IPS NASU

DYNAMICAL ANALYSIS AND ALLOWABLE

VIBRATION DETERMINATION FOR THE PIPING
SYSTEMS.
G.S. Pisarenko Institute for Problems of Strength
of National Academy of Science of Ukraine
Kiev, Ukraine
IPS NASU
Software complex
3D PipeMaster
Method of calculation of piping at harmonical vibrations

Modeling of dynamical behavior of pipe bend as the
beam as well as the shell

The abilities of the complex for vibrodiagnostics
Accident of the oil
pipeline
IPS NASU
3D PipeMaster
Harmonical analysis
Dynamic stiffness method
x
y
dx
X0
X1

(
(
(

0 1
) , ( X dx A X e
stiffness matrix y
with method of initial parameters
x
X
1
0
2 n-1 n
X
1
1
X
2
0
X
2
1
X
n-1
0
X
n
0
X
n-1
1
X
n
1
1
;
1
1
0

+ i i
X X ; ) (
0
0 1

(
(
(

X A X
n
e
( )
[
=
+
=
n
i
i n i
dx A A
1
1
, ) ( e e
The sweeping
procedure
IPS NASU
The inertial term
3D PipeMaster
Harmonical analysis
Dynamic stiffness method
0
2
4
4
=
y
z
y
W
EI
F
dx
W d
e
z
y
dx
dW
u =
z
z z
EI
K
dx
d
=
u
y
z
Q
dx
dK
=
the equations of motion at transversal vibrations
- frequency of vibration e
the equations of the method of initial parameters:
( ) ( ) ( ) ( ) x k Y
k EI
Q
x k Y
k EI
K
x k Y
k
x k Y W W
y
y z
y
y
y z
z
y
y
z
y y y 4
3
3
2
2 1
0 0 0
0
+ + =
u
( ) ( ) ( ) ( ) x k Y W k x k Y
k EI
Q
x k Y
k EI
K
x k Y
y y y y
y z
y
y
y z
z
y z z 4 3
2
2 1
0
0 0
0
+ + =u u
( ) ( ) ( ) ( ) x k Y EI k x k Y EI k W x k Y
k
Q
x k Y K K
y z y z y z y y y
y
y
y z z 4 3
2
2 1
0 0
0
0
u =
( ) ( ) ( ) ( ) x k Y k K x k Y EI k x k Y EI k W x k Y Q Q
y y z y z y z y z y y y y y 4 3
2
2
3
1
0 0 0 0
+ + = u
z
y
EI
F
k
2
4
e
=
IPS NASU
3D PipeMaster
Harmonical analysis
The algorithms for branched and curvelinear elements

1
|
1
2
|
2
3
|
3
4
|
4
5
1
|
|
;
, 1 ,
e
i z
b
i z
u u =
+
; sin cos
, 1 , i
e
i i
e
i y
b
i y
| | u u =
+
; sin cos
, 1 i
e
i y i
e
i
b
i
| u | + =
+
; sin cos
, 1 i
e
i i
e
i y
b
i y,
U W W | | =
+
;
1
e
i z,
b
i z,
W W =
+
. sin cos
1 i
e
i y, i
e
i
b
i
W U U | | + =
+
the conditions in the junctions
equations for pipe bend
The matrix of the turning
element
{ } | | { }; ) (
1
1
0
i i
X B X
i
| =
+
{ } | | { }; ) (
0
0 1
X C X
n
e =
( ) ; ) ( , ) (
1
1
1 +
=
+
=
[ i n
n
i
i n i
B dx A C | e e
...
3 2 1
= = = W W W
...
3 2 1
= = = u u u

= 0 M

= 0 Q
1
2
3
m
IPS NASU
3D PipeMaster
Harmonical analysis
Method of the breaking of displacements for the
determination of the natural frequencies and forms
0
0
0 ,
1
1 ,
=
/
=
=
/
=

Q Q
or Q Q
i
y
i
y x
i-1 i
X
i-1
0
X
i
0
X
i-1
1
X
n
1
y
1
1 , 0

=
i
y
i
y,
W W
1
1 , 0

= A
i
y
i
y, y
W W W
the criteria of the determination of the natural frequency
e - natural frequency
= A 0 ) (e
y
W
The example of the graph for T
like frame
) (e
y
W A
IPS NASU
3D PipeMaster
Harmonical analysis
Method of the breaking of displacements continuity
The role of the estimator is essential !!!
The additional frequency can be noticed only at very small step of
frequency.
IPS NASU
3D PipeMaster
Harmonical analysis
Method of the breaking of displacements continuity
The examples of finding the natural frequencies and forms for T-
like frame
=148
-1
e
=212.4
-1
e
=214.4
-1
e
The additional form
of vibration !!!

