RESONANCE IN PRESSURIZED PIPING SYSTEMS

by

MOHAMMAD HANIF CHAUDHRY

B.Sc(Hons.) ( C i v i l E n g i n e e r i n g ) , West P a k i s t a n U n i v e r s i t y o f

Engineering and Technology, P a k i s t a n , 1965

M.A.Sc ( C i v i l E n g i n e e r i n g ) , U n i v e r s i t y o f B r i t i s h C o l u m b i a ,

Canada, 1968

A THESIS SUBMITTED IN PARTIAL FULFILLMENT OF

THE REQUIREMENTS FOR THE DEGREE OF

DOCTOR OF PHILOSOPHY

i n t h e department o f

CIVIL ENGINEERING

We accept t h i s t h e s i s as c o n f o r m i n g t o t h e

required standard.

THE UNIVERSITY OF BRITISH COLUMBIA

A p r i l , 1970
 iii

In presenting t h i s t h e s i s i n p a r t i a l f u l f i l l m e n t of t h e r e q u i r e m e n t s

f o r an advanced degree a t t h e . U n i v e r s i t y o f B r i t i s h Columbia, I agree

t h a t t h e L i b r a r y s h a l l make i t f r e e l y a v a i l a b l e f o r r e f e r e n c e and

study. I f u r t h e r agree t h a t p e r m i s s i o n f o r e x t e n s i v e c o p y i n g of t h i s

t h e s i s f o r s c h o l a r l y purposes may be g r a n t e d by the Head of my

department or by h i s r e p r e s e n t a t i v e s . I t i s understood that copying

or p u b l i c a t i o n of t h i s t h e s i s f o r f i n a n c i a l g a i n s h a l l not be a l l o w e d

w i t h o u t my w r i t t e n p e r m i s s i o n .

Department of C i v i l E n g i n e e r i n g

The U n i v e r s i t y of B r i t i s h Columbia

Vancouver 8, Canada

Date
 A B S T R A C T

A new approach, based on the t r a n s f e r m a t r i x method used i n t h e

t h e o r y o f v i b r a t i o n s , i s p r e s e n t e d t o a n a l y z e the s t e a d y - o s c i l l a t o r y f l o w s ,

and t o determine the r e s o n a t i n g c h a r a c t e r i s t i c s o f p i p i n g systems. By

linearizing t h e f r i c t i o n l o s s term, c o n s i d e r i n g the system as d i s t r i b u t e d

and assuming the d i s c h a r g e and p r e s s u r e head f l u c t u a t i o n s as sinusoidal,

f i e l d m a t r i c e s f o r a s i m p l e p i p e l i n e and f o r a p a r a l l e l system a r e d e r i v e d .

A n u m e r i c a l t e c h n i q u e i s p r e s e n t e d t o determine the f i e l d m a t r i x f o r a p i p e

having v a r i a b l e c h a r a c t e r i s t i c s along i t s l e n g t h . Point matrices f o r

o r i f i c e s , and f o r o s c i l l a t i n g v a l v e s are o b t a i n e d by l i n e a r i z i n g t h e gate

equation. P o i n t m a t r i c e s f o r the j u n c t i o n o f the main and a branch having

v a r i o u s boundary c o n d i t i o n s , e.g., dead end, r e s e r v o i r , o r i f i c e , o s c i l l a t i n g

v a l v e , are a l s o d e r i v e d .

A n u m e r i c a l procedure i s o u t l i n e d f o r computing the r e s o n a n t frequen-

c i e s o f p i p i n g systems. E x p r e s s i o n s are developed t o determine the frequency

response o f systems h a v i n g p e r i o d i c f o r c i n g f u n c t i o n s , such as fluctuating

p r e s s u r e head; f l u c t u a t i n g d i s c h a r g e ; and o s c i l l a t i n g v a l v e .

A number o f systems commonly used i n waterpower development and water

s u p p l y schemes are a n a l y z e d . The r e s u l t s o b t a i n e d by the method p r e s e n t e d

h e r e i n are i n c l o s e agreement w i t h those o b t a i n e d e x p e r i m e n t a l l y by earlier

i n v e s t i g a t o r s ; or determined by u s i n g the method o f c h a r a c t e r i s t i c s , imped-

ance t h e o r y , o r energy concepts.

 iv

TABLE OF CONTENTS

Chapter Description Page

ABSTRACT

LIST OF TABLES v i

LIST OF FIGURES v i i

NOTATION ix

ACKNOWLEDGMENT xiii

I INTRODUCTION 1

II TERMINOLOGY AND BLOCK DIAGRAMS

2.1 Terminology 11

2.2 B l o c k diagrams 15

III DERIVATION OF TRANSFER MATRICES

3.1 F i e l d matrices 19

3.2 Point matrices 32

IV RESONANT FREQUENCIES AND FREQUENCY RESPONSE OF PIPING SYSTEMS

4.1 Resonant f r e q u e n c i e s 44

4.2 Frequency response 46

4.3 P r e s s u r e and d i s c h a r g e v a r i a t i o n a l o n g p i p e l i n e 54

V VERIFICATION OF TRANSFER MATRIX METHOD

5.1 Experimental r e s u l t s 61

5.2 Method o f c h a r a c t e r i s t i c s 67

5.3 Impedance method 79

5.4 Energy concepts 87

 V

SUMMARY AND CONCLUSIONS 98

BIBLIOGRAPHY !00

APPENDICES

A. Summary o f t r a n s f e r m a t r i c e s 106

B. Example 108
 vi

LIST OF TABLES

No. Description Page

I C a l c u l a t e d and measured p e r i o d s 66

II Resonant f r e q u e n c i e s o f p i p i n g system o f F i g . 5. f4y g2

III Phase a n g l e s 86

IV V e r i f i c a t i o n by energy concepts 94

V Resonant f r e q u e n c i e s o f p i p i n g system o f F i g . 5.17a 97

VI Scheme f o r m u l t i p l i c a t i o n o f t r a n s f e r m a t r i c e s -^.ll
 vii

LIST OF FIGURES

No. Description Page

2.1 Instantaneous and mean d i s c h a r g e . 13

2.2 Single pipeline. 16.

2.3 Series connection. 16

2.4 Block diagram. 17

3.1 Pipe having v a r i a b l e c h a r a c t e r i s t i c s along i t s l e n g t h . 26

3.2 A c t u a l and s u b s t i t u t e p i p e . 26

3.3 P a r a l l e l system. 29

3.4 Valves. 35

3.5 Branch system. 38

4.1 S u c t i o n and d i s c h a r g e p i p e l i n e . 49

4.2 Designation of s e c t i o n on i ^ pipe. 56

4.3 P l o t o f t a n w x/a ^ cox/a2- 59

5.1 Longitudinal p r o f i l e . 62

5.2 P l o t o f R e s i d u a l ^ co f o r , Toulouse system. 65

5.3 S e r i e s system w i t h dead end. 69

5.4 S e r i e s system. 70

5.5 Branch system ( s i d e branch having r e s e r v o i r ) . 71

5.6 Branch system (dead end s i d e b r a n c h ) . 72

5.7 Branch system ( s i d e branch h a v i n g o r i f i c e ) . 73

5.8 Branch system ( s i d e branch h a v i n g o s c i l l a t i n g v a l v e ) . 74

5.9 P a r a l l e l system. 78
 viii

5.10 E f f e c t of f r i c t i o n l o s s on frequency response o f s e r i e s system

o f F i g . 5.4a. 8 0

5.11 E f f e c t o f mean d i s c h a r g e on frequency response o f s e r i e s system

o f F i g . 5.4a. g-^

5.12 h* "yt, q* vt,- and *<\,t c u r v e s .

x

5.13 S e r i e s system. gg

5.14 Branch system ( s i d e branch h a v i n g r e s e r v o i r ) .

89

5.15 Branch system (dead end s i d e b r a n c h ) . 90

5.16 Impedance diagram f o r p a r a l l e l system o f F i g . 5.9a. ^\

5.17 P i p e l i n e having v a r i a b l e c h a r a c t e r i s t i c s along i t s l e n g t h .

95
 ix

NOTATION

The f o l l o w i n g symbols a r e used i n this thesis:

A = c r o s s - s e c t i o n a l area of pipe, i n sq. ft;

Ay. = gate opening of valve, i n sq. f t ;

a = c e l e r i t y o f water hammer wave, i n f t / s e c ;

b = c o n s t a n t f o r p i p e = l/a, i n s e c ;

B = m a t r i x g i v e n i n Eq. 3.22;

C = c o n s t a n t f o r p i p e = a/(gA), in sec/ft ; 2

= c o e f f i c i e n t of discharge;

c
1J 2
c =
c o n s t a n t s i n Eq. 3.14;

C3,Ci4 = c o n s t a n t s i n Eq. 3.27;

D = i n s i d e diameter of pipe, i n f t ;

E = energy, i n l b - f t ;

e = base i n the n a t u r a l l o g r i t h m s ;

F = field matrix;

Fp = f i e l d matrix f o r p a r a l l e l pipes;

f = Darcy-Weisbach f r i c t i o n factor;

f1l>f12f21>^22 =
elements o f f i e l d matrix;

g = a c c e l e r a t i o n due t o g r a v i t y , in ft/sec ; 2

I = i d e n t i t y or u n i t matrix;

j = c o n s t a n t = /^T ;

K = amplitude o f f l u c t u a t i n g p r e s s u r e head f o r c i n g function;

k = amplitude o f f l u c t u a t i o n o f r e l a t i v e gate opening;

H = i n s t a n t a n e o u s p r e s s u r e head, i n f t ;

H Q = mean or average p r e s s u r e head, i n f t ;

h = amplitude o f p r e s s u r e head fluctuation;

d e v i a t i o n o f p r e s s u r e head from mean, i n f t ;

2|h^ ,I/H , i . e . , r a t i o o f t w i c e t h e a m p l i t u d e o f
I n+1 o 1 r

pressure f l u c t u a t i o n ( t w i c e t h e maximum d e v i a t i o n

from mean) a t v a l v e and s t a t i c head;

h*/H ; o

length of pipe, i n f t ;

exponent o f v e l o c i t y i n f r i c t i o n l o s s term;

point matrix;

point matrix f o r a series connection;

point matrix f o r a valve or o r i f i c e having constant

gate opening;

extended p o i n t m a t r i x f o r o s c i l l a t i n g v a l v e ;

p o i n t m a t r i x f o r dead end s i d e branch;

p o i n t m a t r i x f o r s i d e b r a n c h h a v i n g c o n s t a n t head

reservoir;

p o i n t matrix f o r s i d e branch w i t h orifice;

elements o f p o i n t m a t r i x ;

instantaneous discharge, i n cu. f t / s e c ;

mean o r average d i s c h a r g e , i n c u . f t / s e c ;

amplitude of discharge fluctuation;

d e v i a t i o n o f instantaneous d i s c h a r g e from mean, i n

cu. f t / s e c ;

2|q^ ^|/Q , i . e . , r a t i o o f t w i c e t h e a m p l i t u d e o f
+ Q

d i s c h a r g e f l u c t u a t i o n a t v a l v e and mean d i s c h a r g e ;

q*/Q ; 0

c o n s t a n t i n Eq. 3 . 7
 xi

Tp = p e r i o d of the f o r c i n g f u n c t i o n , i n sec;

T ^ = t h e o r e t i c a l period of piping system;

t = time, i n seconds;

U = overall transfer matrix;

IT = o v e r a l l extended t r a n s f e r matrix;

u
11J 12
u
= elements o f o v e r a l l t r a n s f e r matrix;

x = d i s t a n c e along p i p e l i n e ( p o s i t i v e i n the downstream

direction), in f t ;

Z = h y d r a u l i c impedance;

Z c = characteristic impedance;

z = state vector;

z" = extended state vector;

z
^ = normalized impedance at v a l u e = |z|/Z .

Greek letters:

Y = s p e c i f i c weight o f f l u i d , in lbs/ft ;3

C,5,n = c o n s t a n t s i n Eq. 3.38;

X\,^2 =
eigenvalues of matrix B;

u = c o n s t a n t i n Eq. 3.11;

,v = k i n e m a t i c v i s c o s i t y of f l u i d , in ft /sec;
2

T = r e l a t i v e gate opening o f v a l v e or orifice;

T Q = mean r e l a t i v e gate opening o f v a l v e or orifice;

T* = d e v i a t i o n o f T from T ;
o'

ai = frequency, i n radians/sec;

= frequency r a t i o = u/co ^;

a) ^ = t h e o r e t i c a l frequency, i n radians/sec;
\p = phase angle o f the m harmonic o f pump d i s c h a r g e curve;
m r

and

phase angle of the m** 1

harmonic of p r e s s u r e head
m
 xii

Subscripts and s u p e r s c r i p t s :

1,2, ... n, n+l = number o f a s e c t i o n on a p i p e ;

in = input quantities;

L = l e f t hand s i d e o f a s e c t i o n ;

o = mean, o r average, value;

out = output q u a n t i t i e s ;

R = r i g h t hand s i d e o f a s e c t i o n ;

s = s t e a d y s t a t e v a l u e s ; and

^ = q u a n t i t i e s f o r side branch.
 ACKNOWLEDGMENTS

The a u t h o r wishes t o express h i s s i n c e r e thanks t o h i s s u p e r v i s o r

Dr. E. Ruus f o r g u i d a n c e , i n s p i r a t i o n and encouragement p r o v i d e d t h r o u g h -

out t h i s s t u d y ; t o t h e o t h e r members o f t h e committee i n g e n e r a l and

P r o f . J.F. M u i r i n p a r t i c u l a r f o r t h e v a l u a b l e s u g g e s t i o n s i n t h e p r e p -

a r a t i o n o f t h e t h e s i s ; and t o the N a t i o n a l Research C o u n c i l o f Canada

for financial assistance, indebtedness i s a l s o e x p r e s s e d t o Dr. S. C h e r r y

who i n t r o d u c e d t h e t r a n s f e r m a t r i x method t o t h e a u t h o r i n h i s graduate

c o u r s e on t h e t h e o r y o f v i b r a t i o n s . S p e c i a l thanks a r e extended t o

Dr. E.B. W y l i e o f t h e U n i v e r s i t y o f M i c h i g a n , Ann A r b o r , f o r p r o v i d i n g

the d a t a and o t h e r i n f o r m a t i o n f o r h i s a n a l y s i s o f t h e p i p i n g systems by

the impedance t h e o r y .
 C H A P T E R ONE

INTRODUCTION

I f a p i p i n g system i s s u b j e c t e d t o a p e r i o d i c e x c i t a t i o n h a v i n g a p e r i o d

e q u a l t o one o f t h e n a t u r a l p e r i o d s o f t h e system, severe o s c i l l a t i o n s o f the

p r e s s u r e head and d i s c h a r g e d e v e l o p . T h i s may r e s u l t i n s e r i o u s damage o r

f a i l u r e o f t h e system. S e v e r a l i n c i d e n t s and a c c i d e n t s caused by resonance

have been r e p o r t e d [ 1 , 27, 28, 32, 5 2 ] i n t h e l i t e r a t u r e .

1

Resonance i n p i p e l i n e ' s have been s t u d i e d by a number o f i n v e s t i g a t o r s .

A l l i e v i was t h e f i r s t t o p r e s e n t , i n Note V o f t h e Theory o f Water Hammer

[ 3 ] , t h e a n a l y s i s o f r e s o n a t i n g c o n d i t i o n s i n a s i m p l e p i p e l i n e caused by t h e

r y t h m i c a l opening and c l o s i n g o f a v a l v e a t t h e downstream end o f t h e p i p e -

line. By u s i n g t h e g e n e r a l solution

H - H q = F(t - + f ( t + |) (1.1)

and

V
" o
V =
"f { F ( t
" a-* _ f ( t +
7 ) } ( 1
- 2 )

of the s i m p l i f i e d p a r t i a l d i f f e r e n t i a l equations governing the unsteady

f r i c t i o n l e s s f l o w , namely

1
Numerals i n b r a c k e t s r e f e r t o c o r r e s p o n d i n g items i n B i b l i o g r a p h y .
 2.

H
x
= - - V
g t
(1.3)

a2
H = - - V (1.4)
t g x
he proved t h a t t h e r e l a t i v e p r e s s u r e head a t t h e v a l v e , H^/H , a t odd and
2 2

even p e r i o d s approaches two l i m i t s Z-^ and Z . 2 I n t h e above equations,

x = d i s t a n c e a l o n g t h e p i p e l i n e , measured p o s i t i v e i n t h e downstream

d i r e c t i o n ; t = time; H = pressure head; /H^ =. s t a t i c head; V = v e l o c i t y

of the f l u i d ; V q = steady s t a t e v e l o c i t y o f the f l u i d ; a = c e l e r i t y o f the

pressure wave; F , f a r e i n t e g r a t i o n f u n c t i o n s ; and g = a c c e l e r a t i o n due t o

gravity. The s u b s c r i p t s x and t denote p a r t i a l d i f f e r e n t i a t i o n . For

r y t h m i c a l v a l v e movements such t h a t
T
o = T
T = T
2T =
1
* = C
' ( 1
- 5 )

T
T/2 = T
3T/2 = T
5T/2 = = 1
C-) 1 6

2 2
Zi and Z a r e r e l a t e d by t h e e q u a t i o n
2

2 2

Z x + Z 2 = 2 (1.7)

The t h e o r e t i c a l p e r i o d o f t h e p i p e , T = 4/a; and t h e r e l a t i v e gate opening

o f t h e v a l v e , T = (C^A ) / (C^A ) . In these e x p r e s s i o n s , = length o f pipe-

line; = c o e f f i c i e n t of discharge; A^ = a r e a o f t h e gate o p e n i n g ; and t h e

s u b s c r i p t "o" denotes i n i t i a l s t e a d y s t a t e c o n d i t i o n .

I t was demonstrated by A l l i e v i t h a t as t h e a m p l i t u d e o f t h e v a l v e move-

2 2

ment i n c r e a s e s , i . e . , as C'-O, Zy>0, and Z 2 > . Thus p r e s s u r e variation i n

extreme c o n d i t i o n s i s between 0 and 2 H . q L a t e r on, however, Bergeron [5-7]

proved g r a p h i c a l l y that f o r large values of A l l i e v i ' s parameter, p =

( a V ) / ( 2 g H ) , i t i s p o s s i b l e t o have c a v i t a t i o n a t t h e v a l v e and t o r e a c h
Q Q

s u p e r p r e s s u r e s i n excess o f t h e o r d i n a r i l y c o n s i d e r e d maximum o f double t h e

s t a t i c head. A l s o , Camichel [8] demonstrated t h a t d o u b l i n g of pressure

head i s n o t p o s s i b l e u n l e s s H > aV /g.

v
o o &
 3.

Camichel conducted a number o f experiments a t the l a b o r a t o r y o f Toulouse

and Eydous performed f i e l d t e s t s on h i g h head i n s t a l l a t i o n s . I n most o f

these e x p e r i m e n t s , the r e s o n a t i n g c o n d i t i o n s were produced by a r o t a t i n g cock

d r i v e n by a motor which opened and c l o s e d the v a l v e r y t h m i c a l l y . Their

e x p e r i m e n t a l r e s u l t s , w i t h o u t d e t a i l e d t h e o r e t i c a l a n a l y s i s , a r e summarized

i n two r e p o r t s [ 8 ] . W y l i e [58, 5 9 ] , and the a u t h o r [12] have used t h e s e

r e s u l t s f o r the v e r i f i c a t i o n o f the t h e o r e t i c a l a n a l y s e s .

I f a p r e s s u r e wave i s f o l l o w e d i n a compound p i p e l i n e , t h e n the p e r i o d

o f the system, which Camichel e t a l . c a l l e d the t h e o r e t i c a l p e r i o d , i s

n * i
T =4 7* _
th i = l a. (1.8)
I V

However, the p e r i o d o f the maximum p r e s s u r e s u r g e , termed as the apparent

p e r i o d , was observed t o be d i f f e r e n t from the t h e o r e t i c a l p e r i o d ; the former

being generally shorter. The experiments performed by Camichel e t a l . demon-

s t r a t e d the e x i s t e n c e o f the h i g h e r odd h a r m o n i c s . I t was found t h a t the

p e r i o d o f the h i g h e r odd harmonics a r e i n t e g e r f r a c t i o n s o f t h e t h e o r e t i c a l

p e r i o d , and the p e r i o d o f the fundamental i s e q u a l t o the apparent p e r i o d .

These r e s u l t s a r e v a l i d f o r a s i m p l e p i p e l i n e but cannot be g e n e r a l i z e d f o r

complex systems. I t was a l s o r e p o r t e d t h a t through f l o w i s a minimum d u r i n g

r e s o n a t i n g c o n d i t i o n s a r e s u l t which w i l l be used i n the f o l l o w i n g c h a p t e r s

to d e t e r m i n e the r e s o n a n t f r e q u e n c i e s .

Wilkins [56] was the f i r s t t o r e p o r t s e v e r e p r e s s u r e o s c i l l a t i o n s com-

b i n e d w i t h machine v i b r a t i o n s i n h y d r o e l e c t r i c power p l a n t s i n 1923. Den

H a r t o g [16] c o n c l u d e d from t h e o r e t i c a l a n a l y s i s t h a t o b j e c t i o n a b l e vibrations

are t o be expected i n p e n s t o c k s o f F r a n c i s t u r b i n e i n s t a l l a t i o n s i f the

number o f vanes on t h e t u r b i n e r u n n e r i s one l e s s than t h e number o f g u i d e

vanes. A l t h o u g h a number o f s i m p l i f y i n g assumptions a r e made i n h i s

a n a l y s i s , o b s e r v a t i o n s on e i g h t d i f f e r e n t i n s t a l l a t i o n s show good agreement

with t h i s theory.

