Hydraulic Transients

Hydraulic Transients
When the SteadyState design fails!

Monroe L. Weber-Shirk
School of Civil and

Environmental Engineering
Hydraulic Transients: Overview

In all of our flow analysis we have assumed
gradually
either _____
steady_____
state operation or ________
varied flow
______
What about rapidly varied flow?
How does flow from a faucet start?
How about flow startup in a large, long
pipeline?
What happens if we suddenly stop the flow of
water through a tunnel leading to a turbine?
Hydraulic Transients
Unsteady Pipe Flow: time varying flow and pressure
Routine transients
change in valve settings
starting or stopping of pumps
changes in power demand for
turbines
changes in reservoir elevation
turbine governor hunting
action of reciprocating pumps
lawn sprinkler
Catastrophic transients
unstable pump or turbine
operation
pipe breaks
References
Chaudhry, M. H. 1987. Applied Hydraulic
Transients. New York, Van Nostrand
Reinhold Company.
Wylie, E. B. and V. L. Streeter. 1983. Fluid
Transients. Ann Arbor, FEB Press.
Analysis of Transients
Gradually varied (Lumped) _________
ODE
conduit walls are assumed rigid
fluid assumed incompressible
flow is function of _____
time only
PDE
Rapidly varied (Distributed) _________
fluid assumed slightly compressible
conduit walls may also be assumed to be elastic
flow is a function of time and ________
location
Establishment of Flow:
Final Velocity
How long will it take?
1
H
EGL
2
2
2g
HGL
V2
L
p1 V12
p2 V22
z1
z 2 h f hL
2g
2g
m
aj
or
g = 9.8 m/s2
H = 100 m
1.5
K = ____
f = 0.02
L = 1000 m
V 2 D=1m
0.5
Ken= ____
1.0
Kexit= ____
m
in
o
Final Velocity
H z1 z 2 h f
2
2
LV
hf f
D 2g
hL
hL
V2 L
H
f
2g D
Vf
2 gH
fL
K
D
V2
2g
g = 9.8 m/s2
H = 100 m
K = 1.5
f = 0.02
L = 1000 m
D=1m
9.55 m/s
What would V be without losses? 44

_____
m/s
Establishment of Flow:
Navier Stokes? Initial Velocity
velocity (m/s)
before head loss becomes significant

mdV
10
F ma
F=
9
dt
8
pA
=
g
HA
F=
7
m = r AL
HA AL
t
dV
dt
6
5
4
3
2
1
Vf
g = 9.8 m/s2
H = 100 m
K = 1.5
f = 0.02
L = 1000 m
D=1m
gt
0
V
HA dt AL dV
0
HAt ALV
10
2 gH
fL
K
D
15
20
25
time (s)
HAt
AL
H
L
gt
30
Flow Establishment:
Full Solution
F
(mV )
dt
F =________,
t 0 =gravity ________
drag
g hl D
4L
F =t 0 Lp D
L V 2
d ALV
A H K f
D
2
g
dt
g
dt
0
L V 2
g H K f
D 2 g
dV
dt
0
gH 1

L 2
dV
K f
V2
L D
Flow Establishment:
tanh!
dV
1
- 1 bV
0 a 2 - b2V 2 =ab tanh a
V
t
V
1
ab
a
b
bV
tanh
1
tanh abt
if V
Vf
2 gH
gH
V
tanh t
fL
2L
K
D
gH
a
b
K f

L D
a
b
V < Vf
1 K f
b

2 L D
Time to reach final velocity

1
1
1 bV
1 V
t
tanh
tanh

V
ab
ab
a
f
t0.9V f
0.9V f
1
1
tanh
ab
Vf
Vf
tanh 1 (0.9)
gH K f

2 L L D
a
b
tanh 1 (0.9) 1.47
Time to reach 0.9Vf increases as:

tanh 1 (0.9)
t0.9V
L increases
gH
L
K f
H decreases
2
2L
D
Head loss decreases
f
Flow Establishment
t0.9V 14.34 s
f
2 gH
gH
V
tanh t
fL
2L
K
D
12
10
velocity (m/s)
g = 9.8 m/s2
H = 100 m
K = 1.5
f = 0.02
L = 1000 m
D=1m
8
6
4
2
0
0
K f

L D
10
20
30
time (s)
Was f constant?
VD
107
Re =
n
40
Household plumbing example

