J. Franklin Inst. Vol. 333B, No. 6, pp.

92%945, 1996

~ ) Pergamon PII: S0016--0032(96)00043-9

Copyright © 1996 The Franklin Institute
Published by Elsevier Science Ltd
Printed in Great Britain
00164)032/96 $15.00+0.00

A Simple and AccurateAdded Mass Modelfor

Hydrodynamic Fluid-Structure Interaction
Ana sis
by R A Y P . S. H A N

Department o f Mechanical Engineering, The University o f Iowa, Iowa City,

IA 52242-1527, U.S.A.

and HANZHONG XU

Department o f Engineering Mechanics, Hohai University, Nanjing, People's Republic

o f China

(Received 8 September 1994," accepted 18 March 1996)

ABSTRACT : A theoretical model of an added mass representation for a flexible cylinder vibrating
in a fluid medium is presented. To accomplish this, the fluid-structure interaction problem under
the influence of harmonic ground and inertia dominated hydrodynamic loading, is first studied by
solving the coupled differential equations exactly. Explicit expressions for computing the hyd-
rodynamic interaction pressure and eigenquantities like natural frequencies and mode shapes are
given here. However, this analytical model, as in many other mathematical models, suffers from a
severe handicap; its expressions are too complicated and require the use of a computer program to
generate the results. One solution which is of particular interest, is the computation of natural
frequencies. Using the added mass representation, a simple formula for evaluating the natural
frequency is proposed. The formula is very simple to use, requiring only a minimal computational
effort on a standard calculator. Comparison with the analytical solutions shows that the formula is
extremely accurate, with errors under 0.5% or less, in nearly all the cases tested. Also, more
importantly, this accuracy does not appear to deteriorate in the computation of higher natural
frequencies, and thus should be very useful for designers working in the dynamics of submerged
structures, taking into account their hydrodynamic interactions. Copyright © 1996 Published by
Elsevier Science Ltd

Nomenclature
a Radius of cylinder.
a~ Horizontal harmonic ground acceleration.
ag Amplitude of excitation.
Cm Coefficient in added mass.
E Young's modulus of elasticity for cylinder.
h Depth of water.
I Area moment of inertia.

929
930 R. P. S. Han and H. Xu

K,(r) Modified Bessel function of the second kind of order 1.

M Mass per unit length of cylinder.
P(r, O, z, t) Hydrodynamic pressure in fluid field.
Pc(r, O, z, t) Hydrodynamic pressure acting on cylinder.
/~c(r, z, t) Resultant circumferential hydrodynamic pressure on cylinder.
r Radial coordinate.
t Time coordinate.
Y(z, t) Generalized displacement relative to ground motion.
Mode shapes for free vibrations.
y(z)
Amplitude for forced vibrations.
Z Depth coordinate.
O~
{01 for free vibrations.
for forced vibrations.
rlk kth root of characteristic equation.
0 Angular coordinate.
Pc Mass density of cylinder.
Pw Mass density of water.
4~ Velocity potential.
O9 Excitation frequency.
kth natural frequency for vibration in vacuum.
kth natural frequency for vibration in water.

L Introduction
The dynamics of structures surrounded by water, such as bridge piers, require special
considerations which do not arise for structures on land. It is well known that when
the structure vibrates in water, it induces acceleration in the water, producing an extra
force on the structure in addition to the fluid-dynamic drag force. This extra force can
be conveniently modeled as the product of a hypothetical mass of water and the
acceleration of the structure. The term added mass is given to this body of water and
should not be confused with the term virtual mass, which refers to the total effective
mass of the system that participates in the vibration. In the classical theory of hydro-
dynamics, these structures are assumed to be rigid. Westergaard (1) investigated the
effects of virtual mass on darns subjected to harmonic ground motion, Jacobsen (2)
solved the impulsive hydrodynamics of fluid inside a cylindrical tank and of fluid
surrounding a cylindrical pier, Stelson and Mavis (3) developed an accurate exper-
imental technique for measuring the added mass of bodies accelerated in liquids,
Rao (4) presented expressions based on the added mass concept for determining the
hydrodynamic forces acting on circular and rectangular cylinders, and Chandrasekaran
and Gupta (5) provided empirical verification of the added mass concept for frequency
computation of reservoir~lam systems.
However, as shown in the work of Zienkiewicz and Newton (6), Chopra and co-
workers (7, 8) and Tanaka and Hudspeth (9), any accurate procedure for the dynamic
analysis of these structures must consider the fluid-structure interaction effects. Thus,
not only the additional hydrodynamic forces must be included in the analysis, the
modifications to the dynamic response due to the surrounding fluid must also be
accounted for. This would require discarding the rigid structure assumption in favor
of aflexible structure model.
 Hydrodynamic Fluid-Structure Interaction Analysis 931