By assuming a s i n u s o i d a l p r e s s u r e v a r i a t i o n , u s i n g the g e n e r a l s o l u t i o n

o f the d i f f e r e n t i a l e q u a t i o n s , and making use o f the f a c t t h a t d u r i n g r e s o n -

ance v ,= 0, J a e g e r [26, 28] d e r i v e d the f o l l o w i n g e q u a t i o n f o r t h e fundamental

f r e q u e n c y o f two p i p e s i n s e r i e s h a v i n g a c o n s t a n t head r e s e r v o i r a t t h e

upstream end:

A oo&i A2 to 2
- i - tan - = cot (1.9)
&l a.i a.2 &z
The s u b s c r i p t s " 1 " and "2" r e f e r t o the number o f the p i p e . The s o l u t i o n o f

t h i s e q u a t i o n f o r 00 g i v e s the f r e q u e n c y o f the fundamental. Similarly, the

f o l l o w i n g e q u a t i o n was o b t a i n e d f o r a t y p i c a l hydropower development scheme:

2 l 2 l i 31 l ^ 3 l 1 1
A

^
a
1
^ TT
a z a 1
1 3A a

TT
3 1 a

1 TT 1
a2^-1
COt -TT
2 a
2 & l
1
i + e
+
a
3 A
;
l
COt 2 a
3^1

l
-z
+ e
= tan 2 TT
l
+ e
(1-10)

i n which the s u b s c r i p t s " 1 " , "2" and "3" r e f e r t o , r e s p e c t i v e l y , the penstock,

surge tank and t u n n e l . A f t e r c a l c u l a t i n g e from Eq. 1.10, the apparent

p e r i o d o f t h e system can be determined from the e q u a t i o n

', 2a TT

W h i l e a n a l y s i n g the h i g h e r harmonics J a e g e r [26, 28] i m p l i c i t l y assumes

t h a t o n l y odd harmonics are p o s s i b l e . He c o n s i d e r s a p o i n t A i n a complex

system such t h a t the c r o s s - s e c t i o n o f the p i p e l i n e i s c o n s t a n t between t h e

p o i n t A and the g a t e . The c o n d i t i o n s a t p o i n t A a r e r e p r e s e n t e d by

f = - T F , (1.12)
n n-1 n-1 J

i n which a.^ ^ i s an unknown f u n c t i o n which depends on t h e geometry o f the

c o n d u i t and on the movement o f the g a t e . He shows t h a t i f a = 1, resonance

w i l l occur. When a i s equal t o one, a n o d a l p o i n t e x i s t s a t A w i t h a c o r r e s -

ponding l o o p a t the v a l v e . I n the d e r i v a t i o n o f t h i s t h e o r y , i t i s assumed

 5.

t h a t the h a l f p e r i o d o f each p i p e i n the system i s an i n t e g e r m u l t i p l e o f

the h a l f p e r i o d of the p i p e from the v a l v e t o the p o i n t A. S i n c e by this

method o n l y those p e r i o d s are p r e d i c t e d which are r e l a t e d t o the theoret-

i c a l p e r i o d by i n t e g e r s , J a e g e r c o n c l u d e d t h a t the h i g h e r p e r i o d s of a

complex system are r e l a t e d t o the t h e o r e t i c a l p e r i o d w h i l e the fundamental

i s a s s o c i a t e d w i t h the apparent p e r i o d . This i s true i n a simple pipe but

cannot be g e n e r a l i z e d f o r complex systems.

J a e g e r [27, 28] has c o m p i l e d d a t a of a number o f h y d r o e l e c t r i c power

p l a n t s and pumping schemes i n which e x t e n s i v e damage or f a i l u r e o f the

system o c c u r r e d . Out o f twenty such c a s e s , t w e l v e were caused by resonance

or s e l f - e x c i t e d v i b r a t i o n s .

Bergeron [5-7] introduced the g r a p h i c a l method t o a n a l y z e r e s o n a n t

conditions. In h i s l a t e s t work [ 7 ] , g r a p h i c a l a n a l y s i s o f the r e s o n a n t

c o n d i t i o n s caused by r e c i p r o c a t i n g pumps i s a l s o included.

Angus [4] r e p o r t e d that valves having a loose connection between the

stem or o p e r a t i n g s p i n d l e and the p i e c e t h a t performs the f u n c t i o n o f

changing the a r e a , or h a v i n g a s l i g h t p l a y o f the s p i n d l e or stem, or

h a v i n g s p i n d l e s which bend under p r e s s u r e , are s u b j e c t e d t o c h a t t e r i n g when

p a r t i a l l y c l o s e d and, q u i t e f r e q u e n t l y , when n e a r l y c l o s e d . He demonstrated

g r a p h i c a l l y the a m p l i f i c a t i o n o f the p r e s s u r e head due t o c h a t t e r i n g of

valves. I t i s shown t h a t the shape o f the r e l a t i v e p r e s s u r e head v e r s u s

r e l a t i v e v e l o c i t y diagram depends upon the v a l u e o f the A l l i e v i ' s para-

meter and on the s e t t i n g o f the v a l v e at which the c h a t t e r i n g occurs.

Schhyder [44] showed, by the g r a p h i c a l method, the a m p l i f i c a t i o n o f

the p r e s s u r e head at a l e a k i n g v a l v e .

Rocard [43] was the f i r s t t o i n t r o d u c e the concept o f h y d r a u l i c im-

pedance, l a t e r used by P a y n t e r [ 3 8 ] , W a l l e r [53-55], and W y l i e (58-60], t o

 6.

a n a l y z e a u t o - o s c i l l a t i o n s i n the Lac B l a n c - L a c N o i r pumped s t o r a g e scheme.

His s o l u t i o n y i e l d e d lengthy equations which were p r a c t i c a l l y impossible

t o s o l v e by hand. To overcome t h i s d i f f i c u l t y , he used a p i p e having

e q u i v a l e n t diameter i n s t e a d o f the a c t u a l p i p i n g system.

Evangelisti [18] d e r i v e d e q u a t i o n s f o r resonant frequencies of three

system t y p e s , namely, a s i m p l e p i p e l i n e ; two p i p e s i n s e r i e s ; and two

b r a n c h p i p e s by a p p l y i n g the a d m i t t a n c e method commonly used i n e l e c t r i c a l

engineering. He d i d n o t , however, s o l v e any example o r compare the results

with experimental values.

By u s i n g the g e n e r a l s o l u t i o n o f A l l i e v i ' s e q u a t i o n s , assuming a

s i n u s o i d a l p r e s s u r e v a r i a t i o n and c o n s i d e r i n g t h a t a d i s c h a r g e node i s

formed a t the v a l v e d u r i n g r e s o n a n c e , Favre [19] d e v e l o p e d the f o l l o w i n g

e x p r e s s i o n f o r the p e r i o d o f the fundamental and o f the h i g h e r harmonics

of a pipe having l i n e a r l y v a r i a b l e c h a r a c t e r i s t i c s d i a m e t e r and wave

v e l o c i t y a l o n g i t s length:

tan^-= - iJLAl (1.13)

a a a
m m

i n which a = [1 + . v / 2 ) [ y ( l +'v/2) + v] ; v = (a - a )/a ; and y =

(D^ - D )/D . The s u b s c r i p t s o, m and A r e f e r t o v a l u e s a t the v a l v e , a t

the m i d - p o i n t , and a t the r e s e r v o i r end o f the p i p e . As the c o n i c a l p i p e

approaches a c y l i n d e r , a approaches z e r o . Favre a l s o demonstrated t h a t

f o r continuous p e r i o d i c v a l v e m o t i o n , the apparent p e r i o d , and f o r r a p i d l y

c l o s i n g and opening a v a l v e at r e g u l a r i n t e r v a l s , the t h e o r e t i c a l p e r i o d

produces severe r e s o n a t i n g c o n d i t i o n s .

Paynter [38] i n t r o d u c e d the i d e a o f e l e c t r i c a l - h y d r a u l i c analogy. By

u s i n g the concept o f h y d r a u l i c impedance, he s t u d i e d the surges caused by

r y t h m i c a l m o t i o n o f a v a l v e a t the downstream end o f a p i p e l i n e and

 7.

p r e s e n t e d t h e r e s u l t s i n a g r a p h i c a l form showing t h e p e r i o d and a m p l i t u d e

o f gate movement, t h e o r e t i c a l p e r i o d o f t h e p i p e l i n e , A l l i e v i ' s parameter,

and a m p l i t u d e and phase angle o f p r e s s u r e f l u c t u a t i o n s . The r e s u l t s a r e ,

however, v a l i d o n l y f o r s m a l l p r e s s u r e f l u c t u a t i o n s .

Surges i n o i l p i p e l i n e s connected t o r e c i p r o c a t i n g pumps were s t u d i e d

by W a l l e r [53-55] by u s i n g t h e impedance c o n c e p t s . He decomposed t h e pump

d i s c h a r g e curve (which he d e r i v e d by n e g l e c t i n g t h e c o m p r e s s i b i l i t y o f t h e

l i q u i d i n t h e pump) i n t o a s e t o f harmonics and then determined t h e surge

p r e s s u r e s from t h e computed v a l u e s o f t h e impedances. He a l s o p r e s e n t e d

the d e s i g n o f a few c o r r e c t i v e d e v i c e s f o r t h e system.

A b b o t t , G i b s o n , and McCaig [1] and McCaig and Gibson [32] r e p o r t e d

measurements o f s e l f - e x c i t e d v i b r a t i o n s . I n t h e f i r s t example a s l i g h t

l e a k i n t h e t w e l v e f o o t d i a m e t e r p e n s t o c k v a l v e , caused by a r e d u c t i o n o f

the s e a l p r e s s u r e , generated s e l f - s u s t a i n e d v i b r a t i o n s o f t h e v a l v e . The

v a l v e v i b r a t i o n s and t h e p r e s s u r e o s c i l l a t i o n s were found t o be s i n u s o i d a l .

Opening a bypass v a l v e reduced t h e v i b r a t i o n s t o z e r o . The second incid-

ent o c c u r r e d when a t e n - i n c h d i a m e t e r s p r i n g - c u s h i o n e d check v a l v e i n a

pump d i s c h a r g e l i n e l e a k e d under s t a t i c head. Measurements showed t h a t t h e

r e s u l t a n t p r e s s u r e o s c i l l a t i o n s were a p p r o x i m a t e l y s i n u s o i d a l w i t h sharp

i m p u l s e s o f l a r g e magnitude imposed e v e r y t h i r d c y c l e . The v i b r a t i o n s were

p r e v e n t e d by i n s t a l l i n g a weaker c u s h i o n i n g s p r i n g i n t h e check v a l v e and

removing t h e a i r v a l v e from t h e p i p e l i n e .

D'Souza and Oldenburger [17] p r e s e n t e d t r a n s f e r f u n c t i o n s r e l a t i n g

the p r e s s u r e and v e l o c i t y v a r i a b l e s a t two c r o s s s e c t i o n s o f a p i p e l i n e .

The v i s c o s i t y and t h e c o m p r e s s i b i l i t y o f t h e f l u i d were t a k e n i n t o c o n s i d -

eration i n the analysis. However, o n l y l a m i n a r f l o w and a s i n g l e p i p e o f

c o n s t a n t a r e a were c o n s i d e r e d and t h e e l a s t i c i t y o f t h e p i p e w a l l s was

 8.

neglected. The t h e o r e t i c a l r e s u l t s were v e r i f i e d by comparing them w i t h

the e x p e r i m e n t a l v a l u e s o b t a i n e d by Roberts [ 4 2 ] .

Oldenburger and Goodson [34] i n t h e i r a n a l y s i s o f t h e dynamics o f

h y d r a u l i c l i n e s replaced the transcendental f u n c t i o n s r e p r e s e n t i n g the

t r a n s f e r f u n c t i o n s by t h e i n f i n i t e p r o d u c t s o f l i n e a r f a c t o r s and t h e i r

approximations. I t was shown t h a t s a t i s f a c t o r y r e s u l t s a r e o b t a i n e d by

r e t a i n i n g o n l y a few terms. The l o n g i t u d i n a l v i b r a t i o n s and t h e v i s c o s i t y

e f f e c t s were, however, n e g l e c t e d i n t h e a n a l y s i s .

Oldenburger and Donelson [35] conducted f r e q u e n c y response tests at

the A p a l a c h i a h y d r o e l e c t r i c power p l a n t t o check t h e v a l i d i t y o f e x p r e s s -

i o n s d e r i v e d by P a y n t e r . These t e s t s c o n f i r m e d t h a t t h e e x p r e s s i o n s i n

g e n e r a l a r e v a l i d under a l l major o p e r a t i n g c o n d i t i o n s .

A l t h o u g h t h e i d e a o f impedance has been used s i n c e 1937, W y l i e

[50, 58-60] was t h e f i r s t t o extend and s y s t e m a t i z e t h i s concept for sol-

v i n g complex systems, such a s , s e r i e s , p a r a l l e l , and branch systems w i t h

the s i d e branch h a v i n g an o r i f i c e , r e s e r v o i r o r a dead end. He assumed

a s i n u s o i d a l p r e s s u r e and f l o w v a r i a t i o n , l i n e a r i z e d t h e n o n l i n e a r terms

and computed t h e r a t i o o f t h e d e v i a t i o n o f t h e d i s c h a r g e , q, and p r e s s u r e

head, h (both expressed as complex numbers), from the mean. By u s i n g t h e

known boundary c o n d i t i o n s he computed t h e sending end impedance, Z , and g

then p l o t t e d an impedance diagram, u) v e r s u s |Z |. Frequencies a t which

|Z | i s a maximum a r e t h e r e s o n a n t f r e q u e n c i e s o f t h e system. Because o f

the l e n g t h y a l g e b r a i c e q u a t i o n s i n v o l v e d , t h e method i s s u i t a b l e f o r com-

puter analysis only. F o r a p a r a l l e l p i p i n g system a procedure i s suggested

i n which a number o f s i m u l t a n e o u s e q u a t i o n s a r e t o be s o l v e d . T h i s becomes

cumbersome i f t h e r e a r e many p i p e s i n p a r a l l e l . F o r example, f o r two p i p e s

i n p a r a l l e l e i g h t simultaneous e q u a t i o n s have t o be s o l v e d .
 9.

The impedance t h e o r y was v e r i f i e d by W y l i e by comparing t h e r e s u l t s

w i t h e x p e r i m e n t a l v a l u e s o r w i t h those o b t a i n e d by t h e method o f c h a r a c t e r -

istics. The r e s o n a t i n g c o n d i t i o n s a t t h e B e r s i m i s No. 2 system [60] were

s t u d i e d and c l o s e agreement was found between t h e measured and t h e computed

values.

S t r e e t e r and W y l i e [49] s t u d i e d t h e r e s o n a t i n g c h a r a c t e r i s t i c s o f a

system h a v i n g a r e c i p r o c a t i n g pump by u s i n g t h e impedance t h e o r y . The

k i n e m a t i c s and dynamics o f f l o w through r e c i p r o c a t i n g pumps were d i s c u s s e d .

The pump d i s c h a r g e was decomposed i n t o a s e t o f harmonics and t h e e x p r e s s -

ion f o r p r e s s u r e f l u c t u a t i o n s on t h e s u c t i o n s i d e o f a pump h a v i n g a s i m p l e

s u c t i o n l i n e was developed. I n t h e a n a l y s i s , c o m p r e s s i b i l i t y o f t h e water

i n t h e pump was t a k e n i n t o c o n s i d e r a t i o n . An e x c e l l e n t agreement i s shown

to e x i s t between t h e measured v a l u e s and those c a l c u l a t e d by t h e impedance

t h e o r y and by t h e method o f c h a r a c t e r i s t i c s .

S t r e e t e r and W y l i e [48] were t h e f i r s t t o use t h e impedance t h e o r y f o r

the s t a b i l i t y a n a l y s i s o f governed hydro-systerns. Other methods [13, 15,

23] a r e a v a i l a b l e f o r t h i s type o f a n a l y s i s .

R e c e n t l y Z i e l k e , W y l i e , and K e l l e r [61] used t h e impedance t h e o r y t o

s t u d y t h e f o r c e d and s e l f - e x c i t e d o s c i l l a t i o n s i n t h e p r o p e l l a n t f e e d

systems o f r o c k e t e n g i n e s . The f l u i d system c o n s i s t e d o f a s u c t i o n p i p e ,

c e n t r i f u g a l pump, and a d i s c h a r g e p i p e . The adequacy o f t h e a n a l y t i c a l

model as w e l l as t h e u s e f u l n e s s o f t h e l i n e a r i z a t i o n procedure was v e r i f i e d

experimentally.

H o l l e y [21, 22] i n v e s t i g a t e d , e x p e r i m e n t a l l y and t h e o r e t i c a l l y , t h e

surging i n p i p e l i n e s . He c o n s i d e r e d t h e water as i n c o m p r e s s i b l e and t h e

w a l l s o f t h e p i p e l i n e as r i g i d . A f t e r n o r m a l i z a t i o n the governing differ-

e n t i a l e q u a t i o n was s o l v e d by t h e f o u r t h o r d e r Runge-Kutta method.-While

 10.

d i s c u s s i n g R e f . 27, t h e w r i t e r [10] n o r m a l i z e d t h e g o v e r n i n g equation i n

terms o f p h y s i c a l l y i n t e r p r e t a b l e parameters a n d e l u c i d a t e d some o f t h e

limitations of the theoretical a n a l y s i s presented by the author.

In this thesis a new a p p r o a c h , b a s e d on t h e t r a n s f e r m a t r i x method

of the theory o f mechanical vibrations [ 4 0 , 4 1 , 51] o r f o u r pole-parameters

of electrical engineering, i s presented f o rdetermining the frequency res-

ponse and r e s o n a t i n g c h a r a c t e r i s t i c s o f p i p i n g systems w i t h v a r i o u s boun-

d a r y c o n d i t i o n s a n d h a v i n g one o r more f o r c i n g f u n c t i o n s . The m e t h o d

presented h e r e i n i s s u i t a b l e f o r b o t h hand and d i g i t a l c o m p u t a t i o n s . For

u s i n g t h i s m e t h o d , t h e r e a d e r s h o u l d h a v e some b a c k g r o u n d i n t h e t h e o r y o f

complex v a r i a b l e s , and an e l e m e n t a r y knowledge o f t h e o r d i n a r y m a t r i x

operations.

Terminology is first i n t r o d u c e d ; then the b l o c k diagrams a r e d i s c u s s e d .

This i s f o l l o w e d by a d e r i v a t i o n o f f i e l d matrices f o r a simple pipe, f o r

a pipe having variable characteristics, and f o r a system of parallel pipes.

Thereafter the point matrices f o rvalves, o r i f i c e s , series c o n n e c t i o n s , and

the j u n c t i o n o f a branch and a main a r e p r e s e n t e d . For determining the

resonating f r e q u e n c i e s , a numerical procedure f o r complex o r s i m p l e systems

and e x p r e s s i o n s f o r simple systems a r e p r e s e n t e d i n Chapter 4. Then equa-

t i o n s are developed f o r frequency response of piping systems h a v i n g various

forcing f u n c t i o n s , e.g. f l u c t u a t i n g d i s c h a r g e , f l u c t u a t i n g p r e s s u r e and

oscillating valve. T h i s i s f o l l o w e d by a d e r i v a t i o n o f equations f o r

d e t e r m i n i n g t h e l o c a t i o n o f p r e s s u r e nodes and a n t i n o d e s . The v a l i d i t y o f

t h e method i s d e m o n s t r a t e d by comparing the r e s u l t s w i t h those o b t a i n e d by

experiment, t h e method o f c h a r a c t e r i s t i c s , t h e impedance method and energy

concepts.
 C H A P T E R TWO

TERMINOLOGY AND BLOCK DIAGRAMS

In t h i s c h a p t e r , t h e terms f r e q u e n t l y used i n t h i s t h e s i s a r e

d e f i n e d , b l o c k diagrams a r e i n t r o d u c e d and t h e advantages o f u s i n g these

diagrams a r e d i s c u s s e d .

2.1 TERMINOLOGY

The t e r m i n o l o g y e s t a b l i s h e d by Camichel e t a l . [8] and l a t e r used by

Jaeger [24 - 29] and W y l i e [58 - 60] i s f o l l o w e d h e r e i n .

STEADY-OSCILLATORY FLOW

A f l o w i n which a permanent regime i s e s t a b l i s h e d such t h a t t h e con-

d i t i o n s a t a p o i n t , e.g., p r e s s u r e , d i s c h a r g e , a r e p e r i o d i c f u n c t i o n s o f

time i s c a l l e d s t e a d y - o s c i l l a t o r y f l o w . In the theory o f v i b r a t i o n s ,

steady s t a t e o s c i l l a t i o n s r e f e r t o o s c i l l a t i o n s o f c o n s t a n t amplitude.

However, t h e term s t e a d y - o s c i l l a t o r y i s used h e r e i n t o a v o i d c o n f u s i o n w i t h

s t e a d y f l o w i n which c o n d i t i o n s a t a p o i n t a r e c o n s t a n t w i t h r e s p e c t t o

time.

INSTANTANEOUS AND MEAN DISCHARGE AND PRESSURE HEAD

In a s t e a d y - o s c i l l a t o r y f l o w , t h e i n s t a n t a n e o u s d i s c h a r g e , Q, and

the i n s t a n t a n e o u s p r e s s u r e head, H, can be d i v i d e d i n t o two p a r t s :

 Q = Q 0 + q* (2.1)

H = H + h* (2.2)

i n which Q q = average, o r mean, d i s c h a r g e ; q* = d i s c h a r g e d e v i a t i o n from

the mean, (see F i g . 2.1); H q = a v e r a g e , o r mean, p r e s s u r e head; and h* =

p r e s s u r e head d e v i a t i o n from t h e mean. Both h* and q* a r e f u n c t i o n s o f

t i m e , t , and d i s t a n c e , x. I t i s assumed t h a t h* and q* a r e s i n u s o i d a l i n

time w h i c h , i n p r a c t i c e , i s o f t e n t r u e o r a s a t i s f a c t o r y a p p r o x i m a t i o n

[1, 26, 28, 3 2 ] . Hence, by u s i n g complex a l g e b r a , one can w r i t e

q* = Re [q(x) e^ w t
] (2.3)

h* = Re [h(x) ei w t
] (2.4)

i n which OJ = f r e q u e n c y , i n r a d / s e c , j = / ^ T ; h and q a r e complex variable

and a r e f u n c t i o n s o f x o n l y ; and "Re" s t a n d s f o r r e a l p a r t o f t h e complex

variable.

THEORETICAL PERIOD

For a s e r i e s piping system

n A.
T = 4 .1 (2.5)
th i=l a. v

l
and
2TT
(2.6)
th
i n which T ^ = t h e o r e t i c a l p e r i o d , i n s e c ; c o ^ = t h e o r e t i c a l f r e q u e n c y , i n

r a d / s e c ; n = number o f p i p e s ; and a = c e l e r i t y o f water hammer wave. The

"th
s u b s c r i p t i denotes q u a n t i t i e s f o r t h e i pipe. I n a b r a n c h system, Z^/a

i s c a l c u l a t e d a l o n g t h e main p i p e l i n e .

RESONANT FREQUENCY

The f r e q u e n c y c o r r e s p o n d i n g t o t h e fundamental o r one o f t h e h i g h e r

harmonics o f t h e system i s c a l l e d the r e s o n a n t f r e q u e n c y .

STATE VECTORS

The q u a n t i t i e s o f i n t e r e s t a t a s e c t i o n , i , o f a p i p e l i n e a r e h and
 13.

Fig. 2 I Instantaneous and mean d i s c h a r g e .

 14.

q which can be combined i n m a t r i x n o t a t i o n as

The column v e c t o r z . i s known as the s t a t e v e c t o r a t the s e c t i o n i . The

l
s t a t e v e c t o r s j u s t to the l e f t and to the r i g h t o f a s e c t i o n a r e d e s i g n a t e d
L
by the s u p e r s c r i p t s " L " and " R " r e s p e c t i v e l y . For example, z_^ r e f e r s to
"th
the s t a t e v e c t o r j u s t to the l e f t of the i s e c t i o n ( F i g . 2.2).

To combine the m a t r i x terms i n some cases (see S e c t i o n 3.2-2) the

s t a t e v e c t o r i s d e f i n e d as

z = (2.8)

Because o f the a d d i t i o n a l element w i t h u n i t v a l u e , the column v e c t o r z ' is

i

c a l l e d the extended s t a t e v e c t o r . A prime i s used t o d e s i g n a t e an extended

state vector.

TRANSFER MATRICES

A matrix r e l a t i n g two s t a t e v e c t o r s i s c a l l e d a t r a n s f e r m a t r i x . The

upper case l e t t e r s F , P, and U a r e used t o d e s i g n a t e t r a n s f e r m a t r i c e s ; the

c o r r e s p o n d i n g lower case l e t t e r s w i t h double s u b s c r i p t s r e f e r t o the ele-

ments o f the m a t r i x : the f i r s t s u b s c r i p t r e p r e s e n t s the row, and the

s e c o n d , the column of the e l e m e n t . For example, the element i n the second

row and the f i r s t column o f the m a t r i x U i s r e p r e s e n t e d by u i . 2

T r a n s f e r m a t r i c e s a r e of t h r e e types:

(1) Field transfer matrix, or f i e l d matrix, F. This matrix r e l a t e s the

s t a t e v e c t o r s a t two a d j a c e n t s e c t i o n s . For example i n F i g . 2.2,
L R
z. = F. z. (2.9)
l + 1 l l K J

i n which F^ = f i e l d m a t r i x f o r the i "* 1 1

pipe.

(2) Point transfer matrix, or P o i n t m a t r i x , P. The s t a t e v e c t o r s just

to the l e f t and t o t h e r i g h t o f a d i s c o n t i n u i t y , such as a t a s e r i e s

connection ( F i g . 2.3) o r a t a v a l v e , a r e r e l a t e d by t h i s m a t r i x . The

type o f t h e d i s c o n t i n u i t y i s d e s i g n a t e d by s p e c i f y i n g a s u b s c r i p t w i t h t h e

l e t t e r , "P". F o r example, i n F i g . 2.3 .

z?, = P z , L
(2.10)
x+1 sc L+l

i n w h i c h P i s t h e p o i n t m a t r i x f o r a s e r i e s c o n n e c t i o n ,
sc v

(3) O v e r a l l t r a n s f e r m a t r i x , U. T h i s m a t r i x r e l a t e s the s t a t e v e c t o r a t

one end o f a system, o r a s i d e b r a n c h , t o t h a t a t t h e o t h e r end. F o r

example i f n + l i s t h e l a s t s e c t i o n , then

i n = u
ii (2- ) 1 1

i n which U = o v e r a l l t r a n s f e r m a t r i x . T h i s i s o b t a i n e d by an ordered

m u l t i p l i c a t i o n o f a l l t h e i n t e r m e d i a t e f i e l d and p o i n t m a t r i c e s .

2.2 BLOCK DIAGRAMS

A b l o c k diagram i s a schematic r e p r e s e n t a t i o n o f a system i n w h i c h

each component, o r a c o m b i n a t i o n o f components, o f i ' t h e system i s r e p r e s -

ented by a " b l a c k box". The box r e p r e s e n t i n g a p i p e l i n e o f c o n s t a n t cross-

s e c t i o n a l a r e a , w a l l t h i c k n e s s , and w a l l m a t e r i a l i s c h a r a c t e r i z e d by a

f i e l d m a t r i x , w h i l e t h a t r e p r e s e n t i n g a d i s c o n t i n u i t y i n t h e system geo-

metry, by a p o i n t m a t r i x . The b l o c k diagram f o r a system can be s i m p l i f i e d

by r e p r e s e n t i n g a b l o c k o f i n d i v i d u a l boxes by a s i n g l e box. T h i s p r o c e d u r e

i s i l l u s t r a t e d i n t h e f o l l o w i n g s e c t i o n s by a number o f t y p i c a l examples.

A s e c t i o n on a b l o c k diagram i s shown by a s m a l l c i r c l e on t h e l i n e

j o i n i n g t h e two boxes. The number o f t h e s e c t i o n i s w r i t t e n below the

c i r c l e and t h e l e f t and r i g h t hand s i d e o f t h e s e c t i o n a r e d e s i g n a t e d

by w r i t i n g t h e l e t t e r s " L " and "R" above t h e c i r c l e . F o r example, i n F i g . 2.4,

 16.

+ X

L R Pipe i

11
i +1

Fig. 2 2 Single pipeline.

Pipe i L R Pipe i+1

i+1

F i g . 2-3 Series connection.

 17.

Fig. 2-4 Block diagram

 18.

i and 1+1 denote t h e number of t h e s e c t i o n s ; and "L" and "R",

l e f t and r i g h t hand of t h e s e c t i o n . I n t h e case of a b r a n c h p i p e , t h e

number of t h e s e c t i o n i s w r i t t e n t o t h e r i g h t o f t h e c i r c l e and t h e l e f t

and r i g h t hand s e c t i o n s a r e i d e n t i f i e d by w r i t i n g t h e l e t t e r s "BL" and

"BR" t o t h e l e f t o f t h e c i r c l e (see F i g . 3.5).

The b l o c k diagrams a r e o f g r e a t h e l p f o r : ( i ) t h e c o n c i s e and o r d e r l y

formulation and a n a l y s i s of problems i n v o l v i n g complex systems; ( i i ) an

easy u n d e r s t a n d i n g of t h e i n t e r a c t i o n of d i f f e r e n t p a r t s o f t h e system;

and ( i i i ) d e t e r m i n i n g t h e sequence of m u l t i p l i c a t i o n o f t r a n s f e r m a t r i c e s

w h i l e d o i n g t h e c a l c u l a t i o n s by hand o r w r i t i n g a computer program.

 C H A P T E R T H R E E

DERIVATION OF TRANSFER MATRICES

To a n a l y z e t h e s t e a d y - o s c i l l a t o r y f l o w s and t o determine the reson-

a t i n g c h a r a c t e r i s t i c s o f a p i p i n g system by t h e method p r e s e n t e d h e r e i n ,

i t i s n e c e s s a r y t h a t t h e t r a n s f e r m a t r i c e s o f t h e elements o f t h e system

be known. I n t h i s c h a p t e r f i e l d m a t r i c e s f o r a s i m p l e p i p e l i n e and f o r

a system o f p a r a l l e l loops a r e d e r i v e d . A n u m e r i c a l procedure i s pres-

ented t o determine the f i e l d matrix f o r a pipe having v a r i a b l e character-

i s t i c s along i t s length. Then p o i n t m a t r i c e s f o r a s e r i e s c o n n e c t i o n ,

f o r v a l v e s and o r i f i c e s , and f o r t h e j u n c t i o n o f a branch (branch h a v i n g

v a r i o u s boundary c o n d i t i o n s ) and t h e main a r e developed. A l l the t r a n s f e r

m a t r i c e s d e r i v e d i n t h i s c h a p t e r a r e summarized i n Appendix A f o r easy

reference.

3.1 FIELD MATRICES 2

1. SINGLE PIPELINE

The f i e l d matrix f o r a p i p e l i n e having a constant c r o s s - s e c t i o n a l

2
Most o f t h e m a t e r i a l p r e s e n t e d i n S e c t i o n 3.1-1, 3.1-3, and 3.2 has
been r e p o r t e d by t h e w r i t e r i n two papers [ 1 1 , 1 2 ] . To f a c i l i t a t e c r o s s -
r e f e r e n c e , t h e n o t a t i o n used h e r e i n i s t h e same as t h a t used i n t h e s e
papers except as o t h e r w i s e i n d i c a t e d by a f o o t n o t e .
 20.

a r e a , c o n s t a n t w a l l t h i c k n e s s and t h e same w a l l m a t e r i a l i s d e r i v e d i n

this section. I n t h e d e r i v a t i o n , t h e system i s c o n s i d e r e d as d i s t r i b u t e d

and the f r i c t i o n l o s s term i s l i n e a r i z e d .

Flow through p i p e s i s governed by t h e f o l l o w i n g two e q u a t i o n s which

i n a s i m p l i f i e d form [50] a r e :

Continuity equation:

Q + = 0 (3.1)
a
Momentum equation:

H -^L. = o
+ -jL Q + (3.2)
X
2gDA A 1 n

i n which A = t h e c r o s s - s e c t i o n a l a r e a o f t h e p i p e l i n e ; g = a c c e l e r a t i o n

due t o g r a v i t y ; D = t h e i n s i d e diameter o f t h e p i p e l i n e ; f = Darcy-

Weisbach f r i c t i o n f a c t o r ; n = exponent o f v e l o c i t y i n t h e f r i c t i o n loss

term; x = d i s t a n c e a l o n g t h e p i p e l i n e measured p o s i t i v e i n t h e downstream

direction (see F i g . 2.2); and t = t i m e . The s u b s c r i p t s x and t denote

p a r t i a l d i f f e r e n t i a t i o n w i t h r e s p e c t t o x and t .

S i n c e (Q ) = (Q ) = (H ) = 0, i t f o l l o w s from Eqs. 2.1 and '2.2 t h a t

ox o t o
Q = q* Q. = q*
x
x x n x
t n
t
(3.3)
H = h* H = (H ) + h*
t t X OX X
Note t h a t due t o f r i c t i o n l o s s e s (H ) ^ 0. For turbulent flow
ox
f 0 n

(H ) = - .^o r
(3.4a)
2gDA n

and f o r l a m i n a r f l o w

(H ) n = - 3 2 v Q
(3.4b)
gAD 2

i n which y = k i n e m a t i c v i s c o s i t y o f t h e f l u i d . I f q* << Q , then

Q n
= CQ + q * ) n
n
Q + n Q
n n _ 1
q* (3.5)
o o

i n which h i g h e r o r d e r terms a r e n e g l e c t e d .
 21.

I t f o l l o w s from Eqs. 3.1 t h r o u g h 3.5 t h a t

q* + St. h* = 0 (3.6)
n
X o t

h* + - q* + R q* = 0 (3.7)
x gA t n n

i n which R = ( n f Q ) / ( 2 g D A ) f o r t u r b u l e n t f l o w and R = (32 v ) / ( g A D )

n _ 1 n 2

for laminar flow.

The f i e l d m a t r i x f o r a p i p e can be d e r i v e d by e i t h e r o f t h e f o l l o w i n g

two methods (both t h e methods g i v e i d e n t i c a l f i e l d m a t r i x ) :

(a) By u s i n g t h e s e p a r a t i o n o f v a r i a b l e technique:

In t h i s method, Eqs. 3.6 and 3.7 a r e s o l v e d by t h e t e c h n i q u e o f sep-

a r a t i o n o f v a r i a b l e s [57] assuming a s i n u s o i d a l s o l u t i o n i n time and sub-

s t i t u t i n g t h e boundary c o n d i t i o n s a t t h e i ^ , and a t t h e ( i + l ) ^ s e c t i o n .

The e l i m i n a t i o n o f h* from Eqs. 3.6 and 3.7 y i e l d s

xx= - T < t t + M
! t
a a

Now, i f i t i s assumed t h a t t h e v a r i a t i o n o f q* i s s i n u s o i d a l 'with

r e s p e c t t o t , then on t h e b a s i s o f Eq. 2.3, Eq. 3.8 takes t h e form

*?S = _
( ai + J A
" R
) q (3.9)
dx 2
a 2
a 2

or

^3. - 2
y q = o (3.10 ) 3

dx 2

i n which

y 2
= - oj /a 2 2
+ j g A OJ R / a 2
(3.11)

The s o l u t i o n o f Eq. 3.10 i s

q = ci s i n h px + c 2 cosh yx (3.12)

i n which c i and c 2 are a r b i t r a r y constants.

3
I n Ref. 12, y2 = - U ) 2^2/ 2 a + j Aoi g
2
R/a .
2
 22.

I f h* i s a l s o assumed s i n u s o i d a l i n t , then by s u b s t i t u t i n g Eqs,

3.12 and 2.4 i n t o Eq. 3.6 and s o l v i n g f o r h, one obtains

h = - %^- f c i cosh yx + c 0 s i n h yx) (3.13)

th th
The f i e l d m a t r i x r e l a t i n g the s t a t e v e c t o r s a t the i and a t t h e (i+1)

s e c t i o n on t h e i ^ r e a c h (see F i g . 2.2) o f l e n g t h ^ i s t o be d e r i v e d . It
th R R .
i s known t h a t a t t h e i s e c t i o n ( a t x = 0 ) , h = I K and q = q^. Hence, i t

f o l l o w s from Eqs. 3.11 and 3.13 that

JgA. OJ
Cn =
R
a? y.
l l
and (3.14)

C2
th L L
I n a d d i t i o n , a t the (i+1) s e c t i o n ( a t x = ^ ) , h = h ^ ^ and q = +

The s u b s t i t u t i o n o f t h e s e v a l u e s o f h and q, and C j and c 2 from Eq. 3.14

i n t o Eqs. 3.12 and 3.13 y i e l d s

L R R
= (cosh V i &/) q i - (1/Z )(sinh
c P i i/)
(3.15)
L R R
h i + 1 = -Z c ( s i n h y.. g,/) q + (cosh v l/) h

i n which c h a r a c t e r i s t i c impedance [50] f o r t h e p i p e , Z^ = ( y ^ a ? ) / ( j OJ gA )

These e q u a t i o n s can be e x p r e s s e d i n m a t r i x n o t a t i o n as

cosh y. . (1/Z ) sinh y . .

l l c 1 1
(3.16)
- Z s i n h y. . cosh u. I.
i+1 c 1 1 l l
or

z. . = F. z.
l+l l I
th
Hence, f i e l d m a t r i x f o r the i pipe i s

cosh V l i (1/Z ) s i n h y. .
c
J
1 1
(3.17)
F. =
I
Z s i n h y. . cosh u. .
c 1 1 l l
 23.

If f r i c t i o n i s neglected, i . e . , = 0, then F^ becomes

cos b. <JJ TT s i n b. a)
1 C. I
I (3.18)
j C. s i n b. w cos b. w
J
l l l
i n which b. = &./a. and C. = a./(gA.). Note t h a t b. and C. are constants
i i i I I ^ i 6
J
I I

f o r a p i p e and are not f u n c t i o n s o f a>, and t h a t i s the characteristic

th

impedance [58, 59] f o r the i pipe i f f r i c t i o n i s neglected,

(b) By u s i n g the C a y l e y - H a m i l t o n Theorem

S u b s t i t u t i o n o f Eqs. 2.3 and 2.4 i n t o Eqs. 3.6 and 3.7 yields

0 (3.19)
dx
d3_ + 3 <" A
Y

dh IJ
+ ( R + } q = Q
(3.20)
dx
Eqs. 3.19 and 3.20 can be w r i t t e n i n m a t r i x form as
dz_
3 = Bz (3.21)
dx

i n which z_ i s the column v e c t o r as g i v e n by Eq. 2.7 and

f0 -jgAw/a ' 2

B (3.22)

(R + ) 0
gA
The s o l u t i o n o f the s e t o f d i f f e r e n t i a l e q u a t i o n s , Eq. 3.21, i s g i v e n by

e z = F z (3.23)
-o o
i n which z = i n i t i a l s t a t e v e c t o r a t x = 0: and F = f i e l d m a t r i x . F can
o '
be expanded i n an i n f i n i t e s e r i e s as
Bx 1

F(x) = e = I + Bx + (Bx) + (3.24a)

i n which I = i d e n t i t y or u n i t m a t r i x . I t f o l l o w s from the above e q u a t i o n

t h a t the t r a n s f e r m a t r i x f o r a p i p e o f l e n g t h H i s
F = e = I + BA +
B
(B) + 2

(3.24b)
The c h a r a c t e r i s t i c e q u a t i o n f o r the m a t r i x B& i s g i v e n by the determinant
 24.

jgA co

R + 3 a
gA

which upon s i m p l i f i c a t i o n becomes

,2 .( <LJL ) 2 + J g <*>
A & s
(3.25)
,2
a"
Hence

X ,A
x 2 = y

i n which y i s as d e f i n e d i n Eq. 3.11. S i n c e B i s a 2x2 square m a t r i x ,

Eq. 3.24b can be w r i t t e n [50] as

B&
(3.26)
F = e = c q l + c B u

i n which C 3 and c^ a r e c o n s t a n t s . By s u b s t i t u t i n g t h e e i g e n v a l u e s ^1 and

A 2 f o r B i n t o t h e above e q u a t i o n , and s o l v i n g f o r c 3 and c^, one o b t a i n s

(e y
+ e " ) / 2 = cosh y
y

(3.27)
1 y s i n h y
Cu = (e e"^)
2y ^ 1
y
By s u b s t i t u t i n g t h e s e v a l u e s o f C 3 and c^ i n t o Eq. 3.26 and s i m p l i f y i n g

the r e s u l t i n g e q u a t i o n y i e l d t h e f i e l d m a t r i x f o r t h e i ^ p i p e as

cosh y. %. j g "> A j
1 1 s i n h y. I.
y 2 -:' 1 1
*. a.
1 1
(3.28)

(R. + J - r ^J ) s i n h y. I. cosh y. I.
y- 1 gA. 1 1 1 1

I t can be seen t h a t t h e elements o f m a t r i x F^ i n Eq. 3.17 and 3.28

are i d e n t i c a l except f 2 i - By m u l t i p l y i n g f 2 l i n Eq. 3.17 by y^ i n t h e

numerator and denominator and t h e n s u b s t i t u t i n g f o r y^ from Eq. 3.11, i t

can be shown t h a t t h e element f 2 1 i n Eq. 3.17 and 3.28 a r e a l s o i d e n t i c a l .

I f o)^/a^ << 1 then t h e system may be a n a l y z e d as a lumped system.

 25.

I n t h i s c a s e , f o r a f r i c t i o n l e s s system, f i e l d m a t r i x becomes

a?
1
F. = (3.29)
1 2. i wl

1A-
'X;
which f o l l o w s from Eq. 3.18 s i n c e cos (w^/a^) ^ 1 and

s i n (w&./a.) ^ u)./a. f o r s m a l l v a l u e s o f u)./a..

l l i i i i
While d o i n g t h e a n a l y s i s one f i r s t c a l c u l a t e s t h e elements o f t h e

f i e l d m a t r i x f o r each p i p e . A comparison o f t h e f i e l d m a t r i c e s o f Eqs.

3.18 and 3.29 shows t h a t t h i s i d e a l i z a t i o n o f a d i s t r i b u t e d system does

not r e s u l t i n much s i m p l i f i c a t i o n o f t h e computations.

2. PIPE HAVING VARIABLE CHARACTERISTICS ALONG ITS LENGTH

The c o n t i n u i t y , and momentum e q u a t i o n f o r t h e f l o w i n a p i p e l i n e

h a v i n g v a r i a b l e c h a r a c t e r i s t i c s , e.g., A, a, w a l l t h i c k n e s s , w a l l m a t e r i a l ,

along i t s length are [39],

Q + lAW H = 0

X
a (x)
2 1

(3.30a)

X gA(x) V
t

i n which A ( x ) and a ( x ) denote t h a t A and a 2 2

a r e f u n c t i o n s o f x. I n these

e q u a t i o n s n o n l i n e a r terms o f h i g h e r o r d e r and f r i c t i o n a r e n e g l e c t e d . By

s u b s t i t u t i n g Eqs. 2.1 through 2.4 i n t o t h e above e q u a t i o n s and s i m p l i f y i n g ,

one obtains

+ jgADOu) h = 0

a (x)
2

(3.30b)
h + 3 " 0
x gA(x) q

These e q u a t i o n s can be expressed i n t h e m a t r i x n o t a t i o n as

dz
Bz (3.31)
dx
 26.

i i+1

A= A(x)

a = a (x)

Fig.3 I Pipe having variable c h a r a c t e r i s t i c s along its l e n g t h .

Fig. 3 2 A c t u a l and S u b s t i t u t e pipe

 27.

i n which z i s the column v e c t o r as d e f i n e d i n Eq. 2.7 and

JgA(x) co
0
a (x)
2

B = (3.32)

3 a 0
gAlxJ
S i n c e the elements o f the m a t r i x B are f u n c t i o n s o f x, the procedure out-

lined i n the l a s t s e c t i o n t o determine the f i e l d m a t r i x f o r the p i p e f a i l s .

To a n a l y z e such c a s e s , r e c o u r s e i s made t o e i t h e r o f the f o l l o w i n g p r o -

cedures :

(i) The a c t u a l p i p e l i n e i s r e p l a c e d by a s u b s t i t u t e p i p e l i n e having

p i e c e w i s e c o n s t a n t elements (see F i g . 3.2), and the system i s a n a l y z e d by

u s i n g the f i e l d m a t r i c e s d e r i v e d i n the l a s t s e c t i o n . This gives satis-

f a c t o r y r e s u l t s a t low f r e q u e n c i e s (see Chapter 5).

( i i ) A n u m e r i c a l procedure i s adopted t o determine the elements o f

the f i e l d m a t r i x .

The d e t e r m i n a t i o n o f the f i e l d m a t r i x f o r a p i p e l i n e h a v i n g v a r i a b l e

c h a r a c t e r i s t i c s i s e q u i v a l e n t t o i n t e g r a t i n g the d i f f e r e n t i a l equation,

Eq. 3.31. T h i s may be done by the Runge-Kutta method as f o l l o w s .

The p i p e l i n e i s d i v i d e d i n t o n reaches as shown i n F i g . 3.1. First

the f i e l d m a t r i x f o r each r e a c h i s computed and then the f i e l d m a t r i x f o r

the p i p e l i n e i s determined by m u l t i p l y i n g these m a t r i c e s i n a p r o p e r

sequence. I f the l e n g t h o f the r e a c h between the s e c t i o n s i and i+1 i s s,

then the f o u r t h - o r d e r Runge-Kutta method g i v e s [40]

z. -* = z. + (3.33)
l+l -1 F Qio + 2
h + 2
*2 +
*3>
i n which
 28.

ho = s
^ l i
k x = s B(x. +s/2)(z. + k^/2)
(3.34)
k 2 = s B ( x s / 2 ) ( z . + kj/2)
i +

k 3 = s B(x. )(z. + 1 + k )
2

i n which B ( x ^ ) , B ( x ^ ^ ) , and B(x^+s/2) a r e , r e s p e c t i v e l y , the v a l u e s o f

+

the m a t r i x B(x) a t s e c t i o n i , a t i + 1 , and a t the s e c t i o n between i and i+1.

By s u b s t i t u t i n g Eqs. 3.34 i n t o Eq. 3.33, one obtains

z. = F z. (3.35)
l+l vc1

i n which the f i e l d m a t r i x f o r a p i p e h a v i n g v a r i a b l e c h a r a c t e r i s t i c s along

i t s length i s

F y c = I + J [B(x.) + 4 B(x.+s/2) + B(x. )]+ 1

+ | [B(x.+s/2)B(x.)
2
+ B(x. )B(x.+s/2) + B (x.+s/2)]
+1
2

+ 17 [B (x.+s/2)B(x.)
2
+ B(x. )B (x.+s/2)]
+ 1
2

+ [B(x i + 1 )B (x.+s/2)B(x.)]
2
(3.36)

3. PARALLEL SYSTEM

Let t h e r e be n l o o p s i n p a r a l l e l ( F i g . 3.3) whose o v e r a l l transfer

m a t r i c e s are
(m) = F W P W < e i > p (m) (m) =

n' n' 2' 1' ' '

m m m m

The s u p e r s c r i p t i n the p a r e n t h e s i s r e f e r s t o the number o f the l o o p . The

matrix r e l a t e s the s t a t e v e c t o r s a t the l | S t

and a t the ( n ' + l ) '
t 1

m m
s e c t i o n o f the m loop (see F i g . 3.3b), i . e . ,
(m)L (m) (m)R=

-n'+l 1'
m m
A prime on the s u b s c r i p t denotes a s e c t i o n on the p a r a l l e l loop.

The elements o f the f i e l d m a t r i x , F , f o r the p a r a l l e l l o o p s r e l a t i n g

R L

the s t a t e v e c t o r s and ( F i g . 3.3b) can be determined from the

f o l l o w i n g equations [33]:
 (a) Piping system.

F i g . 3-3 Parallel system

 p
2'

(2) o < 2 )

P ( 2 )

n
2 2

\
R (n-l)
U
'n-l n -l
n

Jn) (n) (n) (n) R (n) L

r p' 2 n
n In
U -o-
n,

(b) Block diagram.

Fig. 3-3 Parallel system

 31.

f i 2 = (Cc/n) - n
(3.37)
f i 2 =l / n

22

i n which
n
- Cm) , (m)
5 = m=l u
l T / u
21

(3.38)

5 Cm) , (m)
? =
mil U
22 / 21u

In d e r i v i n g t h e above e x p r e s s i o n s u s e has been made o f t h e r e l a t i o n

that

U Cm) = 1 m=l,2,...,n

i.e. ,
(m) (m) (m) (m) 0 ,_
u
l l 22 " 12 21
u u u = 1
m=l,2,...,n (3.39)

Note t h a t Eq. 3.37 i s v a l i d o n l y i f t h e elements o f t h e o v e r a l l t r a n s f e r

m a t r i x f o r each p a r a l l e l loojj; s a t i s f y Eq. 3.39. I t i s known from t h e

t h e o r y " o f m a t r i c e s t h a t , f o r square m a t r i c e s , t h e determinant o f t h e prod-

u c t o f m a t r i c e s i s equal t o p r o d u c t o f t h e d e t e r m i n a n t s of matrices.

Hence i f | P'"-' | = 1, k = 2,3, ...n

V (m)
and |F 1, k = 1,2,.., .n , f o r
k m
1
k m'
m = 1,2, n, then |U,Cm)| = 1 .
'" , V
I t i s c l e a r from Eqs. 3.17 and 3.18 t h a t

|F| =1. Furthermore, the determinants of the point matrices f o r s e r i e s

c o n n e c t i o n s , and f o r v a l v e s and o r i f i c e s a r e a l s o u n i t y (see t h e p o i n t

matrices derived i n the f o l l o w i n g s e c t i o n s ) . Thus i f t h e r e i s a d i s c o n -

t i n u i t y o t h e r than a s e r i e s c o n n e c t i o n , v a l v e , o r o r i f i c e i n any o f t h e

p a r a l l e l loops t h e determinant of the point matrix f o r the d i s c o n t i n u i t y

s h o u l d be checked t o ensure i t has u n i t v a l u e b e f o r e u s i n g Eq. 3.37.

 32.

3.2 POINT MATRICES

At a s e c t i o n where t h e r e i s a d i s c o n t i n u i t y i n t h e geometry o f t h e

system, e.g., s e r i e s c o n n e c t i o n , o r i f i c e , v a l v e , branch c o n n e c t i o n , one

has t o d e r i v e a p o i n t m a t r i x r e l a t i n g t h e s t a t e v e c t o r t o t h e l e f t o f t h e

d i s c o n t i n u i t y w i t h that t o the r i g h t . This point matrix i s required i n

the c a l c u l a t i o n o f t h e o v e r a l l t r a n s f e r m a t r i x f o r t h e system which i s

then used t o determine t h e r e s o n a n t f r e q u e n c i e s and/or f r e q u e n c y response

o f t h e system.

P o i n t m a t r i c e s f o r v a r i o u s boundary c o n d i t i o n s u s u a l l y found i n hydro-

power, and i n water s u p p l y schemes a r e d e r i v e d i n t h e f o l l o w i n g s e c t i o n s .

1. SERIES CONNECTION

A j u n c t i o n o f two p i p e s h a v i n g d i f f e r e n t d i a m e t e r s (see F i g . 2 . 3 ) ,

d i f f e r e n t w a l l t h i c k n e s s , d i f f e r e n t w a l l m a t e r i a l , o r any c o m b i n a t i o n o f

these v a r i a b l e s i s c a l l e d a s e r i e s connection.

I t f o l l o w s from t h e c o n t i n u i t y e q u a t i o n t h a t

q R
= q\ (3.40)

In a d d i t i o n

h R
= h L
(3.41)
i i

i f losses a t the j u n c t i o n are neglected. These two e q u a t i o n s can be ex-

p r e s s e d 'in m a t r i x n o t a t i o n as

z R
= P z L
(3.42)
1 sc1
i n which t h e p o i n t m a t r i x f o r t h e s e r i e s c o n n e c t i o n i s

ri o]
p (3.43)
sc 0

Since P s c i s a u n i t m a t r i x , i t can be i n c o r p o r a t e d i n t o t h e f i e l d matrix

while doing the c a l c u l a t i o n s .

 33.

2. VALVES AND ORIFICES

The p o i n t m a t r i c e s f o r v a l v e s and o r i f i c e s a r e d e r i v e d by l i n e a r i z i n g

the gate e q u a t i o n . As w i l l be c l e a r a f t e r c o m p l e t i n g t h e d e r i v a t i o n , this

l i n e a r i z a t i o n does n o t i n t r o d u c e s e r i o u s e r r o r s i f t h e p r e s s u r e r i s e a t

the v a l v e i s much l e s s than t h e s t a t i c head. F o r an o s c i l l a t i n g v a l v e , a

s i n u s o i d a l v a l v e motion i s assumed. I t i s p o s s i b l e , however, t o a n a l y z e

n o n - s i n u s o i d a l p e r i o d i c v a l v e motions by t h i s method. The p e r i o d i c motion

i s reduced t o a s e t o f harmonics by F o u r i e r a n a l y s i s [57] , and t h e system

response i s d e t e r m i n e d f o r each harmonic. Then t h e i n d i v i d u a l r e s p o n s e s

are superimposed t o determine t h e t o t a l response f o r t h e g i v e n v a l v e motion

( s i n c e a l l t h e e q u a t i o n s a r e l i n e a r , t h e p r i n c i p l e o f s u p e r p o s i t i o n can be

applied).

(a) O s c i l l a t i n g v a l v e d i s c h a r g i n g i n t o atmosphere

The i n s t a n t a n e o u s and mean d i s c h a r g e t h r o u g h a v a l v e ( F i g . 3.4a) a r e

g i v e n by t h e e q u a t i o n s

Q . = C,A (2gH J
L L 1 / 2
(3.44)
x
n+l d v ^ n+l .. 5
J v
'

Q = (C.A ) (2gH ) 1 / 2
(3.45)
o di v o o 6

i n which C^ = c o e f f i c i e n t o f d i s c h a r g e ; and A y = a r e a o f t h e v a l v e opening.

D i v i s i o n o f Eq. 3.44 by Eq. 3.45 y i e l d s

rL 1/2
n+l
(3.46)
H
o
i n which t h e i n s t a n t a n e o u s r e l a t i v e gate opening, T = (C^A ) / ( C ^ A y ) ; and g

the mean r e l a t i v e gate opening, T q = (C^A^) /(C^A^) . The s u b s c r i p t " s "

denotes s t e a d y s t a t e r e f e r e n c e , o r i n d e x , v a l u e s .

The r e l a t i v e gate opening may be c o n s i d e r e d t o be made up o f two

parts, i . e . ,

T = x + * T (3.47)
o
 34.

i n which x * = d e v i a t i o n o f the r e l a t i v e gate opening from the mean ( F i g .

3.4b). S u b s t i t u t i o n o f Eqs. 2.1, 2.2, and 3.47 i n t o Eq. 3.46 yields

n
n+l h
n;i \ / 2

1 + (1 + T
) (1 (3.48)
O
T
oO O

I f the v a l v e motion i s assumed s i n u s o i d a l , t h e n

x * = Re(ke ;i w
*) (3.49)

i n which k = a m p l i t u d e o f v a l v e motion. The phase a n g l e between any o t h e r

f o r c i n g f u n c t i o n i n the system and the o s c i l l a t i n g v a l v e can be t a k e n i n t o

c o n s i d e r a t i o n by making k a complex number; o t h e r w i s e k i s r e a l .

By expanding Eq. 3.48, n e g l e c t i n g terms o f h i g h e r o r d e r ( t h i s i s v a l i d

o n l y i f I h * ^ ! << H ) , and s u b s t i t u t i n g Eqs. 2.3, 2.4, and 3.49

q i n t o the

r e s u l t i n g e q u a t i o n , one o b t a i n s
2H 2H k
o
(3.50)
n+1

R
S i n c e h n+1, = 0,' on the b a s i s o f Eq.
n 3.50,> one can w r i t e
R , L o 2H
i , =- h , + (3.51a)
n+1 n+1 *n+l
o "<o
In a d d i t i o n , from the c o n t i n u i t y e q u a t i o n i t f o l l o w s t h a t
R L
(3.51b)
l
n+l q
n+l
Eqs. 3.51a and 3.51b may be e x p r e s s e d i n m a t r i x n o t a t i o n as
R
q '1 o' q L ' 0 '

2H 2H k
o
h o 1, h
n+1 n+1
1
V
The two m a t r i x terms on the r i g h t hand s i d e may be combined as f o l l o w s
R r f N
L
q 2H
0
2H k
0
q
0
<h = 1 -
h (3.53)
T
0
i
n+1 1 0 1 . ,i.
n+1
 Valve

Pipe n

(a) Valve at downstream end of pipeline.

(b) Sinusoidal valve motion.

iOrifice

LR
Pipe i
wZ ipe i+1
J_LL_
+1

(c) Critic at intermediate section

Fig. 3-4 Valves

 36,

Note t h a t e x p a n s i o n o f Eq. 3.53 y i e l d s Eqs. 3.51a, 3.51b, and 1=1.

Thus the a d d i t i o n a l element one i n the column v e c t o r a i d s i n w r i t i n g the

r i g h t hand s i d e o f Eq. 3.52 i n a compact form. As d e f i n e d i n Chapter 2,

Eq. 2.8, the column v e c t o r w i t h one as an a d d i t i o n a l element i s c a l l e d an

extended s t a t e v e c t o r , z_' . The extended s t a t e v e c t o r s and extended

t r a n s f e r m a t r i c e s a r e denoted by a prime.

On the b a s i s o f Eq. 2.8, Eq. 3.53 may be w r i t t e n as

z i R
= pt Z . L

(3.54)
n+1 ov n+1
i n which P' = the extended p o i n t m a t r i x f o r an o s c i l l a t i n g v a l v e and i s
ov r b

g i v e n by

1 0
2H 2H k'
o
P = 1 (3.55)
ov T
o
0 1 ;

(b) V a l v e h a v i n g c o n s t a n t gate opening d i s c h a r g i n g i n t o atmosphere

In t h i s c a s e , k = 0. Hence, Eq. 3.52 t a k e s the form

(1 0)
> (3.56)
2H
h
n+1 n+1

or
R L
z , = P z ., D
(3.57)
n+1 v ^-n+1
i n which P^ = the p o i n t m a t r i x f o r a v a l v e o r o r i f i c e d i s c h a r g i n g i n t o

atmosphere, and i s g i v e n by
(1 0)
(3.58)
v 2H

Note t h a t P i s not an extended p o i n t m a t r i x ,

v r

I f a v a l v e o f c o n s t a n t gate o p e n i n g , or an o r i f i c e , i s a t an i n t e r -

mediate s e c t i o n ( F i g . 3.4c) then Eq. 3.58 becomes

 37.

(3.59)
2 H
vi A

i n which A H q = t h e mean head l o s s a c r o s s t h e v a l v e c o r r e s p o n d i n g t o the

mean d i s c h a r g e , Q .

3. BRANCH PIPELINES

In t h e p i p i n g systems shown i n F i g . 3.5a, p i p e l i n e abc i s t h e main

and b d , t h e s i d e branch. The t r a n s f e r m a t r i x f o r t h e p i p e l i n e ab can be

computed by u s i n g t h e f i e l d and p o i n t m a t r i c e s d e r i v e d above. To c a l c u l -

a t e t h e o v e r a l l t r a n s f e r m a t r i x f o r abc, t h e p o i n t m a t r i x a t t h e j u n c t i o n

b, r e l a t i n g t h e s t a t e v e c t o r s t o t h e l e f t and t o t h e r i g h t o f t h e j u n c t i o n ,

must be known. T h i s m a t r i x can be o b t a i n e d i f the boundary c o n d i t i o n s a t

point d are s p e c i f i e d .

P o i n t m a t r i c e s f o r t h e j u n c t i o n o f t h e main and t h e b r a n c h h a v i n g

v a r i o u s boundary c o n d i t i o n s a r e d e r i v e d i n t h i s s e c t i o n .

L e t C f be t h e o v e r a l l t r a n s f e r m a t r i x f o r t h e b r a n c h ( r e f e r t o F i g .

3.5b), i . e . ,
^L (3.60)
-n+l
U
iLl
or
L a. > (-MR
q un U12 q

= <\, a. (3.61)
ft ( 21 u

n+l
'X, 'Xi <\> 'Xi <\J

i n which U = F P . . P F P F i . 3 2 2
The q u a n t i t i e s r e l a t i n g t o t h e b r a n c h a r e
n n
d e s i g n a t e d by a t i l d e ' . 4

Expansion o f Eq. 3.61 y i e l d s

^L a, ^ ft
unqi + ui h.i (3.62)
<Vl 2

In Re. 12, s u p e r s c r i p t B i s used t o d e s i g n a t e q u a n t i t i e s r e l a t i n g t o t h e

branch.
 (a) Pi ping system .

Fig. 3 - 5 Branch system

 ( b) Block diagram .

Fig. 3-5 Branch system

 40.

u iqi + u h (3.63)
n+1 2 2 2 1

I f the f l o w d i r e c t i o n i s assumed p o s i t i v e as shown i n F i g . 3.5a and t h e

l o s s e s a t t h e j u n c t i o n a r e n e g l e c t e d , t h e f o l l o w i n g e q u a t i o n s can be w r i t t e n
L R <\,R
(3.64)
qj- +
qi

h L
h. = h n (3.65)
I

By s u b s t i t u t i n g a p p r o p r i a t e boundary c o n d i t i o n s i n Eqs. 3.62 and 3.63

and making use o f Eqs. 3.64 and 3.65, t h e p o i n t m a t r i c e s a t the j u n c t i o n

o f the main and t h e b r a n c h can be d e r i v e d . The f o l l o w i n g examples illus-

t r a t e the p r o c e d u r e ,

(a) Dead end b r a n c h

In t h i s c a s e , q ^ = 0. Hence, i t f o l l o w s from Eqs. 3.62 and 3.65

that
^R 12
(3.66)
qi =

S u b s t i t u t i o n o f t h i s e q u a t i o n i n t o Eq. 3.64 yields

R L 12 U
L
q. = q. + h. (3.67)
n
i i ^ n
l
u

Eq. 3.65 can be w r i t t e n as

n L , L
h R
0 q. + h. (3.68)
I i n
l
Eqs. 3.67 and 3.68 can be e x p r e s s e d i n m a t r i x n o t a t i o n as
R
u 1 2 /u u q
> (3.69)
,hJ h
j

or
R L
N
(3.70)
l bde l
i n w h i c h P. the p o i n t m a t r i x f o r t h e s i d e b r a n c h w i t h dead end and i s
bde
g i v e n by
 'X, 'Xi

U12/U11
(3.71)
bde

(b) Branch w i t h c o n s t a n t head reservoir

'VL
In t h i s case, h n + j = 0. Hence, i t f o l l o w s from Eqs. 3.63 t h r o u g h 3.65

that
R L ^ L

'Xi
h
1 (3.72)
U21

Eqs. 3.72 and 3.68 can be e x p r e s s e d i n m a t r i x n o t a t i o n as

R f 'Xi /Xi -i L
q 1 U22/U21 q
-
(3.73)
h 0 1 .

or
R L
z. = P, z.n
(3.74)
1 bres 1
i n which P, = t h e p o i n t m a t r i x f o r t h e branch w i t h c o n s t a n t head r e s e r -
bres r

v o i r and i s g i v e n by
<Vi /V. -v
1 U 2 2 /U21

v - (3.75)
bres J

0 1 J
(c) Branch h a v i n g o s c i l l a t i n g v a l v e a t t h e downstream end

I f t h e f r e q u e n c y o f t h e o s c i l l a t i n g v a l v e on t h e b r a n c h i s t h e same

as t h a t o f t h e f o r c i n g f u n c t i o n on t h e main ( t h e s e may n o t be i n p h a s e ) ,

the system can be a n a l y z e d by u s i n g t h e p o i n t m a t r i x d e r i v e d i n t h i s s e c -

tion. I n case t h e f r e q u e n c i e s o f t h e f o r c i n g f u n c t i o n s a r e n o t t h e same,

then t h e system i s a n a l y z e d c o n s i d e r i n g each f o r c i n g f u n c t i o n a t a t i m e

and t h e r e s u l t s a r e superimposed t o d e t e r m i n e t h e t o t a l r e s p o n s e .

S i n c e an extended o v e r a l l t r a n s f e r m a t r i x r e l a t i n g t h e s t a t e v e c t o r

a t t h e f i r s t , and a t t h e l a s t s e c t i o n on t h e b r a n c h i s r e q u i r e d , t h e ex-

tended t r a n s f e r m a t r i c e s w i l l a l s o have t o be used f o r t h e main. Let the

extended o v e r a l l t r a n s f e r m a t r i x f o r t h e branch be
 42.

rO/ Oj
U12

% OJ

u 2 1 u 2 2
(3.76)

0 0
IV.

f u n c t i o n on t h e b r a n c h ; i f t h i s i s n o t t h e c a s e , then a t l e a s t one o f t h e
Oj Oj OJ OJ

elements U13, u 2 3 , U31, and u 3 2 i s n o t e q u a l t o zero and t h e p o i n t m a t r i x

d e r i v e d i n t h i s s e c t i o n s h o u l d be m o d i f i e d a c c o r d i n g l y .

