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13.42 Lecture: Vortex Induced Vibrations. Prof. A. H. Techet 18 March 2004. Classic VIV Catastrophe. If ignored, these vibrations can prove catastrophic to structures, as they did in the case of the Tacoma Narrows Bridge in 1940. Potential Flow. U( q ) = 2U  sin q.

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13 42 lecture vortex induced vibrations l.jpg

13.42 Lecture:Vortex Induced Vibrations

Prof. A. H. Techet

18 March 2004


Classic viv catastrophe l.jpg
Classic VIV Catastrophe

If ignored, these vibrations can prove catastrophic to structures, as they did in the case of the Tacoma Narrows Bridge in 1940.


Potential flow l.jpg
Potential Flow

U(q) = 2Usinq

P(q) = 1/2 r U(q)2 = P + 1/2 r U2

Cp = {P(q) - P }/{1/2 r U2}= 1 - 4sin2q


Axial pressure force l.jpg
Axial Pressure Force

(i)

(ii)

Base

pressure

i) Potential flow:

-p/w < q < p/2

ii) P ~ PB

p/2  q  3p/2

(for LAMINAR flow)


Reynolds number dependency l.jpg
Reynolds Number Dependency

Rd < 5

5-15 < Rd < 40

40 < Rd < 150

150 < Rd < 300

Transition to turbulence

300 < Rd < 3*105

3*105 < Rd < 3.5*106

3.5*106 < Rd


Shear layer instability causes vortex roll up l.jpg
Shear layer instability causes vortex roll-up

  • Flow speed outside wake is much higher than inside

  • Vorticity gathers at downcrossing points in upper layer

  • Vorticity gathers at upcrossings in lower layer

  • Induced velocities (due to vortices) causes this perturbation to amplify



Classical vortex shedding l.jpg
Classical Vortex Shedding

l

h

Von Karman Vortex Street

Alternately shed opposite signed vortices


Vortex shedding dictated by the strouhal number l.jpg
Vortex shedding dictated by the Strouhal number

St=fsd/U

fs is the shedding frequency, d is diameter and U inflow speed


Additional viv parameters l.jpg
Additional VIV Parameters

  • Reynolds Number

    • subcritical (Re<105) (laminar boundary)

  • Reduced Velocity

  • Vortex Shedding Frequency

    • S0.2 for subcritical flow



Vortex shedding generates forces on cylinder l.jpg
Vortex Shedding Generates forces on Cylinder

Uo

Both Lift and Drag forces persist on a cylinder in cross flow. Lift is perpendicular to the inflow velocity and drag is parallel.

FL(t)

FD(t)

Due to the alternating vortex wake (“Karman street”) the oscillations in lift force occur at the vortex shedding frequency and oscillations in drag force occur at twice the vortex shedding frequency.


Vortex induced forces l.jpg

L(t)

D(t)

1/2 r U2 d

1/2 r U2 d

Vortex Induced Forces

Due to unsteady flow, forces, X(t) and Y(t), vary with time.

Force coefficients:

Cx =

Cy =


Force time trace l.jpg
Force Time Trace

DRAG

Cx

Avg. Drag ≠ 0

LIFT

Cy

Avg. Lift = 0


Alternate vortex shedding causes oscillatory forces which induce structural vibrations l.jpg
Alternate Vortex shedding causes oscillatory forces which induce structural vibrations

Heave Motion z(t)

LIFT = L(t) = Lo cos (wst+)

DRAG = D(t) = Do cos (2wst+ )

Rigid cylinder is now similar to a spring-mass system with a harmonic forcing term.

ws = 2p fs


Lock in l.jpg

k induce

wn =

m + ma

“Lock-in”

A cylinder is said to be “locked in” when the frequency of oscillation is equal to the frequency of vortex shedding. In this region the largest amplitude oscillations occur.

wv = 2p fv = 2p St (U/d)

Shedding

frequency

Natural frequency

of oscillation


Equation of cylinder heave due to vortex shedding l.jpg
Equation of Cylinder Heave due to Vortex shedding induce

z(t)

m

b

k

Added mass term

Restoring force

If Lv > b system is

UNSTABLE

Damping


Lift force on a cylinder l.jpg
Lift Force on a Cylinder induce

Lift force is sinusoidal component and residual force. Filtering the recorded lift data will give the sinusoidal term which can be subtracted from the total force.

LIFT FORCE:

where wvis the frequency of vortex shedding


Lift force components l.jpg
Lift Force Components: induce

Two components of lift can be analyzed:

Lift in phase with acceleration (added mass):

Lift in-phase with velocity:

Total lift:

(a = zois cylinder heave amplitude)


Total force l.jpg
Total Force: induce

  • If CLv > 0 then the fluid force amplifies the motion instead of opposing it. This is self-excited oscillation.