In this work, a simple but highly accurate added mass model is proposed for the
dynamic analysis of flexible structures surrounded by a fluid medium. To accomplish
this, the fluid-structure interaction problem under the influence of harmonic ground
and inertia dominated hydrodynamic loading, is first studied by solving the coupled
differential equations exactly. To ensure the mathematics is attenable, simplifying
assumptions are made with regard to the structure and the fluid; namely, the structure
is slender and the fluid is inviscid. Based on these restrictions, analytical solutions
for computing the hydrodynamic pressure, natural frequencies and mode shapes are
presented. However, this analytical model suffers from a severe handicap; its expressions
are too complicated and require the use of a computer program to generate the
results. One solution which is of fundamental importance is the computation of natural
frequencies. Using the added mass representation, a simple formula for evaluating the
natural frequency is proposed. The formula is very simple to use and requires only a
minimal computational effort on a standard calculator. Comparison with the analytical
solutions shows that the formula is extremely accurate, with errors under 0.5% or less,
in nearly all the cases tested. It is comforting to note that this accuracy does not appear
to deteriorate in the computation of higher natural frequencies.

II. Analytical Fluid-Structure Model

The fluid is assumed to be irrotational and incompressible and, hence, the governing
fluid equation is simply the Laplace equation. As an example, the fluid used here is
water whose compressibility effects can be ignored as they are small for the high-
frequency excitations considered here. A cantilevered, circular cylinder of radius a and
submerged in the fluid of constant depth h, is subjected to harmonic forcing as shown
in Fig. 1. The cylinder, assumed slender and linearly elastic, is treated as a one-
dimensional structure governed by the beam theory.

2.1. Hydrodynamic fluid loadin9

A harmonic ground excitation ag(t) is prescribed as follows,
ag(t) = O g e i~' (1)

where ~g is the amplitude of acceleration of the excitation, and 09 is the frequency. The
cylinder experiences a generalized displacement relative to the ground motion given
by,

Y(z, t) = y(z)e i~' (2)

where, for the forced vibration analysis, y(z) represents the amplitude of the relative
motion and 09 the forcing frequency. For free vibration analysis, y(z) represents the
mode shapes and oJ the unknown natural frequency.
The governing equation in the fluid domain, as depicted in Fig. 1, is the Laplace
equation which in cylindrical coordinates (r, 0, z) is

a2~ 10q~ 1 O2~ ~2q~ 0 (3)

~Or + r ~r + ~ ~ - + ~Oz =
932 R. P. S. Han and H. Xu

V
I !
~./.~ Y (z,t)

L//
/////////////// "/Zr/i r////////i//!/Zl/
I
a~ v I

i
FIG 1. Flexible cylinder in water.

where q~(r, 0, z, t) is the velocity potential. Assuming the fluid to extend radially to
infinity, the boundary conditions for the flow analysis are given by:

(a) No vertical motion at seabed, namely,

0q~(r, 0, 0, t)
- 0. (4)
0z

(b) On water surface the potential is zero, that is,

q~(r, 0, h, t) = 0. (5)

(c) The radial component of motion of the water at the boundary r = a is the same
as the radial motion of the outer surface of the cylinder, that is,

Otis(a, O, z, t)
Or
]
~ i~ ÷ io~y(z) cos 0e i~' (6)

where for free vibration, ~ = 0 and for forced vibration, ~ = 1.

(d) The symmetry condition about 0 = 0 plane, namely,
0q~(r, 0, z, t) 0~(r, g, z, t)
- - 0. (7)
00 00
Equation (3) together with the boundary conditions in Eq. (4)-(7) and the boundedness
condition of the potential at infinity define the problem for the fluidflow. Solving Eq.
(3) subjected to these conditions result in,
 Hydrodynamic Fluid-Structure Interaction Analysis 933

2 cos Oe'°~' ~ K1 (~nr) C O S ( ) ~ n Z ) I h [CCag-- ~oZy(z)] cos(2.z) dz (8)

da(r, O,z, t) - i¢oh n = 1,2,3 .... )~.K] (~a~ Jo

where K1 is the modified Bessel function of the second kind of order 1 and
(2n-- 1)g
2 . - - - , n = 1,2,3 . . . . (9)
2h