For t h e b r a n c h p i p e l i n e
2'*. = V' z ' \ (3.77)
-ii+1 ov n+l
and

2>\ = CV- { R
(3.78)
-n+l 1

By s u b s t i t u t i n g from Eq. 3.55 and from Eq. 3.78 i n t o Eq. 3.77, and

expanding t h e r e s u l t i n g e q u a t i o n , one o b t a i n s
OJR OJ OJR OJ OJR
(3.79)
q
n+l = U l i q i + U l 2 h l

2fr 2& fir ft-

2

at
,0/ O % .C^R U )'h , + -5- (3.80)
n+l 1 2 r

( 21 "u u
ll)qi +
( 22
u
$ ^ T
o
^o "o
A l l t h e n o t a t i o n s d e f i n e d i n t h e p r e v i o u s s e c t i o n s a p p l y except t h a t t h e
- Oj '

tilde; '(^) r e f e r s t o t h e b r a n c h . F o r example, T q = t h e mean r e l a t i v e gate

opening o f t h e v a l v e on t h e b r a n c h . Any phase s h i f t between t h e v a l v e on

the b r a n c h and t h e f o r c i n g f u n c t i o n on t h e main can be t a k e n i n t o c o n s i d -

Oj Oj
e r a t i o n by making k a complex number; o t h e r w i s e k i s r e a l .
oR OjR L
S i n c e h , = 0, and h-, = h., i t f o l l o w s from Eq. 3.80 t h a t
n+l ' 1' 1 M

OJR
13 (3.81)

i n which

u 2 2 - 2$ u /$
12

12 Oj OJ OJ OJ
(3.82)
u i - 2H un/Q
2 o o
 43.

and "u 'Vi 'VI

2H k/x
o o
(3.83)
r
i o 'Vi 'VI OI ,'V
1 3
u i - 2H2 un/Q
'VJR

By s u b s t i t u t i n g q from Eq. 3.81 i n t o Eq. 3.64, one obtains

R L .L
q. = q. + p, h. + p, (3.84)

Moreover, one can w r i t e

1 = 0 q L
+ 0 h L
+ 1 (3.85)
i n
l
Eqs. 3.84, 3.68, and 3.85'can be expressed i n m a t r i x n o t a t i o n as
R L
q 1 Pis' q
P
12

h = 0 1 0 h (3.86)

.i. i 0 0 1 . lj

or

;' = P I z' (3.87)

-i bov A
i n which Pv' = the t r a n s f e r m a t r i x a t the j u n c t i o n o f the s i d e b r a n c h
'bov J

h a v i n g an o s c i l l a t i n g v a l v e and i s g i v e n by
r
1 P p
12 13
0 1 0 (3.88)
bov
0 0 1

I f t h e r e i s an o r i f i c e , or a v a l v e h a v i n g c o n s t a n t gate opening at the

downstream end o f the b r a n c h , then k = 0. Hence, p =0, and the p o i n t

13

m a t r i x f o r the b r a n c h can be w r i t t e n as

fl p.12 (3.89)
borf
1 1

Note t h a t t h i s i s not an extended p o i n t m a t r i x .

 C H A P T E R F O U R

RESONANT FREQUENCIES AND FREQUENCY RESPONSE OF PIPING SYSTEMS

T h i s c h a p t e r d e a l s w i t h d e t e r m i n i n g t h e r e s o n a n t f r e q u e n c i e s and f r e -

quency response o f f r i c t i o n l e s s p i p i n g systems. F i r s t a numerical pro-

cedure i s p r e s e n t e d t o determine the resonant f r e q u e n c i e s . Then, t h e ex-

p r e s s i o n s f o r t h e r e s o n a n t f r e q u e n c i e s o f a number o f s i m p l e systems a r e

given. T h i s i s f o l l o w e d by d e r i v a t i o n o f e q u a t i o n s f o r d e t e r m i n i n g t h e

f r e q u e n c y response o f p i p i n g systems h a v i n g f l u c t u a t i n g p r e s s u r e , o s c i l l -

a t i n g v a l v e s , and f l u c t u a t i n g d i s c h a r g e as t h e f o r c i n g function.

4.1 RESONANT FREQUENCIES

In a f r i c t i o n l e s s system h a v i n g a c o n s t a n t head r e s e r v o i r a t t h e up-

stream end and an o s c i l l a t i n g v a l v e a t t h e downstream end, t h e a m p l i t u d e

of d i s c h a r g e f l u c t u a t i o n a t t h e v a l v e i s zero d u r i n g r e s o n a t i n g c o n d i t i o n s

at t h e fundamental o r one o f t h e h i g h e r odd harmonics. T h i s was observed

by Camichel e t a l . [ 8 ] , and r e p o r t e d t o be t r u e by Jaeger [26, 28, 2 9 ] .

The f r e q u e n c y response diagrams o b t a i n e d by t h e o r e t i c a l a n a l y s i s o f a

number o f s e r i e s , p a r a l l e l , and branch systems (a branch system w i t h a s i d e

branch h a v i n g an o r i f i c e o r an o s c i l l a t i n g v a l v e b e i n g an e x c e p t i o n ) done

by W y l i e [58-60], and by t h e author [12] c o n f i r m t h i s r e s u l t . Expressions

f o r the r e s o n a n t f r e q u e n c i e s o f s i m p l e f r i c t i o n l e s s systems and their

n u m e r i c a l v a l u e s f o r s i m p l e o r complex systems can be determined by u s i n g

the r e s u l t as follows.

L e t U be the o v e r a l l t r a n s f e r m a t r i x f o r a system h a v i n g a c o n s t a n t

head r e s e r v o i r a t the upstream end ( s e c t i o n 1) and an o s c i l l a t i n g v a l v e

at the downstream end ( s e c t i o n n+1), i . e . ,

z L
= U z R
(4.1)
-n+1 1 v J

By expanding Eq. 4.1 and n o t i n g t h a t h j = 0 ( c o n s t a n t head r e s e r v o i r ) ,

and q | j ^ = 0 ( d i s c h a r g e f l u c t u a t i o n node) a t a r e s o n a n t f r e q u e n c y ,
+ one

obtains

uu qf = 0 (4.2)

Recall that i s the element i n the f i r s t row and the f i r s t column o f

the m a t r i x U. Since f o r n o n - t r i v i a l s o l u t i o n , q 1 f- 0, t h e r e f o r e

Un = 0 (4.3)

To determine the r e s o n a n t f r e q u e n c i e s , the v a l u e o f u x l i s computed

A.'V

f o r d i f f e r e n t t r i a l v a l u e s o f to, and the u^^to curve i s p l o t t e d . The

p o i n t s o f i n t e r s e c t i o n o f t h i s curve and the co-axis are the r e s o n a n t fre-

quencies (see F i g . 5.2). I f the chosen v a l u e o f oo i s e q u a l t o one o f the

resonant frequency, u l x = 0. This requirement i s not n o r m a l l y met by the

f i r s t guess f o r u) and the r e s u l t i n g n u m e r i c a l v a l u e o f u ^ i s referred to

as the r e s i d u a l .

The e x p r e s s i o n s f o r u-^ f o r s i m p l e systems a r e d e r i v e d and t h e n by

u s i n g Eq. 4.3, e q u a t i o n s f o r the r e s o n a n t f r e q u e n c i e s a r e o b t a i n e d . The

following example i l l u s t r a t e s the procedure:

F o r a s e r i e s system h a v i n g two p i p e s ( F i g . 2.3)

U = F^F-L (4.4)

By s u b s t i t u t i n g F 2 and from Eq. 3.18 and P 2 from Eq. 3.43, multiplying

 46.

the m a t r i c e s and u s i n g Eq. 4.3, one o b t a i n s

2
D
cos b i u cos b2 w
2. s i n bjo) s i n b oj = 0 2 (4.5a)
a 2

i n which b-^ and b 2 a r e c o n s t a n t s as d e f i n e d i n Eq. 3.18.

P r o c e e d i n g s i m i l a r l y , the f o l l o w i n g e q u a t i o n f o r t h r e e p i p e s i n s e r i e s

i s obtained.
D 2
a
cos b-j^oj cos b oj cos b a j - 2 s i n b i & s i n b co cos b oj
2 3
2 3

a
2 cos b^oj s i n b oj s i n b o) 2 3

a
l fD 123

s i n b OJ cos b a j s i n b o j = 0
1 2 3 (4.5b)
a
3 Pi
S o l u t i o n o f Eqs. 4.5 f o r OJ g i v e s the r e s o n a n t f r e q u e n c i e s o f the s y s -

tem. Note t h a t t h i s e q u a t i o n i s o n l y v a l i d f o r a f r i c t i o n l e s s system.

By p r o c e e d i n g i n a s i m i l a r manner, e q u a t i o n s f o r f o u r o r more p i p e s i n

s e r i e s , f o r b r a n c h systems, and f o r p a r a l l e l systems can be d e r i v e d . These

e q u a t i o n s are cumbersome and i t i s b e t t e r t o f o l l o w the n u m e r i c a l p r o c e d u r e

o u t l i n e d above r a t h e r than t o d e r i v e the e q u a t i o n s and then s o l v e them.

4.2 FREQUENCY RESPONSE

The method p r e s e n t e d h e r e i n may be used t o determine the f r e q u e n c y

r e s p o n s e o f a system h a v i n g one o r more than one p e r i o d i c f o r c i n g function.

I f a l l the f o r c i n g f u n c t i o n s a r e s i n u s o i d a l and have the same f r e q u e n c y

t h e n the e q u a t i o n s d e r i v e d i n t h i s c h a p t e r can be used w i t h o u t any modif-

ication. However, i f the f r e q u e n c i e s a r e d i f f e r e n t , then the system i s

a n a l y z e d c o n s i d e r i n g each f o r c i n g f u n c t i o n a t a time and the r e s u l t s are

superimposed t o determine the t o t a l r e s p o n s e . Non-harmonic p e r i o d i c

f u n c t i o n s a r e decomposed i n t o d i f f e r e n t harmonics by F o u r i e r a n a l y s i s

[57]. By c o n s i d e r i n g each harmonic a t i t s p a r t i c u l a r f r e q u e n c y , the system

response i s d e t e r m i n e d . The r e s u l t s a r e then superimposed t o f i n d the

t o t a l response.
 47.

E x p r e s s i o n s t o determine t h e f r e q u e n c y response of typical piping

systems h a v i n g t h r e e common t y p e s o f f o r c i n g f u n c t i o n s f l u c t u a t i n g p r e s s -

u r e head, o s c i l l a t i n g v a l v e , and f l u c t u a t i n g d i s c h a r g e a r e d e r i v e d i n t h e

following sections. By p r o c e e d i n g i n a s i m i l a r manner, e x p r e s s i o n s f o r

o t h e r types o f systems can be d e r i v e d .

1. FLUCTUATING PRESSURE HEAD

C o n s i d e r t h e system shown i n F i g . 5.3a h a v i n g a dead end a t t h e r i g h t

end. A wave on t h e s u r f a c e o f t h e r e s e r v o i r produces p r e s s u r e oscillations

i n t h e system. Due t o t h e wave, t h e p r e s s u r e head a t s e c t i o n 1 f l u c t u a t e s

s i n u s o i d a l l y about t h e mean p r e s s u r e head. L e t t h i s p r e s s u r e head v a r i a t i o n

be g i v e n by

hf R
= Re [ h e^ R w t
] = K cos CD t = Re [K " ]
t
(4.6)
st
and U be t h e t r a n s f e r m a t r i x r e l a t i n g t h e s t a t e v e c t o r s a t t h e 1 and
, , ., t h
(n+1) section, i . e . ,

z^ + 1 =Uz R
(4.7)

I t i s assumed t h a t t h e r e i s no o t h e r f o r c i n g f u n c t i o n i n t h e system; o t h e r -

w i s e t h e extended t r a n s f e r m a t r i x , U' w i l l have t o be used. Expansion o f

Eq. 4.7 y i e l d s

q
n+l = U n q
* + U l 2 h
l t
-'-
4 8 1

hjj = u i q? + u
+ 1 h? 2 2 2 (4.9)
S i n c e q ^ ^ = 0 (dead end), i t f o l l o w s from Eq. 4.8 t h a t
+

= " ^ ~ h R
(4.10)

which on t h e b a s i s o f Eq. 4.6 becomes

q R
= - U12 K/un C4.ll)

S u b s t i t u t i o n o f Eq. 4.11 i n t o Eq. 4.9 and s i m p l i f i c a t i o n o f t h e r e s u l t i n g

 48,

equation gives

T " 12^21
h . = (u ? ? - - )K (4.12)
n+l ^ 1 1
u n ' ^ 1

Hence t h e a m p l i t u d e o f t h e p r e s s u r e head f l u c t u a t i o n a t t h e dead end i s

L "12^21
^ = ^1 1 , 1 = 1^22- _ _ )K| (4.13)
a n+l 1
un

The a m p l i t u d e o f t h e p r e s s u r e head a t t h e dead end may be nondimen-

s i o n a l i z e d by d i v i d i n g t h e a m p l i t u d e o f p r e s s u r e f l u c t u a t i o n s a t t h e r e s e r -

v o i r end, i . e . ,
u 1 2 u i
2

h = h /K = u 22 (4.14)
r ' a' ' . " u n

2. FLUCTUATING DISCHARGE

P e r i o d i c f l o w s a r e encountered on t h e s u c t i o n , and on t h e d i s c h a r g e side

of a r e c i p r o c a t i n g pump. These f l u c t u a t i o n s can be decomposed i n t o a s e t

o f harmonics. Severe p r e s s u r e o s c i l l a t i o n s may d e v e l o p i f any o f these

harmonics has a p e r i o d e q u a l t o one? o f t h e n a t u r a l p e r i o d s o f t h e s u c t i o n

or d i s c h a r g e p i p e l i n e .

Expressions are derived i n t h i s s e c t i o n t o d e t e r m i n e , by t h e t r a n s f e r

m a t r i x method, t h e f r e q u e n c y response o f systems h a v i n g a r e c i p r o c a t i n g

pump.. The s u c t i o n and t h e d i s c h a r g e p i p e l i n e may have s t e p w i s e changes i n

diameter and/or w a l l t h i c k n e s s and may have branches w i t h r e s e r v o i r s , dead

ends, o r o r i f i c e s ,

(a) Suction line.

st
Let t h e t r a n s f e r m a t r i x r e l a t i n g t h e s t a t e v e c t o r s at the 1 and
th
(n+l) s e c t i o n o f t h e s u c t i o n l i n e ( F i g . 4.1) be U, i . e . ,
z L
= U z R
(4.15)
-n+l 1

By expanding Eq. 4.15 and n o t i n g t h a t h-^ = 0, one o b t a i n s

V i =
u
n q l
i ( 4 A 6 )
Fig. 4 1 Suction and discharge pipelines.
 50.

and
R
U 2 i q i (4.17)
n+1
Hence,
u i 2

(4.18)
n+1 un M
n+1
The i n f l o w v t i m e curve f o r one p e r i o d can be decomposed i n t o a s e t o f
th

harmonics by F o u r i e r a n a l y s i s [57] . Let the discharge f o r the m harmonic

be
q.n+1 (4.19)
A'
m s i n ( m o j t + ijj)
m
or.

q, = Re [A e^ m U
*] (4.20)
^n+1 m
i n which A = A' exp [j C4> ~-)]; A 1
and <JJ a r e t h e a m p l i t u d e and t h e phase
m m ^ m 2 ' m m
L J J J r v

angle f o r the m^ harmonic; and to = f r e q u e n c y o f t h e fundamental. I t

f o l l o w s from Eqs. 2.3 and 4.20 t h a t , = A i n which A i s a complex

n n
n+l m m r

constant. S u b s t i t u t i o n o f t h i s r e l a t i o n s h i p i n t o Eq. 4.18 y i e l d s

,L u i 2

A (4.21)
n+1
un m
Hence t h e a m p l i t u d e o f p r e s s u r e head f l u c t u a t i o n a t t h e s u c t i o n f l a n g e i s
, ' 11L (4.22)
i |
j . . = uZ i i A /uj il
m 'n+l'm m
I 2 i i

and t h e phase a n g l e f o r t h e p r e s s u r e head i s

t a n 1 Im(h J /Re(h J (4.23)

L L

m ^ n+l'm * n+1 m

The p r e s s u r e headv-time c u r v e may be o b t a i n e d by v e c t o r i a l l y a d d i n g

the p r e s s u r e ^ t i m e c u r v e f o r each harmonic. For the m^ harmonic

n+1
Re hm e
j(mw t+
O (4.24)

or

h* , = h cos(m to t + <b ) (4.25)

n+1 m m . K y

Hence t h e p r e s s u r e head^time c u r v e may be computed from t h e e q u a t i o n

h* Z, h cos(m to t + d) ) (4.26)
n+1 nv =1 m ^ nr Y
 51.

i n which M = number o f harmonics i n t o which i n f l o w ^ t i m e c u r v e f o r the pump

i s decomposed.

(b) Discharge line.

By p r o c e e d i n g i n a s i m i l a r manner and n o t i n g t h a t h ^ ^ = 0, the f o l l o w - +

i n g e q u a t i o n i s o b t a i n e d f o r the p r e s s u r e head^time c u r v e a t the d i s c h a r g e

s i d e o f the pump:
R M

h* = h' cos(m OJ t + V ) (4.27)

l m=l m nr J

i n which
i R, | u
2 1 A
m

h = hi = | 1 r- (4.28)
m 1
'm
1
|ui2 21
u
~ u
l l u
2 2 l

b' = t a n " 1
Im(h ) /Re(h )
R R
(4.29)
m (_ ^ m ^ mj J

and A m = complex a m p l i t u d e o f m^ n
harmonic o f the d i s c h a r g e time c u r v e o f

the pump.

3. OSCILLATING VALVE

In t h i s case the a r e a o f the opening o f the gate or v a l v e i s v a r i e d

periodically. S i n c e the gate e q u a t i o n , Eq. 3.44, r e l a t i n g t h e head, d i s -

c h a r g e , and the gate a r e a i s n o n l i n e a r , t h i s case i s more d i f f i c u l t t o

a n a l y z e than the p r e c e e d i n g ones. However, as d i s c u s s e d i n s e c t i o n 3.2-2,

t h i s e q u a t i o n can be l i n e a r i z e d i f h << H . I n the d e r i v a t i o n o f e x p r e s s -

i o n s i n t h i s s e c t i o n , the p o i n t m a t r i x o f Eq. 3.55 i s used. This matrix

i s d e r i v e d by assuming the v a l v e movement as s i n u s o i d a l and linearizing

the gate e q u a t i o n . Thus t o use the e x p r e s s i o n s d e r i v e d h e r e i n f o r the

nonharmonic p e r i o d i c v a l v e movements, the v a l v e m o t i o n i s decomposed i n t o

a s e t o f harmonics by F o u r i e r a n a l y s i s , the system response i s determined

c o n s i d e r i n g each harmonic a t i t s f r e q u e n c y , and t h e n the t o t a l system res-

ponse i s c a l c u l a t e d by s u p e r i m p o s i n g the i n d i v i d u a l r e s p o n s e s .
 52.

L e t U' be the extended o v e r a l l t r a n s f e r m a t r i x r e l a t i n g the s t a t e v e c -

t o r s a t the 1 s t
and the ( n + l ) ^ s e c t i o n o f the system, i . e . ,

z' , = U 1 1
z' R
(4.30)
n+l 1 v

In a d d i t i o n

z , | R
= P' z' . L
(4.31)
-^i+l ov n+l
Hence

f. R
= pi ui z i R
(4.32)
-n+l ov 1

By s u b s t i t u t i n g from Eq. 3.55, m u l t i p l y i n g the m a t r i c e s P ^ and U', ex-

R R L R
panding, and n o t i n g t h a t h * = 0, h ^ n + = 0, and q -^ n+ = ^+1' o n e
obtains

u 2 3 - (211 / Q J u ' h +(2H k/x ) u 3 3

K _ o <y o o 1
(A 7
q i
- " u 2 1 - (2H /Q )u + (2H k/x )u i
o o n o o 3
l 4
'" J

V i = u
l l 11 + u
13 ( - 4 3 4
)

i n which u l l 5 u 1 2 , > 33u a r e t n e

elements o f the m a t r i x , U'. By ex-

panding Eq. 4.30 and n o t i n g t h a t h j = 0 one obtains

h
n+i = u
2 1 <U + "23 C4.35)

Extended f i e l d and p o i n t m a t r i c e s are f i r s t computed. Then the e x t e n -

ded o v e r a l l t r a n s f e r m a t r i x i s determined by m u l t i p l y i n g the f i e l d and

p o i n t m a t r i c e s s t a r t i n g a t the downstream end, i . e . ,

U' = F' P' P'o F\ (4.36)

n n 1 1

R L L
The v a l u e o f q, i s determined from Eq. 4.33 and q and h .. are computed
l M n M
n+1 n+l r

from Eqs. 4.34 and 4.35. The absolute values of h .. and q .. are the am-
n
n+l n+l n

p l i t u d e s o f p r e s s u r e head and d i s c h a r g e f l u c t u a t i o n s a t the v a l v e , and

t h e i r arguments a r e , r e s p e c t i v e l y , the phase a n g l e s between head and j*,

and between d i s c h a r g e and T *.

I f t h e r e i s no o t h e r f o r c i n g f u n c t i o n except the o s c i l l a t i n g v a l v e a t

the downstream end o f the system, o r d i n a r y f i e l d and p o i n t m a t r i c e s may be

used i n s t e a d o f the extended ones. I n t h i s case u 1 3 = u 2 3 = u 3 1 = 0 and

u 3 3 = 1 i n Eqs. 4.33-4.35.
 53.