  • Cma, CLvare dependent on w and a.


Coefficient of lift in phase with velocity l.jpg
Coefficient of Lift in Phase with Velocity induce

Vortex Induced Vibrations are

SELF LIMITED

In air: rair ~ small, zmax ~ 0.2 diameter

In water: rwater ~ large, zmax ~ 1 diameter


Lift in phase with velocity l.jpg
Lift in phase with velocity induce

Gopalkrishnan (1993)


Amplitude estimation l.jpg

b induce

2 k(m+ma*)

z =

ma* = r V Cma; where Cma = 1.0

a/d = 1.29/[1+0.43 SG]3.35

~

Amplitude Estimation

Blevins (1990)

_

_

2m (2pz)

r d2

^

^

; fn = fn/fs; m = m + ma*

SG=2 p fn2


Drag amplification l.jpg

~ induce

Cd

|Cd|

3

2

a

d

= 0.75

1

fd

U

0.1

0.2

0.3

Drag Amplification

VIV tends to increase the effective drag coefficient. This increase has been investigated experimentally.

Gopalkrishnan (1993)

Fluctuating Drag:

Mean drag:

~

Cd = 1.2 + 1.1(a/d)

Cd occurs at twice the

shedding frequency.


Slide25 l.jpg

Single Rigid Cylinder Results induce

1.0

  • One-tenth highest transverse oscillation amplitude ratio

  • Mean drag coefficient

  • Fluctuating drag coefficient

  • Ratio of transverse oscillation frequency to natural frequency of cylinder

1.0


Flexible cylinders l.jpg
Flexible Cylinders induce

Mooring lines and towing cables act in similar fashion to rigid cylinders except that their motion is not spanwise uniform.

t

Tension in the cable must be considered when determining equations of motion


Slide27 l.jpg

Flexible Cylinder Motion Trajectories induce

Long flexible cylinders can move in two directions and

tend to trace a figure-8 motion. The motion is dictated by

the tension in the cable and the speed of towing.


Wake patterns behind heaving cylinders l.jpg

f , A induce

U

U

f , A

‘2P’

‘2S’

Wake Patterns Behind Heaving Cylinders

  • Shedding patterns in the wake of oscillating cylinders are distinct and exist for a certain range of heave frequencies and amplitudes.

  • The different modes have a great impact on structural loading.


Transition in shedding patterns l.jpg
Transition in Shedding Patterns induce

A/d

Williamson and Roshko (1988)

f* = fd/U

Vr = U/fd



End force correlation l.jpg
End Force Correlation induce

Uniform Cylinder

Hover, Techet, Triantafyllou (JFM 1998)

Tapered Cylinder


Viv in the ocean l.jpg

Non-uniform currents effect the spanwise vortex shedding on a cable or riser.

The frequency of shedding can be different along length.

This leads to “cells” of vortex shedding with some length, lc.

VIV in the Ocean


Oscillating tapered cylinder l.jpg

x a cable or riser.

d(x)

Oscillating Tapered Cylinder

Strouhal Number for the tapered cylinder:

St = fd / U

where d is the average

cylinder diameter.

U(x) = Uo


Spanwise vortex shedding from 40 1 tapered cylinder l.jpg
Spanwise Vortex Shedding from a cable or riser. 40:1 Tapered Cylinder

Rd = 400;

St = 0.198; A/d = 0.5

Rd = 1500;

St = 0.198; A/d = 0.5

Rd = 1500;

St = 0.198; A/d = 1.0

dmax

Techet, et al (JFM 1998)

No Split: ‘2P’

dmin


Flow visualization reveals a hybrid shedding mode l.jpg
Flow Visualization Reveals: a cable or riser. A HybridShedding Mode

  • ‘2P’ pattern results at the smaller end

  • ‘2S’ pattern at the larger end

  • This mode is seen to be repeatable over multiple cycles

Techet, et al (JFM 1998)


Dpiv of tapered cylinder wake l.jpg
DPIV of Tapered Cylinder Wake a cable or riser.

Digital particle image

velocimetry (DPIV) in the horizontal plane leads to a clear picture of two distinct shedding modes along the cylinder.

‘2S’

z/d = 22.9

‘2P’

z/d = 7.9

Rd = 1500; St = 0.198; A/d = 0.5


Slide37 l.jpg

Techet, Hover and Triantafyllou ( a cable or riser. JFM 1998)

Vortex Dislocations, Vortex Splits & Force Distribution in Flows past Bluff BodiesD. Lucor & G. E. Karniadakis

  • Objectives:

  • Confirm numerically the existence of a stable, periodic hybrid shedding mode 2S~2P in the wake of a straight, rigid, oscillating cylinder

  • Approach:

  • DNS - Similar conditions as the MIT experiment (Triantafyllou et al.)