Have you observed the gradual increase in flow
when you turn on the faucet at a sink? No? Good!
50 psi - 350 kPa - 35 m of head
K = 10 (estimate based on significant losses in faucet)
f = 0.02
L = 5 m (distance to larger supply pipe where velocity
change is less significant)
D = 0.5 - 0.013 m
time to reach 90% of final velocity?
T0.9Vf = 0.13 s
V > Vf?
dV
1
1
a +bV
- 1 bV
t = 2
= ctnh
=
ln
a - b 2V 2
ab
a 2ab a - bV
V
a
V = ctnh ( abt )
b
tV0 =
a
if V >
b
If V0=
1
a +bV0
ln
2ab a - bV0
a
V = ctnh
ab t +tVo
sinh(2 x)
ctnh ( x ) =
cosh ( 2 x ) - 1
Why does velocity approach final velocity so rapidly?
Lake Source Cooling Intake

Schematic
Motor
Lake Water Surface
Steel Pipe
ipe
P
ic
t
s
a
Pl
m
0
0
31
100 m
Intake Pipe, with
flow Q and cross
sectional area Apipe
1m
Pump inlet
length of intake pipeline is 3200 m
What happens during startup?

What happens if pump is turned off?
Wet Pit,
with plan
view area
Atank
Transient with varying driving

force
F
(mv )
dt
d Apipe LV
Apipe H hl
dt
g
Apipe g
L
H hl dt dQ
What is z=f(Q)?
Q
Apipe g
L
H hl t
where
L
Q2
hl K f 2
D Apipe 2 g
Lake elevation - wet pit water level

H = ______________________________
dzwetpit
Q
=
dt
Awetpit
f(Q)
Finite Difference Solution!
Is f constant?
Wet Pit Water Level and Flow

Oscillations
Q
1.5
0.5
Q (m /s)
-0.5
-1
-1
-2
-1.5
-3
-2
-4
0
200
400
600
time (s)
800
What is happening on the vertical lines?
1000
z (m)
1200
constants
Wet Pit with Area Equal to Pipe

Area
2
1.5
15
10
5
-0.5
-5
Q (m3/s)
0.5
-1
Pipe collapse
Water Column Separation
-1.5
-2
0
200
Why is this unrealistic?
400
600 800
time (s)
1000
-10
-15
-20
1200
z (m)
20
Overflow Weir at 1 m
2
1.5
1.5
1
0.5
0.5
-0.5
-0.5
-1
-1
-1.5
-1.5
-2
0
200
400
600
800
time (s)
1000
-2
1200
z (m)
Q (m3/s)
Period of Oscillation:
Frictionless Case
Apipe g
L
H hl dt dQ
z = -H
z = 0 at lake surface
Wet pit mass balance
dQ
dt
Apipe g
L
Awetpit d 2 z
dt 2
2
d z
dt 2
Awetpit
Apipe g
gApipe
LAwetpit
dz
dt
Awetpit d 2 z
dt 2
dQ
dt
L
z0
gApipe
z C1 cos t
LAwetpit
gApipe
C
sin
2
LAwetpit
Period of Oscillations
T 2
Ap
3170m 24m 2
9.81m / s 2 1.7 m 2
T = 424 s
Pendulum Period?
L
T 2
g
1.5
4
3
0.5
-0.5
-1
-1
-2
-1.5
-3
-2
-4
1200
200
400
600 800
time (s)
1000
z (m)
T 2
plan view area of wet pit (m2)

24
pipeline length (m)
3170
inner diameter of pipe (m)
1.47
gravity (m/s2)
9.81
Q (m3/s)
L Awet pit
Transients
In previous example we assumed that the
velocity was the same everywhere in the
pipe
We did not consider compressibility of
water or elasticity of the pipe
In the next example water compressibility
and pipe elasticity will be central
Valve Closure in Pipeline

V2
Sudden valve closure at t = 0 causes change

in discharge at the valve
p at valve
What will make the fluid slow down?____
Instantaneous change would require
infinite force
__________
Impossible to stop all the fluid
instantaneously What do you think happens?
Transients: Distributed System

Tools
Conservation of mass
Conservation of momentum
Conservation of energy
Wed like to know

pressure change
rigid walls
elastic walls
propagation speed of pressure wave

time history of transient
Pressure change due to velocity

change
HGL
V0 V
V0
a
steady flow
unsteady flow
velocity
V0
V0 V
V0 a
V0 V a
density
pressure
P0
P0 P
P0
P0 P
Momentum Equation
HGL
V0 V
V0
M1 M 2 W Fp Fp Fss
1
M 1 x M 2 x Fp Fp
1x
M 1x 1V12 A1
Neglect head loss!

