOUNDATION

The governing equation of solid-liquid couple vibration of pipe conveying fluid on the elastic foundation was derived. The critical velocity and complex frequency of pipe conveying fluid on Winkler elastic foundation and two-parameter foundation were calculated by po,ver series method. Compared,with pipe without considering elastic foundation, the numerical results show that elastic foundation can increase the critical flow velocity of static instability and dynamic instability of pipe. And the increase of foundation parameters may increase the critical flow velocity of static instability and dynamic instability of pipe, thereby delays the occurrence of divergence and flutter instability of pipe. For higher mass ratio beta, in the combination of certain foundation parameters, pipe behaves the phenomenon of restabilization and redivergence after the occurrence of static instability, and then coupled-mode flutter takes place.

FLOW-INDUCED INTERNAL RESONANCES AND MODE EXCHANGE IN HORIZONTAL CANTILEVERED PIPE CONVEYING FLUID (Ⅱ)

The Newtonian method is employed to obtain nonlinear mathematical model of motion of a horizontally cantilevered and inflexible pipe conveying fluid. The order magnitudes of relevant physical parameters are analyzed qualitatively to establish a foundation on the further study of the model. The method of multiple scales is used to obtain eigenfunctions of the linear free-vibration modes of the pipe. The boundary conditions yield the characteristic equations from which eigenvalues can be derived. It is found that flow velocity in the pipe may induced the 3：1, 2：1 and 1：1 internal resonances between the first and second modes such that the mechanism of flow-induced internal resonances in the pipe under consideration is explained theoretically. The 3：1 internal resonance first occurs in the system and is, thus, the most important since it corresponds to the minimum critical velocity.

Dynamic analysis and regulation of the flexible pipe conveying fluid with a hard-magnetic soft segment

The recently developed hard-magnetic soft(HMS)materials can play a significant role in the actuation and control of medical devices,soft robots,flexible electronics,etc.To regulate the mechanical behaviors of the cantilevered pipe conveying fluid,the present work introduces a segment made of the HMS material located somewhere along the pipe length.Based on the absolute node coordinate formulation(ANCF),the governing equations of the pipe conveying fluid with an HMS segment are derived by the generalized Lagrange equation.By solving the derived equations with numerical methods,the static deformation,linear vibration characteristic,and nonlinear dynamic response of the pipe are analyzed.The result of the static deformation of the pipe shows that when the HMS segment is located in the middle of the pipe,the downstream portion of the pipe centerline will keep a straight shape,providing that the pipe is stable with a relatively low flow velocity.Therefore,it is possible to precisely regulate the ejection direction of the fluid flow by changing the magnetic and fluid parameters.It is also found that the intensity and direction of the external magnetic field greatly affect the stability and dynamic response of the pipe with an HMS segment.In most cases,the magnetic actuation increases the critical flow velocity for the flutter instability of the pipe system and suppresses the vibration amplitude of the pipe.

Stability and Nonlinear Response Analysis of Parametric Vibration for Elastically Constrained Pipes Conveying Pulsating Fluid

Usually,the stability analysis of pipes with pulsating flow velocities is for rigidly constrained pipes or cantilevered pipes.In this paper,the effects of elastic constraints on pipe stability and nonlinear responses under pulsating velocities are investigated.A mechanical model of a fluid-conveying pipe under the constraints of elastic clamps is established.A partial differentialintegral nonlinear equation governing the lateral vibration of the pipe is derived.The natural frequencies and mode functions of the pipe are obtained.Moreover,the stable boundary and nonlinear steady-state responses of the parametric vibration for the pipe are established approximately.Furthermore,the analytical solutions are verified numerically.The results of this work reveal some interesting conclusions.It is found that the elastic constraint stiffness in the direction perpendicular to the axis of the pipe does not affect the critical flow velocity of the pipe.However,the constraint stiffness has a significant effect on the instability boundary of the pipe with pulsating flow velocities.Interestingly,an increase in the stiffness of the constraint increases the instable region of the pipe under parametric excitation.However,when the constraint stiffness is increased,the steady-state response amplitude of the nonlinear vibration for the pipe is significantly reduced.Therefore,the effects of the constraint stiffness on the instable region and vibration responses of the fluid-conveying pipe are different when the flow velocity is pulsating.

基于绝对节点坐标法的复杂构型输流管道简支支承设计研究

输流管道广泛应用于海洋、核电、航空航天等重大工程领域,因管道与流体间的耦合效应,在流体作用下管道会出现屈曲、颤振等失稳行为.一般而言,边界支承对管道动力学特征有着重要影响,不同支承位置显著影响管道的稳定性与振动特性.当前关于管道流固耦合动力学的研究大多集中于单一的直管或规则型弯管(如弧型、半圆型和正弦型等),对于实际工程中常见的复杂构型管道,比如L型、S型和U型等,研究还较为少见.文章基于绝对节点坐标法(absolute node coordinate formulation, ANCF)建立了具有普适性的非线性振动理论模型,可用于解决任意构型和任意支承边界下输流管道动力学问题.以L型、S型和U型3种典型构型输流管道为研究对象,首先开展了收敛性分析,找出合适的计算单元数.然后借助CFD仿真结果与理论模型进行对比验证,计算结果表明,相较于有限元方法,基于绝对节点坐标法建立的理论模型在预测复杂构型输流管道的非线性变形时,具有更高的计算效率.基于该理论模型,研究了简支支承位置对3种构型输流管道的固有频率、屈曲位移和应变特征的影响规律.研究发现,存在最优简支支承位置使得输流管道基频达到最大、屈曲位移和应变的极值达到最小.本研究为提高工程中管道的稳定性与使用寿命提供了理论依据与设计指导.