4. PROCEDURE FOR DETERMINING THE FREQUENCY RESPONSE

The f r e q u e n c y response o f p i p i n g systems a t a p a r t i c u l a r p o i n t may be

determined as f o l l o w s :

(i) Draw the b l o c k diagram and t h e n the s i m p l i f i e d b l o c k diagram

for the system. I n the case o f s i m p l e systems, t h i s s t e p may be o m i t t e d .

(ii) I n the case o f a non-harmonic p e r i o d i c f o r c i n g f u n c t i o n , de-

compose i t i n t o a s e t o f harmonics by F o u r i e r a n a l y s i s and c o n s i d e r one

harmonic a t a t i m e . For the s p e c i f i e d f r e q u e n c y , compute the p o i n t and

f i e l d matrices. A summary o f f i e l d and p o i n t m a t r i c e s d e r i v e d i n Chapter

3 i s p r e s e n t e d i n Appendix A f o r an easy r e f e r e n c e . To w r i t e an extended

t r a n s f e r m a t r i x , s i m p l y add the f o l l o w i n g elements t o the t r a n s f e r m a t r i x

l i s t e d i n Appendix A: u 1 3 = u 2 3 = u 3 1 = u 3 2 = 0 and u 3 3 = 1. Note t h a t

extended t r a n s f e r m a t r i c e s a r e used o n l y i f t h e r e i s more than one forcing

f u n c t i o n i n the system.

(iii) C a l c u l a t e the o v e r a l l t r a n s f e r m a t r i x by an o r d e r e d m u l t i p l i -

c a t i o n o f the p o i n t and f i e l d m a t r i c e s . For t h i s c a l c u l a t i o n , the b l o c k

diagram of s t e p ( i ) i s v e r y h e l p f u l . For m u l t i p l i c a t i o n o f m a t r i c e s the

scheme o u t l i n e d i n appendix B may be f o l l o w e d i f the c a l c u l a t i o n i s done

by hand, s l i d e r u l e o r desk c a l c u l a t o r . T h i s scheme w i l l c o n s i d e r a b l y r e -

duce the amount o f c o m p u t a t i o n s .

(iv) Use the e x p r e s s i o n s developed i n S e c t i o n s 4.2-1 through

4.2-3 t o determine the f r e q u e n c y r e s p o n s e .

(v) I f a "frequency response diagram i s t o be p l o t t e d r e p e a t the

above p r o c e d u r e by t a k i n g d i f f e r e n t frequencies.

Computations t o d e t e r m i n e the f r e q u e n c y response a t the v a l v e end o f

a b r a n c h system h a v i n g an o s c i l l a t i n g v a l v e a t the downstream end a r e p r e -

s e n t e d i n Appendix B t o i l l u s t r a t e the above p r o c e d u r e .

 54.

- - - 4.3 PRESSURE AND DISCHARGE VARIATION "ALONG PIPELINE

The p r e v i o u s s e c t i o n s d e a l t w i t h the d e t e r m i n a t i o n o f the p r e s s u r e

and d i s c h a r g e o s c i l l a t i o n s a t the end s e c t i o n s o f a system. Sometimes i t

i s , however, n e c e s s a r y t o determine the amplitudes o f the d i s c h a r g e and

p r e s s u r e f l u c t u a t i o n s along the l e n g t h o f the p i p e l i n e . In t h i s s e c t i o n ,

a procedure t o determine the amplitudes o f d i s c h a r g e and p r e s s u r e fluc-

t u a t i o n s along the l e n g t h o f t h e p i p e l i n e i s f i r s t outlined. Then ex-

p r e s s i o n s t o f i n d the l o c a t i o n o f nodes and antinodes are derived.

To a n a l y z e a p i p i n g system two o f the f o u r q u a n t i t i e s d i s c h a r g e and

p r e s s u r e or t h e i r r e l a t i o n s h i p a t e i t h e r end o f the systemmust be known.

The o t h e r two q u a n t i t i e s can then be c a l c u l a t e d by u s i n g the e q u a t i o n s der-

i v e d i n the l a s t s e c t i o n . The amplitudes o f the d i s c h a r g e and p r e s s u r e

f l u c t u a t i o n s a t the upstream end b e i n g known, t h e i r amplitudes along the

p i p e l i n e may be determined as f o l l o w s . The procedure i s i l l u s t r a t e d by

d i s c u s s i n g a system h a v i n g a r e s e r v o i r a t the upstream end and an o s c i l -

l a t i n g v a l v e a t the downstream end. S i m i l a r l y , equations f o r o t h e r systems

h a v i n g d i f f e r e n t boundary c o n d i t i o n s can be developed.

Suppose t h a t the amplitudes o f d i s c h a r g e and p r e s s u r e at the sec-

th
t i o n on the i pipe (see F i g . 4.2a) a r e t o be determined. Let the trans-

fer m a t r i x r e l a t i n g the s t a t e v e c t o r s a t the f i r s t s e c t i o n o f the f i r s t

and o f the i ^ p i p e be d e s i g n a t e d by W, i . e . ,

(z ).
R
= W(z ). R
(4.37)

and the f i e l d m a t r i x r e l a t i n g the s t a t e v e c t o r s a t the f i r s t and the k ^

th
s e c t i o n o f the i p i p e by F , i . e . ,
(zh. = F (z^ . (4.38)
k l x V i

The m a t r i x W i s computed by m u l t i p l y i n g the p o i n t and f i e l d matrices f o r

the f i r s t ( i - 1 ) p i p e s i n a p r o p e r sequence (see the b l o c k diagram o f

Fig. 4.2b), i . e . ,
 55.

W = P. F. . P. . F, (4.39)
1 l - li - i 1

and the m a t r i x F^ i s c a l c u l a t e d by r e p l a c i n g w i t h x i n Eq. 3.18. Note

t h a t the elements o f the m a t r i x W f o r a s p e c i f i e d f r e q u e n c y are c o n s t a n t s

w h i l e those o f the m a t r i x F^ depend upon the v a l u e o f x as w e l l .

I t f o l l o w s from Eqs. 4.37 and 4.38 that

(z). = Sfz^j (4.40)

i n which

S = F W = F P. F. . P. . F, (4.41)
x x i 1-1 i - i L

p
The v a l u e o f ( q ^ ) ^ i s c a l c u l a t e d from Eq. 4.33. Furthermore i t i s known
p

that ( h ) 1 1 = 0. S u b s t i t u t i o n o f these v a l u e s i n t o the expanded form o f

Eq. 4.40 y i e l d s
and
(qjp. = s Cq?)i n (4-42)
(hjp. = s , ( q ^ ! 21 (4.43)

The a m p l i t u d e s o f the d i s c h a r g e and p r e s s u r e f l u c t u a t i o n s a t any other

s e c t i o n can be determined by p r o c e e d i n g i n a s i m i l a r manner.

LOCATION OF PRESSURE NODES AND ANTINODES "

The l o c a t i o n o f p r e s s u r e nodes and a n t i n o d e s i s an i m p o r t a n t a s p e c t o f

the a n a l y s i s o f resonance i n p i p e l i n e s a t h i g h e r harmonics. The amplitude

o f the p r e s s u r e f l u c t u a t i o n i s a minimum a t a node and a maximum a t an

antinode. For a f r i c t i o n l e s s system, the a m p l i t u d e o f p r e s s u r e fluctuations

a t the node i s z e r o .

At the a n t i n o d e s the p i p e l i n e s may be s u b j e c t e d t o severe p r e s s u r e

fluctuations. Thus the p i p e may b u r s t due t o p r e s s u r e i n excess o f the

d e s i g n p r e s s u r e o r may c o l l a p s e due t o subatmospheric pressure. A surge

tank becomes i n o p e r a t i v e i n p r e v e n t i n g the appearance o f p r e s s u r e waves

upstream o f the tank i f a node i s formed a t i t s base. Jaeger explained

Pipe I Pipe 2 Pipe i - Pipe n
-}i Pipe i

h ki

(a) Piping system.

P
2 F
i-I Pi
kj

II

w FxA

II

(b) Block diagram .

Ul

Fig. 4-2 Designation of k s e c t i o n

t h
on i t h
pipe.
the development o f f i s s u r e s i n t h e Kandergrund t u n n e l [27, 28] due t o t h e

e s t a b l i s h m e n t o f a p r e s s u r e node a t t h e tank which made t h e tank i n o p e r a -

t i v e a l t h o u g h i t was o v e r - d e s i g n e d .

The l o c a t i o n s o f t h e nodes and a n t i n o d e s may be determined as f o l l o w s :

Eq. 4.43 g i v e s t h e a m p l i t u d e o f t h e p r e s s u r e f l u c t u a t i o n a t a p o i n t .

By making use o f t h e f a c t t h a t f o r a f r i c t i o n l e s s system, t h e a m p l i t u d e o f

p r e s s u r e f l u c t u a t i o n s a t a n o d a l p o i n t i s zero and q 1 f 0 for non-trivial

s o l u t i o n s , one o b t a i n s

s 2 1 (x) = 0 (4.44)

The s o l u t i o n o f t h i s e q u a t i o n f o r x g i v e s t h e l o c a t i o n o f t h e nodes on
*u th .
the I pipe.

The a m p l i t u d e o f p r e s s u r e f l u c t u a t i o n i s a maximum a t t h e a n t i n o d e s .

The l o c a t i o n o f t h e s e p o i n t s may be determined by d i f f e r e n t i a t i n g Eq. 4.44

w i t h r e s p e c t t o x, e q u a t i n g t h e r e s u l t t o zero and then s o l v i n g f o r x, i . e . ,

the r o o t s o f t h e e q u a t i o n

T7 s 2 1 (x) = 0 (4.45)

give the l o c a t i o n o f the antinodes.

By making use o f Eqs. 4.44 and 4.45 e x p r e s s i o n s f o r t h e l o c a t i o n o f

nodes and a n t i n o d e s i n s i m p l e systems can be d e r i v e d . The p r o c e d u r e i s

i l l u s t r a t e d below by d e r i v i n g e x p r e s s i o n s f o r a s i m p l e p i p e and f o r two

pipes i n series. E x p r e s s i o n s f o r complex systems may be d e r i v e d i n a sim-

i l a r manner. However, i t i s b e t t e r t o s o l v e Eq. 4.44 and 4.45 n u m e r i c a l l y

r a t h e r than t o d e r i v e t h e e x p r e s s i o n s and then s o l v e them.

On t h e b a s i s o f t h e Eq. 3.18, f o r a f r i c t i o n l e s s s i n g l e p i p e l i n e

h a v i n g c o n s t a n t c r o s s - s e c t i o n a l a r e a , Eq. 4.44 becomes

- j C . s i n (oo x/a.) = 0 (4.46)

l l
or
 58.

sin (OJ x / a ) = 0 i (4.47)

whose s o l u t i o n g i v e s

x = n^a /oj i (n = 0, 1, 2, ) (4.48)

The v a l u e s o f x > \ r e p r e s e n t the l o c a t i o n s o f the .imaginary nodes which

are d i s c a r d e d . I t f o l l o w s from Eqs. 4.45 and 4.47 t h a t

cos (OJ x / a ) = 0 i (4.49)

The s o l u t i o n o f t h i s e q u a t i o n g i v e s the l o c a t i o n s o f a n t i n o d e s , i . e . ,

x = (n + 1/2)TT a./w (n = 0, 1, 2, ) (4.50)

Again the v a l u e s o f x > \ a r e t h e l o c a t i o n s o f imaginary nodes and a r e

discarded.

Eqs. 4.47 and 4.49 show t h a t a s t a n d i n g wave i s formed along t h e

l e n g t h o f the p i p e l i n e . I t i s c l e a r from Eq. 4.46 t h a t t h e p r e s s u r e vari-

ation i s sinusoidal.

Series,system:

In a s e r i e s system h a v i n g two p i p e s ( F i g . 2.3), t h e l o c a t i o n s o f nodes

and antinodes i n t h e p i p e l e a d i n g from t h e r e s e r v o i r a r e g i v e n by Eqs.

4.47 and 4.49. However, t h e i r l o c a t i o n i n t h e second p i p e can be d e t e r -

mined by u s i n g Eqs. 4.44 and 4.45.

By s u b s t i t u t i n g the e x p r e s s i o n s f o r F , F j , and p, i n t o Eq. 4.39, 2

m u l t i p l y i n g the m a t r i c e s , and u s i n g Eq. 4.44, one o b t a i n s

-C sin(oj
2 x/a ) 2 cos(oji/ai) - Cjcos(ojx/a ) 2 sin(oj /ai)
1 = 0 (4.51)

which upon s i m p l i f i c a t i o n becomes

OJI

tan = j - tan (4.52)

Note t h a t Eqs. 4.51 and 4.52 a r e v a l i d f o r a f r i c t i o n l e s s system o n l y .

Since a 1> a , A
2 1 ? and A 2 a r e p o s i t i v e c o n s t a n t s , the r i g h t hand s i d e o f

Eq. 4.50 i s p o s i t i v e o r n e g a t i v e i f t a n ( o j i / a i ) i s n e g a t i v e o r p o s i t i v e

respectively. Hence, i t f o i l ows from F i g . 4.3 t h a t no node i s e s t a b l i s h e d

 60.

i n the i n t e r v a l s 0 < x <_ Tra /2o), Tra /u) <_ x <^ 3Tra /2u), ... i f 0 < u i ^ / a i
2 2 2 <TT/2

or TT < coi/ai < 3TT/2; and' i n the i n t e r v a l s Tra /2w

2 x Tra /o),
2

3Tra /2o) < x <

2 2IT/OJ, i f TT/2 < t o ^ / a i < TT or 3TT/2 < ooii/a! < 2TT.
 C H A P T E R F I V E

VERIFICATION OF TRANSFER MATRIX METHOD

To demonstrate t h e v a l i d i t y o f t h e method p r e s e n t e d h e r e i n , t h e r e s u l t s

o b t a i n e d by t h e t r a n s f e r m a t r i x method a r e compared w i t h e x p e r i m e n t a l val-

ues and w i t h those determined by t h e method o f c h a r a c t e r i s t i c s , by t h e

impedance t h e o r y , and by energy c o n c e p t s . A b r i e f d e s c r i p t i o n o f each

method, i t s advantages and l i m i t a t i o n s a r e a l s o p r e s e n t e d

5.1 EXPERIMENTAL RESULTS

Except f o r t h e l a b o r a t o r y and f i e l d t e s t s r e p o r t e d by Camichel and h i s

collaborators [ 8 ] , few e x p e r i m e n t a l r e s u l t s on t h e r e s o n a t i n g c h a r a c t e r -

i s t i c s o f pipes are a v a i l a b l e i n the l i t e r a t u r e . In the t e s t s reported

by Camichel e t a l . , r e s o n a t i n g c o n d i t i o n s i n s e r i e s p i p e s were e s t a b l i s h e d

by a r o t a t i n g cock l o c a t e d a t t h e downstream end o f t h e p i p e l i n e . Each

system had a r e s e r v o i r o f c o n s t a n t head a t t h e upstream end. The d a t a f o r

these systems a r e g i v e n i n F i g . 5.1.

The v a l u e s o f t h e p e r i o d s o f t h e fundamental and h i g h e r harmonics

determined e x p e r i m e n t a l l y and by t h e procedure o u t l i n e d i n s e c t i o n 4.1 a r e

g i v e n i n T a b l e I . As can be seen, c l o s e agreement i s found between t h e

e x p e r i m e n t a l v a l u e s and those determined by t h e t r a n s f e r m a t r i x method.

 I = 20163m I = 105 8 5 m
D = 80mm D = 40mm
a 3
I 300m/sec. a = I 356m/sec.

(a) Toulouse pipeline.

Pipe I Pipe 2

I = 227-8m I s
234 9m
0 = 0-6 m D = 0-5m
a = I 075m/sec. a = I 256m/sec.

(b) Fully pipeline.

Fig. 5 1 Longitudinal profile

 Reservoir

(c) Pipeline C 4 .

ON
OJ

Fig. 51 Longitudinal profile

 Reservoir

Thickness in mm A3 _L_'i._

Length in m 93 82

1020 {J090
Total length = 346-5lm

(d) Pipeline P 3 .

Fig. 5 Longitudinal profile

Fig. 5-2 P l o t of r e s i d u a l ~ou for T o u l o u s e system
 TABLE I . CALCULATED AND MEASURED PERIODS

P e r i o d s i n Seconds
TV* n -v* n +

No. Ineoret- Fundamental 3rd Harmonic 5th Harmonic 7th Harmonic 9th Harmonic 11th Harmonic
ical
System of period
in
calc. meas. calc. " meas. calc. meas. calc. meas. calc. meas. calc. meas.
Pipes
seconds
CD C2)
(4) (5) C6) (7) (8) (9) Cio) (11) (12) (13) (14) (15)
(3)

Toulouse 2 0.932 0.708 0.69 0.311 0.31 0.198 0.19 - - - - - -

Fully 2 15.96 13.719 13.50 - - - - - - - - - -

C. 15 2.008 1.887 1.882 - - - - - - - - - -

F 9 1.464 1.405 1.368 0.502 0.505 0.296 0.310 0.2117 0.2150 0.1650 0.1667 0.1338 0.1420
3
 For purposes of i l l u s t r a t i o n the p l o t o f r e s i d u a l ^ used t o d e t e r m i n e

the r e s o n a n t f r e q u e n c i e s o f the Toulouse system i s p r e s e n t e d i n F i g . 5.2.

5.2 METHOD OF CHARACTERISTICS

The method o f c h a r a c t e r i s t i c s [9, 31, 45-47, 50] i s w e l l established

f o r the a n a l y s i s o f the t r a n s i e n t s t a t e , and s t e a d y - o s c i l l a t o r y f l o w s i n

p i p i n g systems. The unsteady f l o w i s r e p r e s e n t e d by n o n l i n e a r , h y p e r b o l i c

p a r t i a l d i f f e r e n t i a l equations. Without n e g l e c t i n g or l i n e a r i z i n g the non-

l i n e a r terms, t h e s e p a r t i a l d i f f e r e n t i a l e q u a t i o n s a r e c o n v e r t e d i n t o

o r d i n a r y d i f f e r e n t i a l e q u a t i o n s which a r e then s o l v e d by a f i n i t e - d i f f e r e n c e

technique. To ensure convergence and s t a b i l i t y o f the n u m e r i c a l procedure/

[9, 5 0 ] , the time i n t e r v a l , A t , must be s e l e c t e d such t h a t At < Ax/a, i n

which A x
i s the l e n g t h o f one o f the r e a c h e s i n t o which a p i p e i s d i v i d e d .

To a n a l y z e the s t e a d y - o s c i l l a t o r y f l o w s by t h i s method, the i n i t i a l

s t e a d y s t a t e v e l o c i t y and p r e s s u r e head a r e assumed e q u a l t o t h e i r mean

values. The p r e s c r i b e d f o r c i n g f u n c t i o n i s then imposed as a boundary

c o n d i t i o n and the system i s a n a l y z e d by c o n s i d e r i n g one f r e q u e n c y a t a t i m e .

The a m p l i t u d e s o f the p r e s s u r e head and o f the d i s c h a r g e f l u c t u a t i o n s a r e

determined when a s t e a d y - o s c i l l a t o r y regime i s e s t a b l i s h e d , i . e . , when the

i n i t i a l t r a n s i e n t s have v a n i s h e d . The p r o c e s s o f convergence t o s t e a d y -

o s c i l l a t o r y c o n d i t i o n s i s slow and r e q u i r e s a c o n s i d e r a b l e amount o f com-

p u t e r time thus making i t uneconomical f o r g e n e r a l s t u d i e s . In a d d i t i o n ,

the "round o f f " e r r o r i n t r o d u c e d i n the computations d u r i n g each time

i n t e r v a l might outweigh the a c c u r a c y o f the method r e s u l t i n g from the

i n c l u s i o n o f the n o n l i n e a r terms.

A number o f s y s t e m s s e r i e s , p a r a l l e l and b r a n c h systems w i t h the s i d e

b r a n c h h a v i n g v a r i o u s boundary c o n d i t i o n s a r e a n a l y z e d u s i n g the t r a n s f e r

m a t r i x method and the method o f c h a r a c t e r i s t i c s . The d a t a f o r t h e s e systems

and the f r e q u e n c y response diagrams are p r e s e n t e d i n F i g . 5.3 through 5.9.

The f r e q u e n c y response diagrams are p r e s e n t e d i n n o n - d i m e n s i o n a l

form. The f r e q u e n c y r a t i o , to , i s d e f i n e d as t o / t o ^ ; the p r e s s u r e head

r a t i o , h , as 2|h^ , I/H : and the d i s c h a r g e r a t i o , q , as 2|q^ , 1/Q .

' r' n+1 1
o 1
' ^r 6
n+l! o | n x

The v a l u e s o f h^ and q^ determined by the method o f c h a r a c t e r i s t i c s r e p -

r e s e n t the a m p l i t u d e o f the swing from the minimum t o the maximum v a l u e .

The f r e q u e n c y o f the f o r c i n g f u n c t i o n i s d e s i g n a t e d by to.

The o s c i l l a t i n g v a l v e s are the f o r c i n g f u n c t i o n s i n a l l the systems

except the dead end s e r i e s system o f F i g . 5.3 i n which the f l u c t u a t i n g

p r e s s u r e head a t the upstream end i s the f o r c i n g f u n c t i o n . The v a l v e move-

ment i s t a k e n as s i n u s o i d a l w i t h x =1.0 and k = 0.2. The fluctuating

o &

p r e s s u r e head i n F i g . 5.'3 i s a l s o s i n u s o i d a l w i t h K = 1.0. I n the branch

systems o f F i g . 5.8, T q = 1.0 and k = 0.2.

The s e r i e s system o f F i g . 5.4 i s a n a l y z e d by the t r a n s f e r m a t r i x

method t o s t u d y the e f f e c t o f the f r i c t i o n l o s s e s and o f the v a r i a t i o n i n

the mean d i s c h a r g e on the f r e q u e n c y r e s p o n s e . Frequency response diagrams

for the system h a v i n g f r i c t i o n l o s s e s about 35% o f t h e s t a t i c head and

h a v i n g no f r i c t i o n l o s s e s i s shown i n F i g . 5.10. The d a t a are the same as

g i v e n above except t h a t Q q = 9.42 ft/sec. For c a l c u l a t i n g the system

response by the method o f c h a r a c t e r i s t i c s the f r i c t i o n l o s s e s are t a k e n

p r o p o r t i o n a l t o the square o f v e l o c i t y . The r e s o n a n t f r e q u e n c i e s d e t e r -

mined by c o n s i d e r i n g the system as f r i c t i o n l e s s and by t a k i n g the friction

l o s s e s i n t o c o n s i d e r a t i o n are r e c o r d e d i n T a b l e I I . I t i s c l e a r from

Fig. 5.10 and T a b l e I I t h a t the f r i c t i o n l o s s e s , even as h i g h as 35%, have

a n e g l i g i b l e e f f e c t on the v a l u e s o f r e s o n a n t f r e q u e n c i e s . Hence, i n the

a n a l y s i s o f o t h e r systems p r e s e n t e d i n t h i s study, f r i c t i o n l o s s e s are

neglected. T h i s s i m p l i f i e s the programming and reduces the amount o f

 69.

Reservoir
Dead end N

l = IOOOft. I = 2000ft. I = 1600ft. I = 2150ft.

D=40ft. D=3 5ft. D= 3 0 f t . D= 2-5ft.
a=4000ft^ec. a = 2000ft/sec.
a = 3000ft>sec. a = 4 3 0 0 f t/sec.

(a) Piping system

40

30

20

10

5 6
OJ (Radians/sec.)

(b) Frequency response diagram.

F i g . 5-3 Series system with d e a d end

 _2_ 70.

Reservoir
H
^Oscillating valve
Pipe I
Pipe 2

-r
i I, = 2 0 0 0 f t . 2
l = 7 5 0 ft. 3
2

a, = 4 0 0 0 f t . / s e c . a = 3000ft./sec.
2

0 | = 2ft. 0 =
2 Iff

(o) Piping system .

i T r a n s f i \x m a t r i x m e t h o d
M e t h o d1 of charac teristics
-
h = 2 | h k | / H ; q = JMq |/Q
r 0 r
L
3 0

0-8
/<

0-6

0-4 /cr- \ <^

r

u \ 4

l\ w A / \
1\ / \ / \
1 \ / \
1 \
' 1
1
A // \\ ' \
> 1 / \ 1 \
1 / V 1 \
1 1 \
0 2 1 // \i / \
1 / \
1
1, / \
1
i!
i
ii 1
1
1! 1
0 0 ii . , \
u> r S OJ / c u t h

(b) Frequency response diagram .

Fig. 5 - 4 Series system

 I, = ' 2 0 0 0 ft- I= 2 750ft-
a, = 4 0 0 0 f t . / s e c a~= 3000ft./sec.
0, = 2ft. D= 2 Iff

( a ) Piping system .

2 | h | / H q r=2|qs|/Q
3 o i 0

T r c m s f e r m a t r i x method
o M e t h o d of cha r a c t e r i s t i c s
08 A A

0 6
hr / 1
7 1

0-4 / i /W
= / , , .. \ i i-- ...

\ / i
\ \
/
/
/ \
\
\ / *\ i
A
\ s
\s
\ 1 \
/ * / \ i \
f o\ / * i \ i \
/ \ i \ i
/ \ i \
0-2 / \ i \
/ i \
// \* i
i \
\
/I \\ i \
1 \
//I i ii
\
/
1/ i\
00 I i
0-5 5 6
0 ) = <o/C0th
R

(b) Frequency response diagrom

Fig. 5 5 B r a n c h system(side b r a n c h having reservoir)

 72.

Dead end

Oscillating valve

1,= 2 0 0 0 f t . I=2 750 ft.

a , " 4000ft./sec. a=2 3000ft./sec.
D,= 2ft. 0 = 2 Ift.

(a) Piping system

e Method of chara cteristics

> T r a n s f e r matrix method
i0-8 i

/<
h =2|h J/ H
r
L
0
<

Qo

0 6

0-4
o
~
r *
J -

/OV

i
o
\
- tv
1 \

/
/ \
\ /'* \\
/' \\

/i
/ \ 11
/ \ I \
I\
/ / \ Ii i
ii i
\
i\ ; \ /1 i
\
0 2 M
/
/
V
I / \ /1
1
\
\

J\ J\
i \
1 \
g \ i , /1 1 \
f
}
\
t
i s 1 \
i
1
i \ /c
1 \
i
i 1 \

i \
i

0 0 \1
1 \
C O r = O / 0 U t h

(b) Frequency response diagram.

F i g . 5-6 B r a n c h system(side b r a n c h having d e a d end).

 73.

Orifice

Reservoi r

H,

Oscillating valve
Pipe I

1,= 2 0 0 0 ft.
a,= 4000ft./sec. a 2 = 3000ft./sec.

D,= 2 ft. 0, = I ft.

(a) Piping system.

0 8 1
o Method of characte r i s t i c s

j - T r a n s f er matrix nlet hod

hr = 2|hU
'IV. q =2|Hsl/Q.
r

0 6

h J r

0 4 tr

\
*

1
\ 1 \ # '
L
(\ *"-*N
N \ X

\ I
I

\l I
\
/
\ 1
1
1
/
/ *
\ i
/ \
\ \
/ \ 1
\ \
l
1
/ \ 1 \ 1 \\
\
/ \ 0 \
fl / \
ft1 /
/
%
\ \

//
1
/ \
1
t

\
\
\
\\
\\
1 \
/ / * i \ 1 \
J% 1 \
I
0-2 f \
1 \

0 0 1)I
0-5 10 20 SO 40 50 6 0 7 0
MJr=a>/CO t h

(b) Frequency response diagram.

Fig. 5 - 7 Branch system(side branch having orifice).

 74.

O s c i l l a t i n g v a l v e No.2

Oscillating valve No.I

I, = 2 0 0 0 f t . I = 7 5 0 ft.
2

a, = 4 0 0 0 f t . / s e c . a, = 3000ft./sec.
D, * 2 f t . D = I ft.
2

(a) Piping system.

Fig 5-8 B r a n c h s y s t e m ( s i d e b r a n c h h a v i n g oscillating valve)

 75.

1
T r a r s f e r m a t r i x method
M e t h o d of c h a r a c t e r i s t i c s
h * 2 | h | / l H. i
r
L
3 Q r = 2 |q l/Qo
L
3

X^

04 r /
/ J
V 1
V / 5
"0~^s
\f 1 / N I
1 1 A \l
w
/ \ 11
/ \
A
A ' 1
/ \ /1
/ % / \ / i 1 \
/ \ / \ / i 1 \
J \
P * / \ / 1
\
/ \ l \ / i 1 \
/ t 1 \
0-2 / \ ' \ /
/ i
i
i
1
i
\

/ \ / i 1 \
/ 1
/ i 1 \

/
/ / j

l
1, \
i
0-5 1 2 3 4 5 6 7
CU = C O / O J t h
R

(b) Frequency response d i a g r a m ( v a l v e No.I and N o . 2 a r e in p h a s e ) .

F i g . 5-6 Branch system(side branch having oscillating valve).

 76.

Transfer matrix method

Mo in

Branch

Method of characteristics

0-5 1 2 3 4 5 6 7
G U r =GU / U J t h 9

(c) Frequency r e s p o n s e d i a g r a m ( v a l v e N o . 2 l a g g i n g No.I by 9 0 ) .

Fig.5-8 B r a n c h s y s t e m ( s i d e b r a n c h h a v i n g oscillating valve)

 77.

( d ) F r e q u e n c y r e s p o n s e d i a g r a m ( v a l v e N o . 2 l a g g i n g No.I by 1 8 0 )

Fig. 5-8 Branch s y s t e m ( s i d e branch having oscillating valve)

 78.

1= 2 2 0 0 f t -
Reservoir
a = 4250ft./sec. Oscillating valve
D= Iff.
i T
i ! 1
i i
2 3
' I = 1100ft. 1 = II 0 0 f t . 1= 2 5 0 0 f t .
4

a 4 250ft./sec. a = 4250ft./sec. a = 3600ft./sec.

D = 2ft. D= 2 f t . D = 2ft.

(a) Piping system

8
h =
r 2 ! h 4 l / H

q = 2 Ih^l/Q
r

At

05 I 5 6
CU r =tO/CA>th-

tb) Frequency response diagram

Fig. 5-9 Parallel system .

computer time r e q u i r e d . Frequency response diagram f o r t h e s e r i e s system

f o r two d i f f e r e n t d i s c h a r g e s Q Q = 9.42, and 0 . 3 1 4 c u . f t / s e c i s shown i n

F i g . 5 . 1 1 . F r i c t i o n l o s s e s a r e n e g l e c t e d i n c a l c u l a t i n g t h e response.

A n a l y s i s o f t h e f r i c t i o n a l system by t h e method o f c h a r a c t e r i s t i c s

showed t h a t t h e a m p l i t u d e s o f t h e p o s i t i v e swing o f p r e s s u r e head and

n e g a t i v e swing o f t h e d i s c h a r g e a r e l a r g e r than t h e c o r r e s p o n d i n g negative

and p o s i t i v e swings. T h i s i s caused by t h e n o n l i n e a r terms, especially

the f r i c t i o n l o s s term, o f t h e g o v e r n i n g d i f f e r e n t i a l e q u a t i o n s . In the

t r a n s f e r m a t r i x method, however, a m p l i t u d e s o f t h e p o s i t i v e and n e g a t i v e

o s c i l l a t i o n s a r e e q u a l because a s i n u s o i d a l s o l u t i o n i s assumed.

To check t h e v a l u e s o f t h e phase a n g l e s between d i f f e r e n t quantities

o f i n t e r e s t , t h e o s c i l l a t o r y d i s c h a r g e and p r e s s u r e head a t t h e v a l v e a r e

computed by u s i n g t h e method o f c h a r a c t e r i s t i c s . The q * ^ t , h * ^ t , and x*^t

curves a r e p l o t t e d i n F i g . 5 . 1 2 . I n t h i s diagram, h* = h*/H and Q

q^ =
q*/Q -0
T n e
phase angles determined by t h e t r a n s f e r m a t r i x method and

by t h e method o f c h a r a c t e r i s t i c s a r e p r e s e n t e d i n Table I I I . C l o s e agree

ment i s found between t h e r e s u l t s o b t a i n e d by t h e two methods.

5.3 IMPEDANCE METHOD

The concept o f impedance was i n t r o d u c e d by Rocard [ 4 3 ] and l a t e r used

by P a y n t e r [ 3 8 ] , W a l l e r [ 5 3 - 5 5 ] and W y l i e [58-60]. The p r e s s u r e head and

the d i s c h a r g e f l u c t u a t i o n s a r e assumed s i n u s o i d a l , n o n l i n e a r r e l a t i o n s h i p s

are l i n e a r i z e d and t h e r a t i o o f t h e o s c i l l a t o r y p r e s s u r e head and d i s c h a r g

i s termed t h e h y d r a u l i c impedance. F o r t h e g i v e n boundary c o n d i t i o n s o f

the system, t h e t e r m i n a l impedance i s c a l c u l a t e d and t h e impedance diagram

is plotted. Those f r e q u e n c i e s a t which t e r m i n a l impedance i s a maximum

are t h e n a t u r a l f r e q u e n c i e s o f t h e system. I f the value o f e i t h e r h o r q

i s known, t h e o t h e r can be c a l c u l a t e d from t h e computed v a l u e o f t h e

 80.

Friction considered

Friction neglected

F i g . 5- 10 E f f e c t of friction l o s s e s on f r e q u e n c y r e s p o n s e of

series s y s t e m of Fig. 5-4 a .

F i g . 511 Effect of mean d i s c h a r g e on f r e q u e n c y response of

series system of Fig.5-4a .

 TABLE I I .

RESONANT FREQUENCIES OF PIPING SYSTEM OF FIG. 5.4a

r ' th

System Funda- 3rd 5th 7 th 9th 11th ;

mental Harm. Harm. Harm. Harm. Harm.

(1) (2) (3) (4) (5) (6) (7)

Friction
1.259 3.000 4.741 7.259 9.000 10.741
considered

Friction
1.260 3.000 4.740 . 7.259 9.000 10.741
neglected
I2 r 0 2

10 - 0 0

08
(i)c^r = 2 - 5
l-4r 0-4

1-2 0-2

10 00

0 8 -0-2

06 L
-04
(ii)cor= 30
00

(a) Series system of Fjg. 5 - 4 a .

Fig. 5 12 h*~t,q * ~ t , o n d T~t curves

 (i ) CO r = 2 5

(b) B r a n c h s y s t e m of Fig.56a
Fig.512
 (i) oj r =2-5
l-4r 0-4"

O"
to

1-2- 0-2

10 - 0 0

0 8- -0-2

0-6L- -0-4
( i i ) cx>r = 3 0
00

(c) B r a n c h s y s t e m of F i g . 5 - 8 a ( V a l v e No.I and 2 in p h o s e ) .

F i g . 5 12 h~t,q*~t,and r*~t curves

 86.

TABLE I I I . PHASE ANGLES

Phase A n g l e s , <b, i n degrees

between h and x* between q and x*

rPeCjUcTicy
Transfer Method o f Transfer Method o f
System ratio, w Matrix Character- Matrix Character-
r
Method istics Method istics

(1) (2) (3) (4) (5) (6)

2.5 -110.99 -110.50 -20.99 -20.5

S e r i e s ( F i g . 5.4a)
3.0 -180.01 -180.00 -270.01

Branch ( F i g . 5.6a) 2.5 -117.90 -119.00 -27.90 -29.50

(Side branch w i t h
3.0 -180.01 -180.00 -270.01
dead end)

Branch ( F i g . 5.8a) 2.5 -117.13 -118.00 -18.17 -18.00

(Side branch w i t h
o s c i l l a t i n g valve) 3.0 -180.01 -180.00 -270.01
 88.
I, = 1 9 0 0 f t . I=
2 3600ft.

(b) Impedance diagram.

Fig. 5 1 3 Series system

 \ = loooft. 2 1
l = IOOO ft.
2
3

a, = 4 0 0 0 f t . / s e c . o 2
s
4000ft./sec .

D, = 3ft. D = 2 2 ft.

(a) Piping system.

(b) Impedance diagram .

Fig.514 B r a n c h s y s t e m ( s i d e b r a n c h having reservoir).

 90.
Dead end

Reservoi r Oscillating Valve

I, = l O O O f t . l 2 - lOOOft.
a, = 4 0 0 0 f t . / s e c . a 2 = 4000ft.
D, = 3ft. D= 2 2 ft.

(a) P i p i n g s y s t e m .

u
N
\

N
II
w
N

0-5 10 20 30 40 5 0 6 0 70
co aj/cu
r fh

(b) Impedance diagram

Fig. 5 15 Branch system(side branch having d e a d end).

 91.

Fig. 5 1 6 Impedance diagram for p a r a l l e l s y s t e m of F i g . 5-9a

 92.

Energy e n t e r i n g t h e system d u r i n g t h e time i n t e r v a l A t , i s

E. = v Q H A t (5.1)
m ' x

i n which y = s p e c i f i c w e i g h t o f t h e f l u i d and t h e s u b s c r i p t " i n " refers

to the input q u a n t i t i e s . S u b s t i t u t i o n o f Eqs. 2.1 and 2.2 i n t o Eq. 5.1

and expansion o f the r e s u l t i n g equation y i e l d

A E. = v (Q H + q* H + h* Q + q* h* ) A t (5.2)
in ' o o m o m o n
m in x n

Let q* and h* be s i n u s o i d a l , i . e . ,
m n
in ' '
h* = h! cos ca t (5.3)
m m
q* = q! cos(ojt - <b. ) . (5.4)
n
m n
m ^ in
i n which <b. = phase angle between q* and h? and h! and q! a r e t h eam-
in r
m 6 n
m m m
n

p l i t u d e s o f p r e s s u r e and d i s c h a r g e f l u c t u a t i o n s . Note t h a t b o t h h | and

qj n are r e a l q u a n t i t i e s . The energy i n p u t d u r i n g one c y c l e may be c a l c u l -

a t e d by s u b s t i t u t i n g Eqs. 5.3 and 5.4 i n t o Eq. 5.2 and i n t e g r a t i n g t h e

r e s u l t i n g e q u a t i o n over one p e r i o d , T. This process gives

r,T
E. = Y Q H T + Y q . ' h ! cos oi t cos (a* - <t>. ) d t (5.5)
in o o H
m mJ M
0
v
m^

I f t h e r e i s a r e s e r v o i r o f c o n s t a n t l e v e l a t t h e upstream end, then

h! =0. Hence, Eq. 5.5 becomes

in ^
E. = y Q H T (5.6)
in o o x

By p r o c e e d i n g i n a s i m i l a r manner

E = Y Q H T + Yh'q' cos OJ t cos(wt - <f> ,_)dt (5.7)

out o o out out
n

out
"P
The s u b s c r i p t " o u t " d e s i g n a t e s output q u a n t i t i e s .

I f the losses i n t h e system a r e n e g l e c t e d , then E. = E . f o r estab-

J
m6
out

lishment o f s t e a d y - o s c i l l a t o r y conditions. Hence, i t f o l l o w s from Eqs. 5.6

and 5.7 t h a t
 f T

cos CD t cos fast - <b ^ I d t = 0 (5.8)

out
u
n
J

which y i e l d s

d> = 90 (5.9)
y
out
For a l l the systems a n a l y z e d i n t h i s s t u d y , $ Q U ^
w a s
90 The o n l y

e x c e p t i o n s were the branch systems w i t h the s i d e branch h a v i n g an o r i f i c e

or an o s c i l l a t i n g v a l v e . A c l o s e e x a m i n a t i o n o f the above d e r i v a t i o n

r e v e a l s t h a t Eqs. 5.8 and 5.9 do not h o l d i n t h e s e cases because t h e r e i s

energy output a t more than one p o i n t . By f o l l o w i n g a s i m i l a r p r o c e d u r e

as above, one o b t a i n s
T
E = Q T + y h ' q '
h
cos co t cos (cot - <|> .)dt
out Y
< om om
x
' out out n

o o u t

v 3 & T . & 3- ' cos co t cos (cot - <f> ^ ) d t (5.10)

T
+ + Y
0 out
' x> o 1
out out n

i n which a t i l d e . , d e s i g n a t e s ' q u a n t i t i e s f o r the s i d e b r a n c h and t h e sub-

s c r i p t "m", t h e downstream end o f the main.

For a s t e a d y - o s c i l l a t o r y c o n d i t i o n t o e x i s t i n a f r i c t i o n l e s s system,

= E . Hence, by comparing Eqs. 5.6 and 5.10, n o t i n g t h a t

Y Q H T = y Q H T + y Q H T and s i m p l i f y i n g the r e s u l t i n g e q u a t i o n , one

0 Q Q m o m 0 Q

obtains
h' .q' cos * . + fr' .q' .cos ^ = 0 (5.11)
out^out out out out out v n Y

T h i s e q u a t i o n i s used h e r e i n t o v e r i f y the n u m e r i c a l v a l u e s o f d i f f e r e n t

q u a n t i t i e s determined by u s i n g the t r a n s f e r m a t r i x method. The computations

f o r the branch system o f F i g . 5.8 a r e r e c o r d e d i n T a b l e I V .

"5.5 STUDIES ON PIPELINE HAVING VARIABLE CHARACTERISTICS

The r e s o n a t i n g c h a r a c t e r i s t i c s o f a p i p e l i n e - h a v i n g l i n e a r l y v a r i a b l e

c h a r a c t e r i s t i c s A and a a l o n g i t s l e n g t h , a c o n s t a n t head r e s e r v o i r a t

the upstream end, and an o s c i l l a t i n g v a l v e a t the downstream end, F i g .

5.17a, a r e s t u d i e d by u s i n g the t r a n s f e r m a t r i x method. Frequency response

 TABLE IV. VERIFICATION BY ENERGY CONCEPTS

Branch system o f F i g . 5.8

'V,
System r out q
'out out
v
h
' - q
out T
out cos di cos cb h'q' cos + h'q cos
out ^out v
out
ft. cfs degrees cfs degrees out out

V a l v e No. 1 and 2.0 4.4 .0620 98.92 2.2 .0637 72 57 -.1552 .3000 -.0425 + .0425 a. 0.0
\T /\ / i >- l-\ o f* /-\
iNO. z i n pnase a/
3,2 23.0 .0430 104.69 9.9 .0669 67 83 -.2536 .3773 -.2520 + .2510 0. 0

a.
V a l v e No. 1 l e a d i n g 2.0 9.3 .0672 66.94 4.5 .0559 169 00 .3909 -.9816 .2445 - .2465 0. 0
Mo ? Kir QD
NO. z Dy yu
3.5 18.5 .0458 112.44 9.5 .0688 60 53 -.3816 .4919 -.3230 + .3220 a. 0.0

V a l v e No. 1 l e a d i n g 2.0 12.5 .0605 86.85 5.9 .0609 96 62 .0548 -.1161 .0416 - .0417 0. 0
viO . z Dy loU i a.
3.6 20.6 .0562 85.72 9.8 .0587 98 65 .0746 -.1504 .0865 - .0866 0.0
 95.
Data for actual pi pe ' 0 ( x j 5 4
""250
a(x) - 3 2 0 0 + I6X ^Oscillating
Reservoir
-Substitute pipe valve

100ft. 100ft. 100ft. 100ft. 100ft.

Ds 3-8ft. 3-4ft. 30ft. 2-6ft. 2-2ft.

a - 3280ft./sec. 3 4 4 0 f t . / s e c 3600ft./feec. 3760ft.^ec. 3 9 2 0 f t . / s e c .