Mass conservation
M 2 x 2V22 A2
1V1 A1 2V2 A2
1V1 A1 V2 V1 p1 A1 p2 A2
A1 A2
1V1V p
p = p2 - p 1
Magnitude of Pressure Wave

V0 V
V0
1
1V1V p
V1 V0 a
a V0
p aV
- a DV
DH =
g
Dp =gDH
increase in HGL.
Decrease in V causes a(n) _______
Propagation Speed:
Rigid Walls
V0 V
V0
A(V0 a ) 0 A(V0 a V )( 0 )
V (V0 a )
1
0
V (V0 a )
Conservation of mass
Solve for V
Propagation Speed:
Rigid Walls
V0 V
V0
p 0 (V0 a )V
momentum
V (V0 a )
mass
p 0 (V0 a )
2
p a 2
V0 a
0
Need a relationship between pressure and density!
Propagation Speed:
Rigid Walls
K
a
2
definition of bulk modulus of elasticity

a
Example:
Find the speed of a pressure wave in a water pipeline
assuming rigid walls.
2.2 x 109
a
1480 m/s
K 2.2 GPa (for water)
1000
3
1000 Kg/m
speed of sound in water
Propagation Speed:
Elastic Walls
V0 V
V0
Additional parameters
D = diameter of pipe
t = thickness of thin walled pipe
E = bulk modulus of elasticity for pipe
K 0
effect of water compressibility
K D
1
effect of pipe elasticity
E t
Propagation Speed:
Elastic Walls
Example: How long does it take for a
pressure wave to travel 500 m after a rapid
valve closure in a 1 m diameter, 1 cm wall
thickness, steel pipeline? The initial flow
velocity was 5 m/s.
E for steel is 200 GPa
What is the increase in pressure?
solution
Time History of Hydraulic

Transients: Function of ...
Time history of valve operation (or other control device)
Pipeline characteristics
diameter, thickness, and modulus of elasticity
length of pipeline
frictional characteristics
tend to decrease magnitude of pressure wave
Presence and location of other control devices

pressure relief valves
surge tanks
reservoirs

Transients
1
H
V=Vo
V=0
H
V= -Vo
V=0
H
V=0
4
V= -Vo
L
t
L
a
2L
a

Transients
H
5
V= -Vo
7
V=Vo
V=0
a
L
2L
t
V=0
a
3L
8
H
V=0
V= Vo
L
t
L
3L
a
4L
a
Pressure head
Pressure variation over time

H
reservoir
level
Neglecting head loss!

4L
a
8L
a
12L
a
time
Pressure variation at valve: velocity head and friction

losses neglected
Real traces
Lumped vs. Distributed

4L
T >>
a
lumped system
For _______
pressure fluctuation period
= __________________________
For LSC wet pit
T 2
= 424 s
4L
= 4*3170 m/1400 m/s = ____
9.1 s
L Awet pit
g
Ap
What would it take to get a transient with a period of

9 s in Lake Source Cooling? Fast
____________
valve
Methods of Controlling
Transients
Valve operation
limit operation to slow changes
if rapid shutoff is necessary consider diverting the flow
and then shutting it off slowly
Surge tank
acts like a reservoir closer to the flow control point
Pressure relief valve

automatically opens and diverts some of the flow when
a set pressure is exceeded
Surge Tanks
Reservoir
Surge tank
Tunnel/Pipelin
e
Reduces amplitude of pressure

tunnel by reflecting
fluctuations in ________
incoming pressure waves
Decreases cycle time of pressure
wave in the penstock
Start-up/shut-down time for turbine
can be reduced (better response to
load changes)
Penstock
T
Tail water
Surge tanks
Use of Hydraulic Transients

There is an old technology that
used hydraulic transients to lift
water from a stream to a higher
elevation. The device was called a
Ram Pumpand it made a
rhythmic clacking noise.
How did it work?
High pressure pipe
Stream
Source pipe
Ram Pump
Minimum valve closure time

How would you stop a pipeline full of water
in the minimum time possible without
r a =- ( p +r g ) +m2 V
bursting the pipe?
Apipe g
L
H hl dt dQ
Apipe g p
z h l dt dQ
L g
H
z
g
EGL
HGL
V
Simplify: no head loss and hold

pressure constant
Apipe g p
z h l dt dQ
L g
HGL
V
Apipe g p
z dt dQ
L g
Apipe g p
z t Q0
L g
Q0 L
t
p
Apipe g
z
g
EGL
Integrate from 0 to t and from Q

to 0 (changes sign)
t
g
V0 L
p
z
g
Back to Ram Pump:

Pump Phase
12
10
v elo city (m /s)
Coordinate system?
P1 = _____
0
z3 g
P2 = _____
-z1
z2-z1 = ___
z1
Stream
8
6
4
2
0
0
10
20
30
40
time (s)
p
z z3 z1
g
dV g p
z h l
dt
L g
High pressure pipe
Source pipe
z3
Reflections
dV g p
z h l
dt
L g
What is the initial head loss term if the pump

stage begins after steady state flow has been
z1
reached? _____
p
z3
What is g z hl ?_____
What is p z hl when V approaches zero?
g
______ z3 z1
Low V (low hl)
Where is most efficient pumping? ___________
How do you pump the most water? ______
Maintain high V
Ram: Optimal Operation

What is the theoretical maximum ratio of
pumped water to wasted water?
Rate of decrease in PE of wasted water
equals rate of increase in PE of pumped
water
Qw z1 Q pumped z3 z1
Q pumped
Qw
z1
z3 z1
High Q and Low loses?

