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A Theoretical Study of Flow Induced Piping Vibration with Clamped Ends

Article · June 2016

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Int. J. Mech. Eng. Autom. International Journal of
Volume 3, Number 6, 2016, pp. 231-238 Mechanical Engineering
Received: April 29, 2016; Published: June 25, 2016 and Automation

A Theoretical Study of Flow Induced Piping Vibration

with Clamped Ends

Imran Shaik1, Arkanti Krishnaiah1 and Shankarachar Sutar2

1. Department of Mechanical Engineering, University College of Engineering, Osmania University, Hyderabad 500007, India
2. Design & Engineering Division, CSIR-Indian Institute of Chemical Technology, Hyderabad 500007, India
Corresponding author: Shankarachar Sutar ([email protected])

Abstract: The paper presents the study of vibration and instability of straight welded pipe with clamped-clamped ends conveying
fluid. The most important part of this study is on weldment effect of pipe for industrial application. The mathematical model for
clamped ends is developed by using Euler Bernoulli beam theory and Hamilton energy expression. The developed transcendental
frequency equation is used in FORTRAN Program to find the natural frequency of the fluid conveying pipe. The natural frequencies
are generated by using FE analysis (ABAQUS Structural/Simulation). The experimental data of with welding and without welding
effect of pipe from literature is compared with theoretical model/FE simulation and it is found to be in good agreement.

Keywords: Clamped-clamped, Euler Bernoulli, fluid conveying pipe, weldment, ABAQUS.

Nomenclature 1. Introduction
ρp Density of pipe (kg/m3) Fluid conveying pipes play vital role in various
ρf Density of fluid (kg/m3) industries particularly in application of chemical and
U Fluid velocity (m/s) fertilizer plants, pharmaceutical industries, nuclear
E Young’s modulus (N/m2) power plants, and oil and gas industries. These pipes
however frequently transport fluids, liquids or gases
k1 & k2 Linear constants
from initial to destination points. The subject of piping
kt1 & kt2 Torsions springs
vibration has attracted a lot of attention from various
mf Fluid mass (kg)
researchers in recent times due to enormous
mp Mass of the pipe (kg)
applications. Abid et al. [1] Investigated the stability
Displacement component at any point in the
W of fluid conveying welded pipe is of practical
cross section (m)
importance because the welding induced residual
Dx Small element of the pipe
stresses which effected on the vibration characteristic
f(x, t) External transverse force per unit area
and stability. Lee and Jeong [2] investigated the three
w(x, t) Transverse deflection of pipe dimensional piping system conveying a harmonically
Wi(x, z, t) ith normal mode shape of a pipe pulsating fluid based on numerical method to predict
Z Axial strain in Z direction the steady-state time response of piping system.
Ui ith mode of vibration Huang [3] studied about natural frequency of fluid
T Weld tension (N) structure interaction in pipe line conveying fluid by
K Spring stiffness eliminated element Galerkin method, and natural
232 A Theoretical Study of Flow Induced Piping Vibration with Clamped Ends

frequency equations with different boundary small harmonic component superposed. Oslon and
conditions are obtained. Al-Hilli et al. [4] studied the Janison [14] investigated motion of elastic pipes
effect of support values on the natural frequency and conveying fluid for various idealized cases. Rao [15]
critical flow velocity of a straight pipe conveying proofed analytically a stability of a clamped-clamped
laminar flowing fluid by considering the supports as beam. The stability was studied employing an exact
compliant material with linear and rotational springs. analytical solution.
Aldraihem [5] examined the dynamic stability of a
2. Mathematical Model Clamped-Clamped
collar stiffened pipe exhibits unique stability
Pipe Conveying Fluid
characteristic when compared to a uniform pipe by
using Euler Bernoulli beam theory. Gupta [6] studied The welded pipe conveying fluid sketched in Fig. 1
about the simple finite element formulation for the is initially straight, stressed, finite length.
large amplitude free vibrations of uniform beams, all The governing equation of motion of a fluid
boundary conditions where the Von-Karman type conveying welded pipe by using Euler-Bernoulli’s
non-linearity is applicable, where the ends are beam theory is given by
immovable are considered. Tornabene and Marzoni [7]
+ + + − +
examined the discrepancy regarding the critical flow
speed of straight pipes conveying fluids that appears
+2 = 0 (1)
to be present in the literature by using the generalized
differential quadrature method. Huang [8] studied a where the terms are as followed:
direct method of natural frequency analysis on pipe
= Stiffness term
line conveying fluid with both ends supported and the
direct method is derived from Ferraris method which
+ = Inertia term
is used to solve quartic method. Sinha and Singh [9]
examined a finite element simulation of dynamic
= Curvature term
behavior of an open ended cantilever pipe conveying
fluid; an additional inertia of fluid jet at the free end of
2 = Coriolis force term
the pipe is required to simulate the experimental
natural frequency values. Zhang [10] developed a = Weld tension term
finite element formulation to predict the vibration of
3. Frequency Equation for Fluid Conveying
cylindrical shell conveying fluid and the method is
Pipe (U, T ≠ 0)
based on 3-dimensional theory of elasticity and the
linearized Eularian equation. Blandino and Thornton The equation of motion of piping vibration is given
[11] studied thermally induced vibration of an below:
internally heated beam and non-uniform heat transfer
+ + + =0 (2)
results from difference in convection over the surface
of the structure. Adelaja [12] investigated the
nonlinear transverse vibration of a flexible pipe
conveying hot pressurized fluid in pinned-pinned
condition. Paidoussis and Issid [13] studied about
dynamics and stability of flexible containing flowing
fluid where flow velocity is entirely constant or with a Fig. 1 Welded pipe conveying fluid with fixed ends.
 A Theoretical Study of Flow Induced Piping Vibration with Clamped Ends 233