-1
-1
1

0.03
-1
-1

-1
1
1
The forms given in the handbooks
IPS NASU
3D PipeMaster
Harmonical analysis
Method of the breaking of displacements
modeling of curvilinear element
Example: frequencies of the circular ring
= 210
6
; G = 810
5
;
= 0.3; = 8000 /
3
;
0 = 2 ; R = 0.1
n = 2 n = 3 n = 4 n = 5
Vibration in the plane of circular ring
theoretical 167.7051 474.3416 909.5086 1470.8710
Our results 167.569 473.857 908.4868 1469.146
Out-of-plane vibration of circular ring
163.6634 468.5213 902.8939 1463.8510
163.36 467.371 900.391 1459.662
Kang K.J., Bert C.W. and Striz A.G.
Vibration and buckling analysis of circular
arches using DQM
// Computers and Structures. 1996. V.60, 1.
pp. 49-57.
( )
,
1
1
2
2
2 2
4
0
+

=
n
n n
FB
EI
z

e 2 > n
vibrations in plane
Out-of-plane
( )
,
1
1
4
0 2
2 2
FB
GI
EI
GI
n
n n
y
y

e
+

=
2 > n
IPS NASU
3D PipeMaster
Harmonical analysis
Method of the breaking of displacements
modeling of curvilinear element

Example: frequencies of the circular arc

1. In-plane vibrations
Austin W.J. and Veletsos A.S. Free vibration of
arches flexible in shear // J. Engng Mech. ASCE.
1973. V.99. pp. 735-753.
2. Out-of-plane
Ojalvo U. Coupled twisting-bending vibrations of
incomplete elastic rings // Int. J. mech. Sci.
1962. V.4. pp. 53-72.
IPS NASU
3D PipeMaster
Harmonical analysis
Advantages
1. The strict analytical solutions are used.
2. The continuity is provided at transition from static to dynamic
3. The infinite number of natural frequencies can be obtained for
finite number of elements.
4. The method of sweeping allows to speed up the calculation.
5. Analytical accuracy of modeling of curved element is attained.
6. Any complex spatial multibranched piping system can be
treated.
7. The vibration direction (modes) of interest can be separated
8. The influence of the subjective factors are excluded (the
breaking out on the elements)



IPS NASU
Dynamical model of pipe bend
as the beam as well as the shell
, 0
2
4
4
= W
EI
F
K
dx
W d
d
e
A'
C'
B'
D'
A
C
B
D
z
K
z
K
1
u d
0
u d
B
O
R
( )

=
=
bend pipe for x P f K
pipe straight for
K

, , , ,
1
e o
B
R
= o
Bt
R
2
= - flexibility parameter
- parameter of curvature
The curved beam element is strict but pipe bend have the
increased flexibility!
Depends from the frequency !
Physical equation is corrected
EI
M K
dx
d
=
u
Equation of the transversal vibration with accounting of
increased flexibility:
IPS NASU
Equation for bend as a shell
r
R
O
u
B
O
1
t

x
y
z
v u
w
Equilibrium equations:
0
sin 1
2
2
0
=
c
c
+ +
c
c
+
c
c
+
t
w
h
B
N
x
Q
Q
R R
N
x x

0
cos 1
2
2
0
=
c
c

c
c
+
c
c
t
v
h
B
N
x
L
R
Q N
R
x

0
sin
2
2
0
=
c
c

c
c
+
c
c
t
u
h
B
Q
x
N L
x x

0
1
=
c
c
+
c
c
+
x
M M
R
Q
x

0
1
=
c
c
+
c
c
+
x
M
M
R
Q
x
x
x

( )
u
c c + = H N
( )
u
c c + = H N
x
( )
u
= 1
2
H
L
( )
u
_ _ o + = H M
( )
u
_ _ o + = H M
x
( )
u
_
o
2
1
=
H
M
x
Physical equations
Determination of the flexibility
of the pipe bend