具有环状运动约束的悬臂输流管道的非线性振动特征

本文对具有环状运动约束的悬臂输流管道的空间弯曲振动进行研究,目的在于考察约束刚度系数、约束放置位置对管道的两类周期运动(包括平面周期运动和空间周期运动)及其稳定性的影响规律.首先,在已有文献的基础上,将运动约束对管道的作用模拟成非线性立方弹簧模,得出振动方程.其次,运用Galerkin方法将振动方程离散成常微分方程组,结合基于中心流形—范式理论的投影法与平均法,给出了决定系统定性动力学性质的相关系数(包括临界特征值随流速的变化率及非线性共振项),取模态截断数为6,在几组约束刚度值和约束位置处计算了上述系数,据此考察了运动约束对管道的周期运动的影响,总结出了如下结论:在约束位置取定时增加约束刚度,或在约束刚度取定时增大约束位置至管的固定端的距离,均会使得管道的稳定平面周期运动对应的质量比区间减小,稳定空间周期运动对应的质量比区间增大;约束位置距管的固定端越远,约束刚度的变化对管道动力学行为的影响越明显.最后,对上述通过投影法和平均法得出的结论,本文在特定的质量比处数值求解了原振动方程的6模态Galerkin离散化方程,绘制了位形图、相图和Poincaré映射图,计算了频率,从而验证了相关的分析.

两端支承输流管道的稳定性和临界流速分析

推导两端支承梁弯曲振动的频率方程和振型函数的解析表达式。利用频率方程讨论两端扭转弹簧刚度变化对梁的前两阶弯曲振动特征值的影响。以两端支承梁的振型函数为假设振型导出两端支承输流管道在定常流作用下临界速度的解析表达式,为今后分析这类系统的动态响应提供理论依据。利用临界流速公式系统地分析和讨论扭转刚度、重力系数和轴向预紧力对管道临界流速的影响特性。研究结果表明,量纲一扭转弹簧刚度在0到50区间内变化时对临界流速的影响较大,但大于50时影响明显减弱。当重力系数和轴向预紧力增大时,临界流速也随着增大。一般而言,两端扭转弹簧刚度越大也会增大相应的临界流速值。

具有可移动弹性支承输流管道的稳定性分析

研究了具有可移动弹性支承的输流管道的稳定性问题。建立了分段表示的运动微分方程以及弹性支承处的连续条件和边界条件,采用有限差分法导出了复特征方程,分析了弹性支承处的弹性常数、支承位置对输流管道振动频率和稳定性的影响,给出了稳定性区域图,指出了发散和颤振区域。

固定约束松动对输流管道稳定性和临界流速的影响

把管道固定端抗转动约束松动情况模拟为受扭转弹簧约束的两端支承管道模型,研究了这种输流管道系统在定常内流作用下的稳定性和临界流速,利用两振型Galerkin离散化方法导出了临界流速的解析表达式。用数值方法分析了系统的失稳特性,确定了此系统的首次失稳为静态失稳。利用所导出的临界流速的解析表达式讨论了扭转弹簧刚度、重力系数和轴向力对管道临界流速的影响。

随从力作用下简支Kelvin模型粘弹性输流管道的稳定性分析

对随从力作用下简支Kelvin模型粘弹性输流管道的稳定性和动力特性进行了分析,对其振型微分方程采用小波-微分求积(DQ)法进行了求解。分别分析了随从力对简支弹性输流管道和简支Kelvin型粘弹性输流管道振动特性及稳定性的影响,然后分析了有随从力作用时无量纲粘滞时间以及质量比的改变对简支Kelvin型粘弹性输流管道振动特性及稳定性的影响。给出了各参数下无量纲流速与前二阶模态的无量纲频率实部及虚部的变化关系,比较分析了各参数对管道振动特性与稳定性的影响。

具有弹性支承输流管路的流体诱发振动分析

利用微分变换法分析具有弹性支承的悬臂式输流管路的流体诱发振动问题.首先对振动微分方程无量纲化,其次采用微分变换法获得各阶微分的递推关系,进而求解得到不计流速时的前四阶固有频率及振型函数的通用表达式.在此基础上,计算并得到了计及流速时固有频率随流速和弹性系数的变化,同时研究了不同弹性系数及质量比下的临界流速及稳定性.通过对比和分析,证实了微分变换法具有较高的精度和实用性.微分变换法可作为设计管路支承形式的参考.

支承弹簧对输液曲管固有频率和极限流速的影响

基于Hamilton变分原理,导出具有弹性支撑的1/4圆形输液曲管的变分—积分方程。采用多个函数组合的方法,选取满足边界条件的试函数,利用Galerkin直接法求出系统的固有频率和极限流速的近似解析公式。数值结果表明,弹簧对固有频率和极限流速都有显著影响。根据数值结果,用最小二乘法给出固有频率和极限流速与弹簧刚度的关系公式。