The free vibration solution can be found using the 0 0

0 0
method of separation of variables as = (12)
= ( ) ( ) (3)
where T(t) is a harmonic function T(t) = . The above Eq. (12) is further simplified into two
( ) ( ) sub matrices K1 and K2:
= ( ) ; = ( )
0
=−
4. Clamped-Clamped Pipe Ends
In the present, in order to find out the exact By solving above stiffness matrix, we get
frequencies in fluid conveying pipe, we assume a =− − − −
polynomial function as given below: = sin + cos − sinh sin −
( ) = sinh( ) + cosh( ) + sin( ) + cosh cos (13)
cos( ) (4) Similarly,
( )
= cosh( ) + sinh( ) + cos( ) − 0
sin( ) (5) =−
( )
= sinh( ) + cosh( ) − By solving above stiffness matrix,
− sin( ) − cos( ) (6) =− cosh cos + sin sinh −
( ) sin ℎ + cos ℎ (14)
= cosh( )+ sinh( )−
On combining and simplifying, we get,
− cos( ) + cos( ) (7)
Substituting in boundary condition: cosh cos = 1 (15)
When W = 0 at x = 0, from Eq. (7), 5. Results and Discussion
( ) = sinh( ) + cosh( ) + sin( )+
cos( ) (8) The 3D CAD Model of fluid conveying pipe is
When W = 0 at x = 0, from Eq. (8), done by using I-DEAS software and the analysis of
( ) = sinh( ) + cosh( ) + sin( )+ the same is done by ABAQUS software which
cos( ) (9) includes standard/CFD modules to analyse fluid
Substituting x = 0, + = 0, structural interaction. Simulation of clamped-clamped
pipe performed to get the frequencies of pipe without
= cosh( )+ sinh( )+ cos( )−
and with welding conditions. Fig. 2a shows the finite
sin( ) (10)
As x = 0, element structural mesh model which consist of 2500
elements and 2520 nodes with first order quadrilateral
= + (11)
linear elements. Fig. 2b shows the finite element of
Now W(x) = 0 at x = l,
fluid mesh model which consists of 3200 elements
( ) = sinh + cosh + sin + cos
and 4141 nodes with first order hexahedral fluid
Similarly,
elements.
= cos + sinh + cos − sin
6. Cases Analysed
The above equations are represented as
= sinh , = cosh (1) Vibration analysis for empty pipe (v = 0),
= sin , = cos without (T = 0) and with welding effect (T = 10).
= cosh , = sinh (2) Vibration analysis of fluid conveying pipe (v =
= cos , = − sin 2.0 m/sec) without (T = 0) and with welding effect (T
Stiffness matrix as follows: = 10).
234 A Theoretical Study of Flow Induced Piping Vibration with Clamped Ends

(a) (b)
Fig. 2 (a) Finite element structural mesh model with fixed ends, (b) finite element fluid mesh model with fixed ends.