  • Harmonically forced oscillating straight rigid cylinder in linear shear inflow

  • Average Reynolds number is 400

VORTEX SPLIT

  • Methodology:

  • Parallel simulations using spectral/hp methods implemented in the incompressible Navier- Stokes solver NEKTAR

NEKTAR-ALE Simulations

  • Results:

  • Existence and periodicity of hybrid mode confirmed by near wake visualizations and spectral analysis of flow velocity in the cylinder wake and of hydrodynamic forces

  • Principal Investigator:

  • Prof. George Em Karniadakis, Division of Applied Mathematics, Brown University


Viv suppression l.jpg
VIV Suppression a cable or riser.

  • Helical strake

  • Shroud

  • Axial slats

  • Streamlined fairing

  • Splitter plate

  • Ribboned cable

  • Pivoted guiding vane

  • Spoiler plates


Viv suppression by helical strakes l.jpg
VIV Suppression by Helical Strakes a cable or riser.

Helical strakes are a

common VIV suppresion

device.


Oscillating cylinders l.jpg

. a cable or riser.

y(t) = -aw sin(wt)

Oscillating Cylinders

Parameters:

y(t)

Re = Vm d / n

Reynolds #

d

b = d2/nT

Reduced

frequency

y(t) = a cos wt

Keulegan-

Carpenter #

KC = Vm T / d

Vm = a w

St = fv d / Vm

Strouhal #

n = m/ r ; T = 2p/w


Reynolds vs kc l.jpg

Re = V a cable or riser. m d / n = wad/n = 2p a/d d /nT

(

)(

)

2

Reynolds # vs. KC #

KC = Vm T / d = 2pa/d

Re = KC * b

b = d2/nT

Also effected by roughness and ambient turbulence


Forced oscillation in a current l.jpg

Parameters: a cable or riser.

a/d, r, n, q

Forced Oscillation in a Current

y(t) = a cos wt

w = 2 p f = 2p / T

q

U

Reduced velocity: Ur = U/fd

Max. Velocity: Vm = U + aw cos q

Reynolds #: Re = Vm d / n

Roughness and ambient turbulence


Wall proximity l.jpg
Wall Proximity a cable or riser.

e + d/2

At e/d > 1 the wall effects are reduced.

Cd, Cm increase as e/d < 0.5

Vortex shedding is significantly effected by the wall presence.

In the absence of viscosity these effects are effectively non-existent.


Galloping l.jpg

Y(t) a cable or riser.

.

y(t), y(t)

U

.

-y(t)

m

a

V

Galloping

Galloping is a result of a wake instability.

Resultant velocity is a combination of the heave velocity and horizontal inflow.

If wn << 2p fv then the wake is quasi-static.


Lift force y a l.jpg

Y(t) a cable or riser.

1/2 r U2 Ap

Lift Force, Y(a)

Y(t)

V

a

Stable

Cy =

Cy

a

Unstable


Galloping motion l.jpg

L(t) a cable or riser.

.

z(t), z(t)

U

..

L(t) = 1/2r U2 a Clv - ma y(t)

.

-z(t)

m

a

V

 Cl (0)

 a

 Cl (0)

 a

..

.

mz + bz + kz = L(t)

.

a ~ tan a = -

b =

z

U

Galloping motion

a

b

k

Cl(a) = Cl(0) +

+ ...

Assuming small angles, a:

V ~ U


Instability criterion l.jpg

b a cable or riser.

U

b

U

Instability Criterion

..

.

~

(m+ma)z + (b + 1/2r U2 a )z + kz = 0

b + 1/2r U2 a

< 0

If

Then the motion is unstable!

This is the criterion for galloping.


B is shape dependent l.jpg

1 a cable or riser.

1

1

2

2

 Cl (0)

 a

1

4

1

b is shape dependent

Shape

-2.7

0

U

-3.0

-10

-0.66


Instability l.jpg

a cable or riser. Cl (0)

 a

 Cl (0)

 a

b

1/2r U a

Instability:

<

b =

Critical speed for galloping:

b

1/2r a

U >

( )


Torsional galloping l.jpg
Torsional Galloping a cable or riser.

Both torsional and lateral galloping are possible.

FLUTTER occurs when the frequency of the torsional

and lateral vibrations are very close.


Galloping vs viv l.jpg
Galloping vs. VIV a cable or riser.

  • Galloping is low frequency

  • Galloping is NOT self-limiting

  • Once U > Ucritical then the instability occurs irregardless of frequencies.


References l.jpg
References a cable or riser.

  • Blevins, (1990) Flow Induced Vibrations, Krieger Publishing Co., Florida.


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