(a) Piping system.

Actual pip e
O G Substitute |)ipe

7^ TsOr
0 8 *\
// \\
\\ i 1
q\
\\
w \\
/ '\
IIIIII
1 1 \ \
i i \
If II
\\
\\ V
\ \
// '' \\
If
If
\
\\ 11
\\ / / \
*\
IIil
li \\ 11 H> \
0-6 It i-f \\
IA
\\
1
i If / ' I
/' \I
IjII
I \\
// II \\

i
\\ / '
4\\ 11 /'
/'
I
I
a
if / * i
u V /' 1
II \\ II
II
\\ 1'
J iff -
1
L
0 4
IIII II i /

A
1

\
Jw ' /
II

f\
r# * \ w Jf
,7 VV
.ii/ \ \ \ \
i \ \ /
' \ ./ * \ t \ 1
1 \
T
v /
A / "
0-2 ; ifv M
i \ ail ov\\\ i \ /
n
il \
i \
'/ ' \l '1 x \
i \
1 \ J
//V
v \
i}
if 1 l \ \
// i 11 v \
III >4 ii * \
III **
/ 11 * * \'/ 1
1
n 1 *
4*J
v

20 30 0 70
0-5 10
OJ R - CU/co t h

(b) Frequency response diagram

Fig. 5 17 Pipeline having variable c h a r a c t e r i s t i c s along its length

i s determined by u s i n g the t r a n s f e r m a t r i x d e r i v e d i n S e c t i o n 3.1-2. Then

the a c t u a l p i p e i s r e p l a c e d by a s u b s t i t u t e p i p e h a v i n g s t e p w i s e changes

i n c h a r a c t e r i s t i c s as shown i n F i g . 5.17a. The e x p r e s s i o n s p r e s e n t e d i n

S e c t i o n 4.2-3 a r e used t o determine the f r e q u e n c y r e s p o n s e . To compute to ,

the t h e o r e t i c a l p e r i o d i s c a l c u l a t e d from the e q u a t i o n

T , = 4A/a (5.12)
th m

i n which a^ = v e l o c i t y o f water hammer wave a t the m i d p o i n t o f the p i p e -

line. The r e s u l t s f o r b o t h the cases a r e p r e s e n t e d i n F i g . 5.17b.

Resonant f r e q u e n c i e s f o r the system o f F i g . 5.17a were determined by

c o n s i d e r i n g the p i p e p e r se and then r e p l a c i n g i t w i t h a s u b s t i t u t e p i p e

(shown d o t t e d i n F i g . 5.17a). F a v r e ' s expression-, Eq. 1.13, was used t o

compute the r e s o n a n t f r e q u e n c i e s . The r e s u l t s a r e t a b u l a t e d i n T a b l e V.

C l o s e agreement i s found between the r e s u l t s o b t a i n e d i n these cases up t o

the f i f t h harmonic. The h i g h e r harmonics can be p r e d i c t e d t o a r e a s o n a b l e

degree o f a c c u r a c y by i n c r e a s i n g the number o f r e a c h e s i n t o which t h e

pipeline i s divided.
 TABLE V

RESONANT FREQUENCIES OF PIPING SYSTEM OF FIG. 5.17a

Resonant F r e q u e n c i e s , i n r a d / s e c

Mode T r a n s f e r M a t r i x Method
Favre's e x p r e s s i o n

Actual Pipe Substitute Pipe

CD (2) (3) (4)

Fundamental 15.127 15.075 14.905

Third 35.683 35.702 35.001

Fifth 57.647 57.856 56.375

f
/
Seventh 79.963 74.130 77.749
 SUMMARY AND CONCLUSIONS

A new method which i s known as the t r a n s f e r m a t r i x method has been

p r e s e n t e d t o a n a l y z e r e s o n a t i n g c h a r a c t e r i s t i c s o f p i p i n g systems. This

method i s s u i t a b l e f o r hand or d i g i t a l computations. F o l l o w i n g the initial

d e r i v a t i o n o f t r a n s f e r m a t r i c e s , one does not have t o d e a l w i t h d i f f e r e n t -

i a l e q u a t i o n s or l e n g t h y a l g e b r a i c e q u a t i o n s o r t a k e i n t o c o n s i d e r a t i o n

r e f l e c t i o n and t r a n s m i s s i o n c o e f f i c i e n t s i n complex systems. I n the d e r -

i v a t i o n o f t r a n s f e r m a t r i c e s , the f r i c t i o n l o s s term and the gate equation,

r e l a t i n g the head and the d i s c h a r g e through a v a l v e , are l i n e a r i z e d and

the p r e s s u r e head and d i s c h a r g e f l u c t u a t i o n s are assumed s i n u s o i d a l . The

v a l i d i t y o f the method p r e s e n t e d h e r e i n has been v e r i f i e d by comparing the

r e s u l t s w i t h those o b t a i n e d e x p e r i m e n t a l l y , by u s i n g the. method o f c h a r a c -

t e r i s t i c s , by the impedance t h e o r y , and by the energy concepts.

The f o l l o w i n g c o n c l u s i o n s can be drawn from the a n a l y s i s o f a number

o f system types commonly found i n waterpower development and water s u p p l y

schemes:

1. The f r i c t i o n l o s s e s have a n e g l i g i b l e e f f e c t on the v a l u e s o f r e s o n -

ant f r e q u e n c i e s o f a system. A n a l y s i s o f the f r i c t i o n a l system by the

method o f c h a r a c t e r i s t i c s shows t h a t the a m p l i t u d e o f the p o s i t i v e swing

o f p r e s s u r e head and n e g a t i v e swing of d i s c h a r g e are l a r g e r than the

c o r r e s p o n d i n g n e g a t i v e or p o s i t i v e swings. T h i s i s due t o the n o n l i n e a r

f r i c t i o n term o f t h e g o v e r n i n g d i f f e r e n t i a l e q u a t i o n . In the t r a n s f e r

m a t r i x method, however, a m p l i t u d e s o f t h e p o s i t i v e and n e g a t i v e oscilla-

t i o n s a r e equal because a s i n u s o i d a l s o l u t i o n i s assumed i n t h e d e r i v a t i o n

of t r a n s f e r m a t r i c e s .

2. The v a l u e s o f t h e r e s o n a n t f r e q u e n c i e s a r e independent o f t h e mean

d i s c h a r g e o r mean p r e s s u r e head. A change i n any o f these v a r i a b l e s res-

u l t s i n a q u a n t i t a t i v e , not q u a l i t a t i v e , m o d i f i c a t i o n o f the frequency

response diagram.

3. The p r e s s u r e and d i s c h a r g e nodes and a n t i n o d e s a r e not n e c e s s a r i l y

l o c a t e d a t t h e p o i n t s o f geometric changes i n t h e system.

4. The l i n e a r i z a t i o n o f t h e gate e q u a t i o n i s v a l i d o n l y i f h^ i s s m a l l .

For example, f o r h^ = 0.8 ( a m p l i t u d e o f p r e s s u r e o s c i l l a t i o n s i n 0.4 H Q ),

t h i s l i n e a r i z a t i o n r e s u l t e d i n an o v e r e s t i m a t i o n o f h by 3.5%.
r '

5. The p e r i o d s o f h i g h e r harmonics o f a system a r e n o t n e c e s s a r i l y

i n t e g r a l f r a c t i o n s o f the t h e o r e t i c a l period.

6. The f r e q u e n c y response o f p i p e l i n e s h a v i n g v a r i a b l e c h a r a c t e r i s t i c s

a l o n g i t s l e n g t h can be c a l c u l a t e d by r e p l a c i n g t h e a c t u a l p i p e by a

s u b s t i t u t e p i p e h a v i n g s t e p w i s e changes. To p r e d i c t t h e h i g h e r harmonics

accurately, t h e p i p e l i n e s h o u l d be d i v i d e d i n t o a l a r g e r number o f r e a c h e s .
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34. O l d e n b u r g e r , R., and Goodson, R.E., " S i m p l i f i c a t i o n o f H y d r a u l i c L i n e

Dynamics by Use o f I n f i n i t e P r o d u c t s , " T r a n s . ASME, Paper No. 62-WA-55,
J o u r . , B a s i c Engg., 1963.

35. O l d e n b u r g e r , R., and Donelson, J . , "Dynamic Response o f H y d r o e l e c t r i c

P l a n t , " T r a n s . , AIEE, Power App. and Systems, V o l . 81, O c t . 1962,
pp. 403 - 418.

36. Parmakian, J . , Waterhammer A n a l y s i s , Dover P u b l i c a t i o n s , I n c . ,

New York, 1963.

37. Parmakian, J . , " V i b r a t i o n and N o i s e i n H y d r a u l i c T u r b i n e s and Pumps,"

symposium, I n s t , o f Mech. E n g r s . , V o l . 181, P t . 3A, 1966-67, pp. 74 - 83.

38. P a y n t e r , H.M., "Surge and Water Hammer Problems," T r a n s . , ASCE, V o l .

118, 1963, pp. 962 - 1009.

39. P a y n t e r , H.M., and E z e k i e l , F.D., "Water Hammer i n Non-uniform P i p e s

as an Example o f Wave P r o p a g a t i o n i n G r a d u a l l y V a r y i n g Media,"
T r a n s . , ASME, V o l . 80, 1958, pp. 1585 - 1595.

40. P e s t e l , E.C., and L a c k i e , F.A., M a t r i x Methods i n E l a s t o m e c h a n i c s ,

McGraw H i l l Book Co., New Y o r k , 1963.

41. P r e n t i s , J.M. and L a c k i e , F.A., M e c h a n i c a l V i b r a t i o n s - - A n I n t r o d u c t i o n

t o M a t r i x Methods, Longmans, Canada, 1963.

42. R o b e r t s , W.J., " E x p e r i m e n t a l Dynamic Response o f F l u i d L i n e s , " M.S.

t h e s i s , Purdue U n i v e r s i t y , J a n . , 1963.
 103.

43. Rocard, Y., Les Phenomenes d ' A u t o - O s c i l l a t i o n s dans l e s I n s t a l l a t i o n s

H y d r a u l i q u e s , Hermann, P a r i s , 1937.

44. Schnyder, 0., " C o n s i d e r a t i o n s s u r l e coup de B e l i e r , " Bulletin

Technique de l a S u i s s e Romande, Mar., 1936.

45. S t r e e t e r , V.L., "Water Hammer A n a l y s i s o f P i p e l i n e s , " J o u r . , Hydraulics

D i v . , ASCE, V o l . 90, J u l y 1964, pp. 151 - 172.

46. , "Water Hammer A n a l y s i s w i t h N o n - L i n e a r F r i c t i o n a l

R e s i s t a n c e , " P r o c . , F i r s t A u s t r a l a s i a n Conference on H y d r a u l i c s and
F l u i d M e c h a n i c s , Pergamon P r e s s , 1963.

47. S t r e e t e r , V.L., and L a i , C , "Water Hammer A n a l y s i s I n c l u d i n g F l u i d

F r i c t i o n , " J o u r . , H y d r a u l i c s D i v . , ASCE, V o l . 88, May, 1962, pp.
79 - 112.

48. S t r e e t e r , V.L., and W y l i e , E.B., "Resonance i n Governed Hydro P i p i n g

Systems," Proc. I n t e r n . Symp. Waterhammer i n Pumped S t o r a g e P r o j e c t s ,
ASME, C h i c a g o , Nov., 1965.

49. , " H y d r a u l i c T r a n s i e n t s Caused by Reciprocating

Pumps," Paper No. 66-WA/;FE ASME, Nov., 1966.

50. , H y d r a u l i c T r a n s i e n t s , McGraw H i l l Book Company,

New York, 1967.

51. Thomson, W.T., V i b r a t i o n Theory and A p p l i c a t i o n s , P r e n t i c e - H a l l I n c . ,

1965.

52. " V i b r a t i o n s i n H y d r a u l i c Pumps and T u r b i n e s , " Symposium I n s t , o f

Mech. E n g r s . V o l . 181, P t . 3A, 1966-67. _

53. W a l l e r , E . J . " P r e d i c t i o n o f P r e s s u r e Surges i n P i p e l i n e s by T h e o r e t i c a l

and E x p e r i m e n t a l Methods," P u b l i c a t i o n No. 101, Oklahoma S t a t e
U n i v e r s i t y , S t i l l w a t e r , June, 1958.

54. , " P r e s s u r e Surge C o n t r o l i n P i p e l i n e Systems,"

P u b l i c a t i o n No. 102, Oklahoma S t a t e U n i v e r s i t y , S t i l l w a t e r , J a n . , 1959.

55. , "Problems o f P r e s s u r e Surge A n a l y s i s o f P o s i t i v e

Displacement Pump Systems," P u b l i c a t i o n No. 107, Oklahoma S t a t e
U n i v e r s i t y , S t i l l w a t e r , Aug., 1959.

56. W i l k i n s , R., "A Study o f I r r e g u l a r i t y o f R e a c t i o n i n F r a n c i s T u r b i n e s , "

T r a n s . , Am. I n s t , o f E l e c t . E n g r s . , V o l . 42. 1923, pp. 1001 -

57. W y l i e , C.R., Advanced E n g i n e e r i n g M a t h e m a t i c s, T h i r d ed., McGraw H i l l

Book Co., New York, 1966.
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58. W y l i e , E.B., "Resonance i n P r e s s u r i z e d P i p i n g Systems," T h e s i s

p r e s e n t e d t o t h e U n i v e r s i t y o f M i c h i g a n , Ann A r b o r , i n 1964, i n
p a r t i a l f u l f i l l m e n t o f t h e r e q u i r e m e n t s f o r t h e degree o f Doctor
of P h i l o s o p h y .

59. , "Resonance i n P r e s s u r i z e d P i p i n g Systems,"

J o u r . , B a s i c Ingg., T r a n s . ASME, V o l . 87, No. 4, D e c , 1965,
pp. 960 - 966.

60. W y l i e , E.B., and S t r e e t e r , V.L., "Resonance i n B e r s i m i s No. 2 P i p i n g

System," J o u r . B a s i c Engg., T r a n s . ASME, V o l . 87, No. 4, D e c , 1965,
pp. 925 - 931.

61. Z i e l k e , W., W y l i e , E.B., and K e l l e r , R.B., "Forced and S e l f - E x c i t e d

O s c i l l a t i o n s i n P r o p e l l a n t L i n e s , " Paper No. 69-FE-6, T r a n s . , ASME.
 APPENDIX A

SUMMARY OF TRANSFER MATRICES

The t r a n s f e r m a t r i c e s d e r i v e d i n Chapter 3 a r e summarized h e r e i n . The

n o t a t i o n and e q u a t i o n numbers o f Chapter 3 a r e used here t o f a c i l i t a t e

cross-reference.

A.l FIELD MATRICES

(1) F o r i^ 1
pipe having constant p r o p e r t i e s along i t s l e n g t h ,

a. F r i c t i o n taken i n t o c o n s i d e r a t i o n

cosh u.I.
I l
= s i n h p .
Z i
I.i
c (3.17)

-Z s i n h
Vi cosh u..
K
C
1 1
11

b. F r i c t i o n neglected

cos b. OJ s i n b. O J
C. l
l l
F. = (3.18)
I

- j C . s i n b. OJ cos b. O J
^ l J
l l

(2) For p i p e h a v i n g v a r i a b l e c h a r a c t e r i s t i c s a l o n g i t s l e n g t h

F v c ,fI + f [B(x.) + 4 B ( x . s / 2 ) + B ( x . ) ] + + 1

+ ^ [B(x. s/2)B(x.) + B C x . ) B ( x . s / 2 ) + B (x.+s/2)]

+ + 1 +
2

+ f^- [ B ( x . s / 2 ) B ( x . ) + B ( x . ) B ( x . s / 2 ) ]
2
+ + 1
2
+

(3.36)
+ | [B(x. ) B ( x . s / 2 ) B ( x . ) ] +1
2
+

(3) P a r a l l e l pipes

r
5/n (??/n)-ri (3.37)

l/n ?/n
 106.

A.2 POINT MATRICES

(1) Series connection

'1 0'

P (3.43)
sc
0 1
V J
(2) Valves and o r i f i c e s

a. O s c i l l a t i n g valve discharging into atmosphere

1 0 0

P' = -2H /Q 1 2H k / t (3.53)

o 0 x
o o
ov
0 0 1

b. Orifice discharging into atmosphere

1 0

(3.58)

-2H /Q
o o x

c. O r i f i c e at intermediate section

1 0)

(3.59)
vi
-2 AH /Q
o o x

(3) J u n c t i o n o f b r a n c h and main

a. Dead end b r a n c h

1 Ui.-2/u n

(3.71)
bde

. 0 1

b. Branch w i t h c o n s t a n t head reservoir

I 1 u
2 2 / u
2 1

(3.75)
bres
 107.

c. Branch h a v i n g o s c i l l a t i n g valve

1 fP/ 12

0 1 0 (3
bov
0 0 1

d. Branch h a v i n g orifice

(3.89)
borf
 APPENDIX B

EXAMPLE

The b r a n c h system shown i n F i g . 5.6a i s a n a l y z e d h e r e i n t o i l l u s t r a t e

the p r o c e d u r e o f c a l c u l a t i n g t h e f r e q u e n c y response by u s i n g a s l i d e rule

or a desk c a l c u l a t o r . By t a k i n g d i f f e r e n t v a l u e s o f O J ^ and f o l l o w i n g t h e

p r o c e d u r e o u t l i n e d below, t h e f r e q u e n c y response diagram shown i n F i g . 5.6b

can be p l o t t e d .

DATA

OJ = 2.0 L , = 3.0 s e c .
r th
R = 0.0 k 0.2

x = 1.0 H = 100 f t "

o o
Q = 0.314 cu f t / s e c
x
o

Dimensions o f t h e system a r e shown i n F i g . 5.6a.

Components o f t r a n s f e r m a t r i c e s

w^u = 2 T T / 3 . = 3.094 r a d / s e c
th
co = OJ O J . . = 2. x 2.094 = 4.189 r a d / s e c
r th
P i p e 1:

b
l = &i/ l a
= 2000/4000 = 0.5 s e c

A x = TT bf*/4 = TF ( 2 ) / 4 = 3.1416 sq f t
2

Ci = a /(gA )
l 1 = 4000/(32.2 x 3.1416) = 39.542 s e c / f t 2

Substitution o f t h e s e v a l u e s i n t o Eq. 3.18 y i e l d s

f
ll = 2 2 = c o s ( 0 . 5 x 4.189) = - 0.5
f

f 2 1 = - 39.542 s i n ( 0 . 5 x 4.189) j = -34.244 j

f 2 1 = - j s i n ( 0 . 5 x 4.189)/39.542 = - 0.022 j
 109.

P r o c e e d i n g i n a s i m i l a r manner, the f o l l o w i n g f i e l d m a t r i x , F 2 , f o r

pipe 2 i s obtained

0.500 - 0.007 j '

F 2 =

102.732 j 0.500

Branch p i p e :

S i n c e the b r a n c h p i p e i s made up o f a s i n g l e p i p e

U = F

P r o c e e d i n g s i m i l a r l y as above, the f o l l o w i n g v a l u e s of t h e elements

o f the f i e l d m a t r i x f o r t h e branch a r e o b t a i n e d :
'X,

uii = 0.5

U12 = - 0.0154 j

S u b s t i t u t i o n o f these v a l u e s i n t o Eq. 3.71 y i e l d s the f o l l o w i n g p o i n t

m a t r i x f o r the j u n c t i o n o f the branch and the main

1.0 :
- 0.0308 j '
bde
0.0 1.0

I t i s c l e a r from t h e b l o c k diagram shown i n F i g . B t h a t

U
= * bde
F P F l

These m a t r i c e s may be m u l t i p l i e d i n a schematic manner as shown i n Table

R

VI. S i n c e h i = 0 ( c o n s t a n t head r e s e r v o i r ) the second column i n the

matrices F i , P ^ g F l > a n <

i ^P^de^ 1
i s m u l t i p l i e d by z e r o . Thus t h e elements

i n the second column o f these m a t r i c e s are unnecessary and t h e r e f o r e may

be dropped. The unnecessary elements i n Table VI are i n d i c a t e d by a

h o r i z o n t a l dash.

Note t h a t o r d i n a r y t r a n s f e r m a t r i c e s have been used because t h e r e i s

o n l y one f o r c i n g f u n c t i o n . Hence, u i 3 , U23, and U31 are zero and U33 i s

 BLo 2

BR'
R L R L
-o
3

L R I
2 ^bde 2 "a 3

L
U =F P 2 b d e F 1
3

Fig.B. Block diagram for branch s y s t e m of Fig. 5 6a

 111.

u n i t y i n Eqs. 4.33 through 4.35. S u b s t i t u t i o n o f t h e s e v a l u e s and those

for u n and u i c a l c u l a t e d i n T a b l e VI i n t o Eq. 4.33 y i e l d s

2

q-j = - 0.0584 + 0.0127 j

Hence, i t f o l l o w s from Eqs. 4.34 and 4.35 t h a t

q ' = 0.0600 - 0.0131 j
3

and

h 3 = - 1.8134 - 8.3215 j

Hence

h = 2 h 3 /H = 0.170
r 1 3
' o

q r = 2 | qg | /Q Q = 0.390

The phase a n g l e between head and t h e r e l a t i v e gate opening

= tan - 1
[ ( - 8.3215)/(- 1.8134)]

= - 102.29

The phase a n g l e between d i s c h a r g e and r e l a t i v e g a t e opening

= tan - 1
[ ( - 0.0131)/0.0600]

= - 12.29
TABLE V I . SCHEME FOR MULTIPLICATION OF TRANSFER MATRICES
- 0.500

-34.244 j

1.000 -0.031 j - 1.555

bde
=
12
0.000 1.000 -34.244 j

0.500 -0.0073J - 1.0273

13
102.732J 0.500 142.595 j