Parameters used in the calculation Fig. 3 and Table 2 shows the mode shapes of a
Bending stiffness (EI) 1.4122 × 104 N·m clamped-clamped pipe without and with welding. The
Mass of the fluid (Mf) 1.795 kg/m maximum frequency occurred at first mode for empty
Total mass (M) 3.608 kg/m pipe without welding is 308.78 Hz and for welding
Radius 25.4 mm 302.44 Hz, same procedure should be done for
Efficient temperature (Teff) 3.0243 × 105 N calculating the frequencies for second and third modes.
Length (L) 1m
The analytical results for the same pipe setup for
Density of fluid (⍴f) 1000 kg/m3
without and with welding are 302.52 Hz and 295.75
Reynolds number 9.14 × 106
Hz for first mode shape. Similarly for second and
6.1 Case 1 third modes are computed and tabulated in Table 1.
(1) Pipe acts as a beam when velocity v = 0, Fig. 4a shows the plot between acceleration vs.
weldment effect T = 0. frequency of first mode without weldment effect by
Consider 1meter empty pipe which is fixed at both applying harmonic force of 1 g acceleration for T = 0
ends, by considering the experimental values a Ref. [1] and excitation frequency found is at 308.78 Hz. Fig.
as inputs assessment of FEA for the empty pipe is 4b shows the plot between acceleration vs. frequency
done and applying harmonic force of 1 g acceleration, of first mode with weldment effect by applying
frequency obtained at first mode is 308.78 Hz. and harmonic force of 1 g acceleration for T = 10,
further modes are shown in Table 1. excitation for the first mode is at 302.4 Hz as shown
(2) Pipe acts as beam when velocity v = 0, in Table 2.
weldment effect T = 10.
6.2 Case 2
Similarly analysis is done for with welding effect (T
= 0), by considering the experimental values of Ref. [1] Conditions: (1) Pipe acts as a beam when velocity v
as inputs assessment of FEA for the empty pipe is = 2.0 m/sec, weldment effect T = 0.
done and frequency obtained at first mode is 302.44 The fluid is flowing in a pipeline with a velocity of
Hz. And further modes are shown in Table 1. v = 2.0 m/sec with fixed ends, with fluid effect the
The natural frequencies of a clamped-clamped pipe natural frequency obtained at first mode is 216.66 HZ
without and with welding effect at v = 0 are obtained and further modes of natural frequencies are shown in
by ABAQUS simulation software. The results of Table 3.
without welding and with welding effect of empty (2) Pipe acts as beam when velocity v = 2.0 m/sec,
pipe are shown in Table 1. weldment effect T = 10.
 A Theoretical Study of Flow Induced Piping Vibration with Clamped Ends 235

Table 1 FE analysis of empty pipe with welding effect (T = 10) and without welding effect (T = 0).
Without welding With welding
Mode
Exp. values of (Nabeel Analytical data FE Analysis % age Exp values of (Nabeel Analytical data FE Analysis % age
No
K Abid Ali) (Hz) (FORTRAN) (Hz) (Imran) (Hz) of error K Abid Ali) (Hz) (FORTRAN) (Hz) (Imran) (Hz) of error
1 290 300.52 308.78 2.67 285 295.75 302.44 2.21
2 850 801.42 814.68 1.67 840 785.67 797.96 1.54
3 1440 1479.67 1516.50 2.42 1400 1465.60 1485.30 1.32

(a) (b)
Fig. 3 Mode shapes (a) with welding, (b) without welding.
236 A Theoretical Study of Flow Induced Piping Vibration with Clamped Ends

Table 2 Eigen-values and frequencies of pipe with welding The fluid flow velocity at v = 2.0 m/sec pipe is
(T = 10) and without welding (T = 0).
fixed at both ends with weldment effect T = 10.
Mode No. Without welding With welding
Natural frequency obtained at first mode is 212.74 Hz.
Eigen value Frequency Eigen value Frequency
The pipe frequency in welded condition is less than
1 3.76407e6 308.78 3.61113e6 302.44 the non-welded pipe.
2 2.62019e7 814.68 2.51373e7 797.96 Fig. 5 and Table 3 shows the mode shapes of a
3 9.07874e7 1516.50 8.70986e7 1484.30 clamped-clamped pipe with and without welding. The

(a)

(b)
Fig. 4 Acceleration vs. frequency (a) without welding (T = 0), (b) with welding (T = 10).
 A Theoretical Study of Flow Induced Piping Vibration with Clamped Ends 237