~ K 1(x)
K~ (x) - Ox (lO)

The hydrodynamic pressure in the fluid field, P(r, 0, z, t), is then given by,

a4,
P(r, O, z, t) = -Pw ~t "

That is,
2pw cos Oei¢°t ~, K1 (2.r) cos(2.z)
P(r, O, Z, t)
h Z~
n = 1,2,3,,.. 2.K'1 (2.a)

x f~ [~ag - ~o2y(z)] cos(2.z) dz (11)

where Pw is the mass density of water. Putting r = a yields the hydrodynamic pressure
acting on the cylinder surface, Pc, namely:

2pw cos 0e ~°~' ~ KI (2.a) cos(2.z)

Pc(a, O, Z, t)
h n = 1,2,3 .... 2.K1 (2.a)

x f~ [~dg -~oey(z)] cos(2.z) dz. (12)

The resultant circumferential hydrodynamic pressure on the cylinder at height z,/~c, is

given by,

Pc(a,z,t) =
f? Pc(a,O,z,t)acosOdO

/~c(a, z, t) = 2anpwei'°' ~" KI (2.a) C O S ( , ~ n Z )

h 2.K'~ (2.a)
j.h
n= 1,2,3 ....

x [ea~ - e)2y(z)l cos(2,z) dz. (! 3)

0

The hydrodynamic pressures obtained so far are still unknown as they contain y(z),
which has yet to be determined. To evaluate y(z), we have to solve the vibration
response of the cylinder.
934 R. P. S. Han and H. Xu

2.2. Structural vibration response

The undamped bending vibration for a slender cantilever beam subject to ground
motion and inertia dominated hydrodynamic loading is,

E1 ~O't )Y(Z,oz + M ~0 2t )Y(z,at _ c~Mage'~°'-/~c (a, z, t) (14)

where E is the elastic modulus, I the area moment of inertia and M is the mass per unit
length of the cylinder and is given by M = na2pc, where Pc is the mass density of the
cylinder. Substituting Eqns (2) and (13) into Eq. (14) yields,

2anpw ~ K1 (2.a) cos(2.z)

EIy iv(z) - - Mo92y(z) = - - ~ M ~ t g q- h 2.K'~ (2.a)
n = 1,2,3,...

× f~ [~ag- o92y(z)] cos(2.z) dz. (15)

The boundary conditions for the cylinder are,

y(O) = y'(O) = y"(h) = y"(h) = O. (16)

The solution to Eq. (15) is,

~Rg
y(z) = C~ S(flz) + C2 T(flz) + C3 U(flz) + C 4 V(j~z) "71-~O)

2napw ~ K1 (2.a) cos(2.z) Bn

+ ~ . =, a.3 .... 2.K] (2.a) (EI24 _ Mco2 ) (17)

where C1, C2, C3, C4 are the unknown coefficients. The other terms are defined by

mfo 2
[~4__ E1 (18)

S(x) = ½(cosh x + cos x) (19)

r(x) = ~(cosh x- cos x) (20)

U(x) = ~( sinh x - sin x) (21)

V(x) -- ½(sinh x + sin x) (22)

and

B. = [0Cag-- co2y(z)] cos(2.z) dz. (23)

0

Substituting Eq. (17) into Eq. (23), and integrating yields,

 Hydrodynamic Fluid-Structure Interaction Analysis 935

--¢022.K'~ (2.a)(EI24 -Mo)2)(Cl Sn q- C2 Tn + C3 Un q- C 4 Vn)

B. - (24)
,~.Klr (2.a)(EI2.4 --Men 2) + 7rapwoJ2KI (2.a)
in which

Sn =
ff S(flz) cos(2~z) dz = ~1 2. sin(2.h) L
rcosh(flh)
- ~ ~2 cos(flh)l
~ ~ (25)

T. = f l T([3z)cos(2.z)dz=~z.
1 . . .smtz.n)L
... [-cosh(flh)
~ + cos(flh)l (26)
J
f( 1 ...... [-sinh(flh) sin(flh)] [ [73 "X
U~ = U(flz) cos(2.z) dz = ~t. slntz.n)/o~-7G5-. ~2 +

f: 1 sin(flh)l ( ~ )
II. = V(flz) cos(2.z) dz = 72. sin(X.h)[sinh(,h)
L-~2 ~_~i2j- . (28)
Note that in the above formulae, fl ¢ 2.. Expressions for S., T., U. and V. can also be
similarly derived for the case of fl = 2., but this situation seldom arises in practice, and
therefore not given. Substituting Eq. (24) into Eq. (17) yields,
C¢~g
y(z) = C 1S(j~z) -[- C 2 T(flz) + C3 U([3z) + C 4 V(j~z) + 0,)2