Acceleration
12
velocity (m/s)
10
8
Insignificant head loss
6
4
Keep V high for max Q
2
0
0
10
20
time (s)
30
40
dV g p
z h l
dt
L g
dV g
z1
dt
L
Deceleration (pumping)
dV g p
z h l
dt
L g
dV g
z3 z1
dt
L
Cycle times
gtacc
dV
tacc
z1
dt
L
gtdecel
dV
tdecel
z3 z1
dt
L
gtacc
gtdecel
z1
z3 z1
L
L
tacc
z1
tdecel z3 z1
Change in velocities must match

dV
dV
tdecel
tacc
dt
dt
Summary (exercise)
When designing systems, pay attention to

startup/shutdown
Design systems so that high pressure waves
never occur
High pressure waves are reflected at reservoirs
or surge tanks
Burst section of Penstock:

Oigawa Power Station, Japan
Chaudhry page 17
Collapsed section of Penstock:

Oigawa Power Station, Japan
Chaudhry page 18
Values for Wet Pit Analysis

Flow rate before pump failure (m3/s)
2
plan view area of wet pit (m2)
24
pipeline length (m)
3170
inner diameter of pipe (m)
1.47
elevation of outflow weir (m)
10
time interval to plot (s)
1000
pipe roughness (m)
0.001
density (kg/m3)
1000
dynamic viscosity (Ns/m2)
1.00E-03
gravity (m/s2)
9.81
Pressure wave velocity: Elastic

Pipeline
E = 200 GPa
D=1m
t = 1 cm
K 0
a
K D
1
E t
2.2 x109 1000

1
2.2 x10
1020 m/s
200 x109 0.01
0.5 s to travel 500 m

aV
(1020 m/s)(-5 m/s)
H
520 m
g
9.8m/s 2
p gH
p (1000 kg/m 3 )(9.8 m/s 2 )(520 m) = 5.1 MPa = 740 psi
Ram Pump
Air Chamber
Rapid valve
Water inlet
Ram pump
H2
High pressure pipe
H1
Stream
Source pipe
Ram Pump
Ram animation
Ram Pump
Time to establish flow
t0.9V f
12
0.9V
f
tanh 1
ab
Vf
10
velocity (m/s)
tanh 1 (0.9)
gH1 K f
2L L D
HA AL
6
4
dV
dt
dV g
H2
dt L
2
0
0
10
20
time (s)
30
40
Surge Tanks
Real pressure traces

At valve
At midpoint

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Hydraulic Transients

When the SteadyState design fails!

School of Civil and

Hydraulic Transients: Overview

What would V be without losses? 44

before head loss becomes significant

Time to reach final velocity

tanh 1 (0.9) 1.47

Time to reach 0.9Vf increases as:

Household plumbing example

Why does velocity approach final velocity so rapidly?

Lake Source Cooling Intake

length of intake pipeline is 3200 m

What happens during startup?

Transient with varying driving

Lake elevation - wet pit water level

Finite Difference Solution!

Wet Pit Water Level and Flow

What is happening on the vertical lines?

Wet Pit with Area Equal to Pipe

Why is this unrealistic?

plan view area of wet pit (m2)

Valve Closure in Pipeline

Sudden valve closure at t = 0 causes change

Transients: Distributed System

Wed like to know

propagation speed of pressure wave

Pressure change due to velocity

Neglect head loss!

Magnitude of Pressure Wave

definition of bulk modulus of elasticity

speed of sound in water

Time History of Hydraulic

Presence and location of other control devices

Time History of Hydraulic

Time History of Hydraulic

Pressure variation over time

Neglecting head loss!

Pressure variation at valve: velocity head and friction

Lumped vs. Distributed

For LSC wet pit

What would it take to get a transient with a period of

Pressure relief valve

Reduces amplitude of pressure

Use of Hydraulic Transients

Minimum valve closure time

Simplify: no head loss and hold

Integrate from 0 to t and from Q

Back to Ram Pump:

v elo city (m /s)

High pressure pipe

What is the initial head loss term if the pump

Ram: Optimal Operation

High Q and Low loses?

Insignificant head loss

Keep V high for max Q

Change in velocities must match

When designing systems, pay attention to

Burst section of Penstock:

Collapsed section of Penstock: