Vortex Induced Vibrations

Dr M S ALAM

Dr M S Alam

Why vibration is Important?

Any motion that repeat itself after an interval of time is termed as vibration Vibration deals with the relationship between forces and oscillatory motion

Vortex shedding phenomenon is responsible for flow induced vibration/ vortex induced vibration (VIV)
Dr M S Alam

VIV
Every structure has frequencies at which it likes to vibrate

Natural frequencies ( f n )

If a structure is forced near its natural frequency, vibration of large amplitude is imminent destruction of structure (any example?)

Dr M S Alam

VIV Catastrophe

Dr M S Alam

VIV Catastrophe

If VIV is neglected in design, it can demolish a structure like it did in the case of the Tacoma Narrows Bridge
Dr M S Alam

Hydrodynamic Parameters
U D

Reynolds Number, Re =

UD

3,000< Re<300,000, subcritical flow regime

Strouhal Number, St = fD / U 0.20 for subcritical flow U Reduced Velocity, Vr = f n natural frequency of the system Df n f is the frequency of vortex shedding
Dr M S Alam

Link: Lock-In

Re Effects,

Re =

UD

Dr M S Alam

The thickness of the velocity boundary layer is defined as the distance from the solid body at which the flow velocity is almost equal to the freestream velocity (U)

Re Effects

Figure: Vortex shedding in a stream oil (from Homann, 1936)

Dr M S Alam

Vortex Induced Vibration

When, Re>40, a cylinder experiences vortex shedding phenomenon. This results in periodic variations in the force components on the cylinder. The lift force (perpendicular to the inflow velocity) induces cross-flow vibrations, while the drag force (parallel to the inflow velocity) induces in-line vibrations.

Dr M S Alam

Vortex Induced Forces

Lift Force Co., Drag Force Co. 2 1 0 -1

Drag force Co., C =

D

(1 / 2 )U D
2

F
y

Lift force Co., C =

L

(1 / 2 )U D
2

The lift force oscillates at the vortex-shedding frequency, while the drag force oscillates at twice the vortex shedding frequency. The average value of the lift force is zero.

Link: In-line Vibrations

Dr M S Alam

Equation .. of a Vibrating . System:m y (t ) + c y (t ) + ky(t ) = F (t )

Forces on the structure:
Spring force: - ky . Damping force: c y A force on the structure :
y

F (t )

..in which m is the total mass f the system and y is the displacement of the structure. Dot over the symbols indicates differentiation with respect to time.

Dr M S Alam

Vibrating Systems
0
Free vibration without viscous damping

m y (t ) + c y (t ) + ky(t ) = F (t )
0

.. .. ..

. . .

Free vibration with viscous damping

m y (t ) + c y (t ) + ky(t ) = F (t ) m y (t ) + c y (t ) + ky(t ) = F (t )
Dr M S Alam

Forced vibration

Free Vibration without Viscous Damping (Harmonic motion)

Displacement, x (m) Amplitude Time (t)

Period T o Frequency (Hz)

1 T 2 o Angular frequency, = T o Displacement, x = A sin(t ) f =

Dr M S Alam

Free Vibration without Viscous Damping (Harmonic motion)

The simple harmonic motion behavior of the structure allow us to assume that any deflections of a structure are proportional to the applied force. The basic equation of calculating natural frequencies is

1 f = 2

k m

..where k is elastic stiffness of the sprint system (N/m) and m is the mass undergoing vibration (kg)

Dr M S Alam

Example 1
A mass of 3 Kg is suspended from a spring of stiffness 6N/mm. What is the natural frequency of the system?

K=6 N/mm

3 Kg

Dr M S Alam

Free Vibration without Viscous Damping F = mg

A mass-less cantilever of length L with an end mass m experiences a deflection. According to the simple beam bending theory, the end deflection for this configuration is: Therefore, L

FL3 = 3EI

E is modulus of elasticity I is second moment of area k is stiffness f is natural frequency of vibration

load F 3EI 1 ; k= = = f = deflection FL3 L3 2 3EI 2 3EI o Angular frequency: = = 2f = 3 T mL Dr M S Alam

k 1 = m 2

3EI mL3

A Cantilever of Uniformly Distributed Self-Mass

o Initially, consider the cantilever is mass-less. o Consider, the mass m' is equivalent to the mass in the sense that the mass me causes the same frequency of vibration as the mass m'

me ,
x

m'
Case I

o Case I: The part of the cantilever beyond the mass can be ignored as it is mass-less. Therefore,

f'=
o Case II: f e =

o Now, consider the self-mass of the cantilever. If we consider a small element of length dx at a distance x from the support, its mass is m.dx. The equivalent end mass is:

3 x o As both frequencies are equal: me = m' L 3 x dme = m dx L

1 2

3EI me L3

1 2

3EI m' x3
L Case II

me

Dr M S Alam

A Cantilever of Uniformly Distributed Self-Mass

o The equivalent mass for the whole length of the beam can be obtained by integration:

L x 3 mL me = m dx = =self-mass/4 L 4 0
Therefore, a cantilever of uniformly distributed self-mass vibrates at the same frequency of a mass-less cantilever having an end load with a mass equal to one-fourth of its actual self-mass.

Dr M S Alam

Strouhal number for various shapes of structures (Approx.)

D St=0.20

St=0.13

St=0.08

D/2

Dr M S Alam

Strouhal Number Vs. Re

Dr M S Alam

Strouhal Number Vs. Re

Dr M S Alam

Link: In-Line Vibrations

Example 2
A lighting column is 15 m high and constructed from hollow circular steel tube of 175 mm outside diameter with a wall thickness of 5 mm. The lamp of the top has a mass of 10 Kg. Calculate: a) the natural frequency of the structure b) the critical wind speed for the onset of vortex shedding induced vibrations

Dr M S Alam

Example 3
A 3m long circular section member of 95 mm outside diameter and a wall thickness of 5 mm is attached to the wall of a building so that it projects outwards horizontally. A security camera system weighing 15kg is to be attached to the free end of the cantilever. Calculate (a) the natural frequency of the cantilever alone (b) the critical wind speed for the onset of vortex-shedding induced vibrations (c) the same parameters in (a) and (b) after the camera has been installed

Dr M S Alam

Damping of Structures
o The ability of a structure to dissipate energy is called damping. o The role of damping in flow induced vibration is that it limits the vibrations. o There are mainly two kinds of damping: a) Structural damping: Friction and rubbing between parts of structure b) Fluid damping: Fluid movement o Structural damping and fluid damping are always present side by side. It is theoretically almost impossible to single out the structural damping from the rest of the damping.

Dr M S Alam

Damping in Still Fluid

Natural frequency k n = m + m'
1/ 2 2 d = n 1

A(t ) = Ay exp( d t )
0

Damped frequency

Total damping factor

1 Ed 4 Et c 2(m + m')d

d t 2 y = A(t ) cos(d t )

Structural damping

s =

Where,

Fluid damping

CD f = 4 (m + m') 3 D

D 2

Ed is dissipated energy
A

Hydrodynamic mass per unit span

m' = Cm A
Dr M S Alam

Et is total energy Cm is hydrodynamic mass coefficient

Cross-Flow VIV (Air Flow)

U Vibration, y D Viscous damper Fig. Experimental setup for flexibly-mounted cylinder

For each flow velocity, the following quantities are measured: 1. The vortex shedding frequency, f v 2. The vibration frequency, f 3. The vibration amplitude, A 4. The phase angle, U Then measured quantities are plotted as function of normalized velocity, Vr = Df n

Dr M S Alam

Lock-In

f = fv = f n

V < 5 , vortex-shedding frequency follows the stationary-cylinder Strouhal frequency 5 < V < 7 , vortex-shedding frequency follows the natural frequency of the system
r
r

o The vortex shedding frequency locks into the natural frequency of the system at and remains locked in until V reaches the value of about 7. This phenomenon is known as lock-in phenomenon.
r

Dr M S Alam

Link: hydro. Parameters; Suppression of VIV

Lock-In

o Vibrations completely disappear when V reaches the value of about 8.5. o Amplitude and the phase angle experience hysteresis effect.
r

Dr M S Alam

Vortex shedding modes

oThe figure illustrates the vortex shedding mode experienced during the course of increase or decrease of the velocity. oThe term 2S mode means that there are two single vortices shed for each cycle of vibrations. The wake in this case will be the Karman streettype wake. oThe term 2P mode means that two vortex pairs form in each cycle of vibrations during the course of shedding process. oThe mode of vortex shedding undergoes a sudden change, switching from 2S mode to 2P mode, when reduced velocity reaches the value of about 6.5.As a result of this sudden change in the shedding mode, both the amplitude and the phase angle undergo abrupt changes; the amplitude is reduced considerably and phase angle is increased to a higher value. oThe change in the mode of vortex shedding from 2S to 2P mode causes the lift force to experience an abrupt reduction. This causes the sudden drop in the amplitude.
Dr M S Alam

Cross-Flow VIV in Water

The vibration frequency in the water case is not equal to the natural frequency of the system in the lock-in range, but rather it increase monotonously with Vr . The natural frequency in the water situation is not maintained at its still-water value f n , but rather it undergoes a constant increase with increasing Vr (why?) Natural frequency measured in still fluid: f n =

k m + m' D 2 Where, hydrodynamic mass coefficient: m' = Cm 4

1 2

When the cylinder is subjected to a current, the new natural frequency will be:

f nc =

1 2

k m + mc '

Dr M S Alam

The hydrodynamic mass coefficient in the case of current :mc ' = Cmc 4 1/ 2 f nc m + m' The frequency ratio is: = f n m + m' m c = 200 Lets, consider an air situation when: 2 D 3 If, D=100 mm and air = 1.124 Kg / m Then, m = 2.254 kg ; m' = 0.00884Cm kg Here, m >> m' Therefore, f nc f n m Now, lets consider a water situation when: 2 = 2.5 D m = 25 kg ; m ' = 7 . 85 C kg Then, m Therefore, m' and also in the same way, mc ' are no longer negligible. So, f n will be different from f nc . Thats why a flexibly mounted structure in water responds differently from that in air.
Dr M S Alam

Cross-Flow VIV in Water

D 2

Stability Parameter, K s
Ks = 2(m + m' )(2 s )

D 2

o This variable influences heavily the maximum amplitude of vibrations. o An increase of stability parameter reduces significantly the maximum amplitude of vibrations.

oThis figures reveals that the cylinder remains virtually stationary for values K s larger than 18. o No amplitude larger than A/D=2 have been observed.

Dr M S Alam

Link: Suppression of VIV

Example 4
Calculate the vortex shedding frequency from (a) a marine pipeline 0.1m in diameter in a current at 3 m/sec; (b) a telephone wire in diameter at 5m/sec; (c) a wire 1 mm in diameter at 5m/sec; (d) a tall square-section building 50m on a side in a 30 m/sec wind. Hint: The Reynolds number must be calculated first. The kinematic viscosity of water is 10^-6 m2/s and air is 1.5^-5 m2/s.

Dr M S Alam

Example 5
D U L L>>D

Consider a flexibly-mounted rigid cylinder in a steady flow where the mass per unit length is m and its diameter is D: a) Write down an expression for the natural frequency of the system; b) Given that U=5 m/s and D=100 mm, what is the frequency of vortex shedding i) when the cylinder has a smooth surface, and i)) when the cylinder has a rough surface c) Given that the system is in lock-in, what is the frequency of vortex shedding, of the cylinder response, and of the unsteady drag force?
Dr M S Alam

In-Line Vibrations
o A cylinder subject to a steady current may, due to vortex shedding, experience an oscillating drag force. If the cylinder is a flexibly-mounted cylinder, this oscillating drag force may induce in-line vibrations. o There are 3 kinds of in-line vibrations: a) First-instability in-line vibrations : b) Second-instability in-line vibrations: c) Third kind in-line vibrations: Cylinders with 2 degrees of freedom of movement Occurs at somewhat higher flow velocities, at velocities where cross-flow velocities are observed

1 Vr 2.5 2.5 Vr 4

Dr M S Alam

1st -Instability In-Line Vibrations

Occurs due to the combined action of: a) Normal vortex shedding b) Symmetric vortex shedding
.Symmetric vortex shedding occurs as a result of in-line motion of the cylinder relative to the fluid motion

Dr M S Alam

1st -Instability In-Line Vibrations (Lock-In)

Vortex shedding creates a flow situation where the in-line force oscillates with a frequency, approximately three times the Strouhal frequency:

fxD = 3 St The frequency of in-line force fx U If the frequency is close to the natural frequency of the system f n , the cylinder will vibrate in the in-line direction with large amplitude. Therefore: f x D fn D = = 3 St = 3 0.20 = 0.60 U U U UD Vr = = 1.70 Df n D 0.60 U

U Vr , , f x D
This relationship will move f x steadily away from 1st Instability in-line type vibrations.
Dr M S Alam

f n , therefore it ends

In-Line Vibrations
Normal vortex shedding

Symmetric vortex shedding

Normal vortex shedding

Dr M S Alam

2nd -Instability In-Line Vibrations (Second Lock-In)

o The normal vortex shedding restored again and the in-line force will start oscillating with the familiar frequency (see slide entitled, Vortex Induced Forces)

Df x = 2 St U o If the velocity is increased even further, will increase according to the above Eqn. o So, the large amplitude in-line vibrations will occur again when the becomes equal to . This is termed the second instability . o What is the value then?
Df x Df n = = 2 St = 2 0.20 = 0.40 U U U U D Vr = = = 2.50 Df n D U 0.40
Dr M S Alam

In-Line Vibrations for FullScale Pile

Link: St vs Re
Dr M S Alam

In-Line and Cross-Flow Vibration Amplitudes

o When compared with the cross-flow vibration amplitudes (Fig. 8.25), the in-line vibration amplitudes are one order of magnitude smaller the cross-flow vibration amplitudes (Fig. 8.36). o This is because the force which is required to initiate the in-line vibrations is far smaller than that which is required for the cross-flow ones.

Dr M S Alam

Third Kind In-Line Vibrations

Dr M S Alam

Shedding Patterns

Dr M S Alam

Map of Vortex Shedding Patterns

Dr M S Alam

Why Shedding Patterns should be identified?

o The map of vortex shedding patterns suggests that the hydrodynamic forces on the cylinder may undergo drastic changes if the boundaries between regions are crossed.

Dr M S Alam

Effect of Wall Proximity

Dr M S Alam

Effect of Wall Proximity

1 FyA = C LA DU 2 2 1 FyT = C LT DU 2 2

FyA is the maximum value of the lift force away from the wall and FyT that towards the wall

Dr M S Alam

Galloping

o When the cylinder is placed slightly from its equilibrium position, the flow relative to the cylinder at the moment of displacement will be asymmetric, and due to the asymmetry, a lift for will be created. If the lift force is sufficiently large, the so called galloping instability will set in, and the cylinder will begin to vibrate in the y-direction.
Dr M S Alam

Galloping 1
FL = 2

C L DU re 2
FD = 1 C D DU re 2 2 Fy = 1 U 2 DC y 2

U . y

U re

Vector resultant of lift and drag in the vertical plane

Fy = FL cos FD sin .2 2 = y +U 2 U re 2 U re (CL cos + CD sin ) Cy = 2 U

Dr M S Alam

Stability Criterion

C y <0

Or,

CL + CD > 0
C y >0

Any noncircular section will have ranges of where potentially unstable.

and the section is

Dr M S Alam

Suppression of VIV
o Controlling the reduced velocity
Vr = U Df n

o Controlling the mass and damping

Ks = 2(m + m' )(2 s )

o Controlling the vortex shedding

Link: Stability parameter; Reduced velocity
Dr M S Alam

D 2

Suppression of VIV

Strakes are one of the most commonly used methods in marine environment

Dr M S Alam

Suppression of VIV

Dr M S Alam