Table 3 FE analysis of pipe of fluid flow v = 2.0 m/sec with welding effect (T = 10) and without welding effect (T = 0).
Mode Without welding With welding
No. Analy values of Analy data FE Analysis % age of Analy values of Analy data FE Analysis % age
(Nabeel K Abid Ali) (Imran) (Hz) (ABAQUS) (Hz) error (Nabeel K Abid Ali) (Imran) (Hz) (ABAQUS) (Hz) of error
(Hz) (Hz)
1 216.62 210.56 216.66 2.81 212.70 206.89 212.74 2.74
2 573.83 565.78 571.64 1.02 564.58 554.98 561.28 1.12
3 1069.30 1040.72 1064.10 2.19 1050.55 1021.57 1044.80 2.22

(a) (b)
Fig. 5 Mode shapes (a) with welding, (b) without welding.

first natural frequency occurred at first mode for frequencies are found to be much closer and
empty pipe without welding is 216.66 Hz and with percentage error is negligible (less than 1%).
welding 212.74 Hz. The same methodology is carried  In empty pipe which is not conveying any fluid it
out for calculating the frequencies of second and third is found that the frequency of pipe without welding is
modes respectively. The analytical results obtained for more than the frequency with welding as shown in
same pipeline the first mode without welding is Table 1. The percentage of error for all three modes is
210.56 Hz and with welding 206.89 Hz, second and below 1%.
third mode analysis are tabulated in Table 3.  Fig. 4a shows acceleration versus frequency plot
where there is no weldment (T = 0), i.e., for which the
7. Conclusions
first mode frequency obtained is 308.78 Hz similarly
The mathematical model for clamped ends is Fig. 4b plot between acceleration and frequency depicts
developed by using Euler Bernoulli beam theory and the weldment effect (T = 10), where the first mode
Hamilton energy expression. The experimental data frequency obtained is 302.44 Hz and peaks to 813.68
available from the literature is used to validate FE Hz at second mode and 1516.5 Hz at third mode.
analysis data of natural frequencies of the pipe. In  Overall study shows in empty pipe, without and
both the cases (with and without welding) the natural with weldment effect frequency decreases compared
 238 A Theoretical Study of Flow Induced Piping Vibration with Clamped Ends

to without weldment effect that in empty pipe the [4] A.H. Al-Hilli, Free vibration characteristics of elastically
supported pipe conveying fluid, Al-Nahrain University
frequency decreases when there is no welding.
College of Engineering Journal 16 (1) (2013) 9-19.
 FE analysis of fluid conveying pipe at velocity 2 [5] O.J. Aldraihem, Analysis of the dynamic stability of a
m/sec frequency jump between first, second, third collar stiffened pipes conveying fluid, Journal of Sound
mode is more than 50%. As the velocity increases and Vibration 300 (3-5) (2007) 453-465.
[6] R.K. Gupta, G.J. Babu, G.R. Janardhan, G.V. Rao,
frequency decreases in normal cases where as in
Relatively simple finite element formulation for the large
weldment case it is found by FE analysis natural amplitude free vibrations of uniform beams, Finite
frequencies are falling down below 1%. Elements in Analysis and Design 45 (10) (2009) 624-631.
 The exact frequency equation is obtained for [7] F. Tornabene, R. Marzani, E. Viola, I. Elishakoff, Critical
flow speeds of pipes conveying fluid using the
clamped ends and compared with the experimental
generalized differential quadrature method, Adv. Theor.
results of available in literature and simulation carried Appl. Mech. 3 (3) (2010) 121-138.
out in present work. [8] Yi-Min Huang, S. Ge, W. Wu, J. He, A direct method of
natural frequency analysis on pipe line conveying fluid
Acknowledgment with both ends supported, Nuclear Engineering and
Design 253 (2012) 12-22.
The authors are grateful to CSIR-Indian Institute of [9] J.K. Sinha, S. Singh, A.R. Rao, Finite element simulation
Chemical Technology, Hyderabad, India and of dynamic behaviour of an open-ended cantilever pipe
Department of Mechanical Engineering, Osmania Conveying fluid, Journal of Sound and Vibration 240 (1)
(2001) 189-194.
University College of Engineering for providing the
[10] Y.L. Zhang, J.M. Reese, D.G. Gorman, Finite element
infrastructural facilities for providing the support. analysis of the vibratory characteristics of cylindrical
Authors also would like acknowledge their thanks to shell conveying fluid, Journal of Computer Methods in
the colleagues of CSIR-IICT, for helping in drafting Applied Mechanical Engineering 191 (45) (2002)
5207-5231.
work.
[11] J.R. Blandino, E.A. Thornton, Thermally induced
vibration of an internally heated beam, Journal of
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