IPS NASU



0
sin cos
B
w v
x
u
c

+
+
c
c
=
R
w v
R
+
c
c
=

1
2
2
x
w
c
c
=

_
2 2
2
2
1
R
w w
R

c
c
=

2
2
x
w
c
c
=

c c
c

c
c
=
x
w
R x
v
R
2
2 2
deformations
curvatures
Geometrical equations:
Determination of the flexibility
of the pipe bend
The simplifications:
semimomentless Vlasovs theory: 0 ,..., 0 = =

c
c
c
=
c
c
=
c
c v
w
x
v
R
u
,...,
geomtrical characteristics:
, 6
2
s =
Bt
R

0 =
B
R
o
restrictions on the wave length in the axial direction
2
2
2
2
c
c
<<
c
c v
x
v
0
sin cos 2 1
4
4
2
2
2
2
0 0
2
2
2
3
2
2
4
4
=
|
|
.
|

\
|
c
c

c
c
c
c
+
|
|
.
|

\
|
c
c
+
c
c
+
c c
c
+
|
|
.
|

\
|
c
c
+
c
c

v v
t
h
N
B B
N
x
N
R
Q Q
R
x x x



IPS NASU



Determination of the flexibility
of the pipe bend

Solution for the cylindrical shell
( ) ( )
( )
( )
( )
0
1 12
1
1
, sin sin , , ,
6
2
2
2
2 4
2 2
2
2
0
=
|
|
.
|

\
|

+
= =
n
IV
n
n
V
R
h n n
n n
ER
V
t n x V t x v B

e
e
( )
( ) ( )
( )
A
S
R
R
h n n
n n R
E
m
m
=
(
(

+
+
=

e ,
1 12
1
1
2
2
2
2
2 2
2
4
2 2
2
600
800
1000
1200
1400
1600
0,2 1,1 1,2 2,2 3,2
(m, n)

experiment
FEA [Salley and Pan]
our results
Salley L. and Pan J.
A study of the modal
characteristics of curved
pipes // Applied
Acoustics. 2002.
V.63. pp. 189-202.



IPS NASU



Determination of the flexibility
of the pipe bend


( ) ( ) ( ) | |
ER
B
t x V x V R t x v
0
3 2
, sin ... 3 cos , 2 sin , , ,
o
e e e = O + + O =
( )
( )
( ) e e
o
,
2
3
1 ,
2
x V
x k
x K

=
The sought for solution
:
The resulting equations:
n
IV
n n n n n n n n n n n
f aV V a V a V a V a V a = +
' '
+
' '
+ + +
+ + 1 , 5 1 , 4 2 , 3 2 , 2 , 1
( )
( ) ( ) ( )

> + + = + =
= + = + =
3 , 1 6 1 , 1
2 , 12 144 , 1
2 2
2
2 4
, 1
2 2
, 1 , 1
, 1
2 2
, 1 , 1
n n n A n n a B n n a a
n A a B n n a a
n n n
n n n
( )( ); 1 3 3
2
, 2
n n n A a
n
+ =
( ) ; 1
2 2
, 4 , 4
h
R
R a a
n n
=
( ) ;
1
1 12
2 3
1
, 4

+
=
+
n
n n n
a
n
n
; ) 1 (
) 1 (
2 2
2 2
0
2 4

=
h B
R
A
( ) ; 1 12
4
2
2
2
R
h
R
a =
( )( ); 1 3 3
2
, 3
n n n A a
n
+ =
( ) ; 1
2 2
, 5 , 5
h
R
R a a
n n
=
( ) ;
1
1 12
2 3
, 5
+
+ +
=
n
n n n
a
n
n
( )

> =
= =
; 3 , 0
; 2 , 72
2
n f
n x Ak f
n
o
E h
R
B
2
2 4 2
) 1 ( 12 e
=



IPS NASU
Determination of the flexibility
of the pipe bend

- The coefficient of flexibility at harmonical vibrations
( ) ( ) ( )
B
B A B B A B A
K
2
10 60 72 4 11 6 72 11 6 72
2
+ + + + +
=
2 2
) 1 ( = A
0
5
10
15
20
25
30
0 10 20 30 40 50 60
A=1
A=3
A=6
A=10
A=15
A=30
K

B
E h
R
B
2
2 4 2
) 1 ( 12 e
=
Bh
R
2
=
n
z

IV
n
V
EI
FK
V
2 2
) , ( e e
= Assume:
| |
45 1
3 8 . 28

K
A
B B
+
+
= s if
then we obtain :
( )
( ) ( )
)

> + + =
=

= + =
+ =
3 , 1 6 1
,
2 , 12 144
, 1
2 2
2
2 4
, 1
, 1 , 1
, 1
2 2
, 1 , 1
n n n A n n a
a a
n A a
B n n a a
n
n n
n
n n
Results:



IPS NASU
200
600
1000
1400
1800
2200
2600
3000
R,2s R,2a 1,2s 1,2a 3,2s 3,2a 1,1a
(m, n)

experiment
FEA [Salley and Pan]
our results with
dynamical
K=1
the Saint-Venant
(static) solution
L. Salley and J. Pan. A study of the modal characteristics of curved pipes
// Applied Acoustics. 2002. V.63. pp. 189-202.
= 2.07106 ;
= 0.3; = 8000 /3;
R = 0.0806 ;
h = 0.00711 ;
= 0.457
l=0.2
l
l
R
h
B
Determination of the flexibility
of the pipe bend
IPS NASU

P
A
B
l
W

( )

th tg
l P l
M + =
|
.
|

\
|
8 2
0
4
4 2
2
1
EI
l Fe
=
( ) t P t P e cos
0
=
-4
-3
-2
-1
0
1
2
3
4
0 50 100 150 200 250 300
M(l /2)
, /c
= 210
6
; G = 810
5
;
= 0.3; = 8000 /
3
;
l = 5 ; R = 0.1 ; h = 0.005 .
1. The graph of bending moment in the
central point of supported-supported beam
s rad 136 = e
1.25
2. Restoration of the outer force from the
known displacements in arbitrary point
P0, H
-4.E+07
-3.E+07
-2.E+07
-1.E+07
0.E+00
1.E+07
2.E+07
3.E+07
4.E+07
5.E+07
6.E+07
0 500 1000 1500
, /c
1
1
0
= P 1
0
= W
Abilities of 3D PipeMaster for
vibrodiagnostics



IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics
The problems of vibrodiagnostics
1. The points of application of the outer forces, their directions and
frequencies are unknown.
2. The gauges can measure the displacements of pipe points,
their velocities and accelerations
3. The number of gauges is finite.
The functions of the calculation software
1. The correct determination of the dynamical characteristics.
2. Correct modeling of the piping behavior when the correct
measurement data are provided.
3. The best possible assessment of the behavior with restricted
input data.
4. The best possible assessment of the dynamical stresses based
on the incomplete measurements




IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics
y y
W F ,
A
B
l l A = 20

y
Q W M , ,

y
Q W M , ,

( ) t F t F
y
e sin
0
=
= 2.068910
6
; = 0.3;
= 7836.6 /
3
; l = 6.096 ;
l=0.3048; R = 0.05715 ;
t = 0.0188 .
11.66 , 37.65 ,
78.18 .
=
1
e =
2
e
=
3
e
1. Input data are the results of excitation of beam by harmonical force applied at its
center. The calculated values of transverse forces, bending moment, displacements
in 21 points are recorded. This is so called real case.
2. The system (beam) is loaded by the real displacements in a few (or one) points,
the moments and displacements are calculated.
3. The calculated in 2 results are compared with real data.
The frequency of outer force is given but the point of
its application is unknown. The gauges measure the
displacements



IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics

A
B

l A 3 l A 3
-0.0008
-0.0007
-0.0006
-0.0005
-0.0004
-0.0003
-0.0002
-0.0001
0
0.0001
0 2 4 6 8 10 12 14 16 18 20
, deltaL
W
-600
-400
-200
0
200
400
600
M
W . W "." M . M "."
=21

e
0
0.0005
0.001
0.0015
0.002
0.0025
0.003
0 5 10 15 20 25
, deltaL
W
-2500
-2000
-1500
-1000
-500
0
500
1000
1500
2000
2500
M
W . W "." M . M "."
=8

e
2 points of measurements




IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics
=100

e =80

e
=60

e
-0.00015
-0.0001
-0.00005
0
0.00005
0.0001
0 2 4 6 8 10 12 14 16 18 20
, deltaL
W
-600
-400
-200
0
200
400
600
M
W . W "." M . M "."
-0.0008
-0.0006
-0.0004
-0.0002
0
0.0002
0.0004
0.0006
0.0008
0 2 4 6 8 10 12 14 16 18 20
,deltaL
W
-4000
-3000
-2000
-1000
0
1000
2000
3000
4000
M
W . W "." M . M "."
-0.0004
-0.0003
-0.0002
-0.0001
0
0.0001
0.0002
0.0003
0.0004
0.0005
0 2 4 6 8 10 12 14 16 18 20
, deltaL
W
-4000
-3000
-2000
-1000
0
1000
2000
3000
4000
M
W . W "." M . M "."



IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics

A
B

l A l A
=140

e
=60

e
2 points of
measurements
-0.00014
-0.00012
-0.0001
-0.00008
-0.00006
-0.00004
-0.00002
0
0.00002
0 2 4 6 8 10 12 14 16 18 20
, deltaL
W
-600
-400
-200
0
200
400
600
M
W . W "." M . M "."
-0.00006
-0.00004
-0.00002
0
0.00002
0.00004
0.00006
0 2 4 6 8 10 12 14 16 18 20
, deltaL
W
-600
-400
-200
0
200
400
600
M
W . W "." M . M "."



IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics
=100

e
=60

e

A
B

l A 3 l A 3 l A 2 l A 2
4 points of
measurements
-0.00014
-0.00012
-0.0001
-0.00008
-0.00006
-0.00004
-0.00002
0
0.00002
0 5 10 15 20
, deltaL
W
-600
-400
-200
0
200
400
600
M
W . W "." M . M "."
-0.00014
-0.00012
-0.0001
-0.00008
-0.00006
-0.00004
-0.00002
0
0.00002
0.00004
0.00006
0.00008
0 2 4 6 8 10 12 14 16 18 20
, deltaL
W
-600
-500
-400
-300
-200
-100
0
100
200
300
400
500
M
W . W "." M . M "."



IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics
All measurements in all
points are used
Complete coincidence

Conclusions from modeling:
1. To evaluate stresses the most importance have the proximity of
the points of measurements to the point of the force application.
2. The accuracy grows with the number of the points of
measurement
3. The accuracy nonmonotically decrease with the frequency of
the excitation
1
, 2

=
form
form
MAX t
MAX
C
E C
W

o

IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics
Determination of the maximal stresses based
on the measurements of velocities
k t
k
MAX
L
x
k A W
EI
m
k
ER k
L
A EI
dx
W d
M R
I
M
e
t
e
t
o o
* sin
) (
,
2
4
2
2
2
2
2
=
=
= = =

For simply supported beam:

I
FR
E
IE
ER m
W
MAX t
MAX
2

o
=
= =

For a thin walled pipe:

for a solid circular beam:

For the real complex piping systems:
E
W
MAX t
MAX

o
2 =

E
W
MAX t
MAX

o
4 =

dynamic
susceptibility
coefficient



IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics
Examples of the piping configuration



IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics
Determination of the maximal stresses based on
the measurements of velocities
= 2.0684310
6
;
= 7834 /
3
; l = 18 ;
R = 0.1 ; t = 0.01 .
J. C. Wachel, Scott J.
Morton, Kenneth E.
Atkins. Piping vibration
analysis
m
s P
10 * 98 . 5
7

=
MAX t
MAX
W

o
Theoretical value:



IPS NASU
Abilities of 3D PipeMaster for
vibrodiagnostics
Determination of the maximal stresses based on
the measurements of velocities
When the exciting frequency exceeds the first natural frequency the correlation
between the vibrovelocity and maximal stresses is good
= 2.068910
6
; =7836.6 /
3
; R = 0.05715 ; t = 0.0188 m For parameters
Theoretical value
11.66 hertz
m
P
10 * 5.69
7
s
W
MAX t
MAX

=

o
, 2 8
21 40 60 80

3.08E+08

7.78E+07 2.87E+07 5.71E+07 5.12E+07 5.55E+07
obtained value 5.4 1.4 0.51 1 0.9 0.98
MAX t
MAX
W

o
The results of calculation:
=
1
e



IPS NASU
Conclusion
1. Due to application of dynamical stiffness method the continuity
between the static and dynamic solution is provided.
2. The procedure of the breaking of the displacements in any point
and in any direction allow to find all natural frequencies and forms
3. In a first time in a literature the notion of dynamic coefficient of
pipe bend flexibility is introduced and analytical expression for it is
obtained. This allowed to perform calculation for the piping
systems with a higher accuracy
4. The option of determination of exciting force in some point
based on given displacement or velocity in any other point of the
piping allows to efficiently perform the vibrodiagnostic analysis