+ £ ;5..(CIS.+C2T.+C3U.+C4Vn)cos(2.z) (29)
n = 1,2,3 ....

where

2zrapwCO2~( 1 }. (30)
3. = h 2n(EI24 --Mo~ 2) [K~ (2.a)/Kl (2.a)] + napwO92

Invoking the boundary conditions in Eq. (16) and solving for the unknown coefficients
in Eq. (29) results in C4 = 0. For the remaining coefficients, we have:

k21 k22 k23 /c2/= / 0 (31)

J / /
k31 k32 k3a (C3J { 0
in which

kll = 1+ £ GS~
n = 1,2,3 ....

k12 = £ ~nT.
n = 1,2,3 ....
 936 R. P. S. Han and H. Xu

n= 1,2,3,...

k2~ = f13 V(flh) + ~ 4.23 S. sin(2.h)

n~ 1,2,3,...

k2 2 = ]~3 U(~h) -~ ~ ~n~3 T. sin(2.h)

n= 1,2,3 ....

k2 3 ~___[~3S(~h). ~ ~ ~n2.3 Un sin(2.h)

n= 1,2,3....

k3l = T(flh)
k32 -- s(#h)
k33 = V(~h). (32)
Solving Eq. (31) for forced vibration (i.e. a = 1) yields,

ag- k22 k23 /A

C1- [° 2 k32 k33 (33)

C2 = O~g k21 k23

co- k~l k33 /A (34)

Ilk21 k22
C3- ~o21lk_~, k32 /A (35)
where A is the determinant given by,
kll k12 kl3 .
A= k21 k22 k23 (36)
k31 k32 k33
From Eq. (29), the amplitude of the relative displacement y(z) is now given by,
ag
y(z) = C 1S(~z) -~-C 2 T(~z) .-~ C 3 U(flz) --~

+ ~ ~. (C~ S. + C2 T. + C3 U.) cos(2.z) (37)

n= 1,2,3....
where the coefficients, G , C2, C3, are given by Eqns (33)-(35). For non-trivial solutions
of Eq. (31) in free vibration (i.e. c¢ -- 0), the determinant in Eq. (36) is set to zero. This
yields the characteristic equation,
kll kl2 k13
A= k21 k22 k23 = 0. (38)
k31 k32 k33
 Hydrodynamic Fluid-Structure Interaction Analysis 937

Solution of Eq. (38) provides the natural frequencies of vibration. For free vibration
analysis, the coefficients C~ and C2 can be solved in terms of the arbitrary C3 as follows,
k13 k12
k33 k32
C1 = C3 (39)
kll kl2
k31 k32

kll kl3
k3~ k33
C2 = - C3. (40)
kll k12
k31 k32
the mode shape is given by Eq. (29) with ~ = 0, namely,
T(Z) = C 1S(~z) -4- C 2 T ( j ~ z ) ~- C 3 U ( j ~ z )

q- ~, ~n(C, Sn+C2T,+CaUn) cos(f~,z) (41)

n = 1,2,3 ....

where the coefficients, C~ and C2 are now computed from Eqns (39) and (40).

2.3. Hydrodynamic in teraction pressures

From Eqns (23) and (24), the various expressions for hydrodynamic interaction
pressure given in Eqns (11)-(13) become,
C O S Oe i'Jt
:c
P(r, O, z, t) - ~ ~.(EI24 - - M o 9 2)
r~a n = 1,2,3 ....

K1 (2.r)
x (C, S., + C2 7",,+ C3 U . ) ~ cos(2nz) (42)

Pc(a,O,z,t) = -c°sOe''~' ~ ¢.(EI24-M~o 2)

na n= 1,2,3 ....

x (CI S. + C2 T. + C3 Un) cos(2.z) (43)

Pc(r,z,t) = -¢'~' ~ ~.(EI24-Mco 2)

n = 1,2,3 ....

× (C~ S. + C2 T. + C3 U.,) cos(2nz) (44)

where the coefficients C~, C2 and C3 are appropriately selected for forced and free
vibrations analyses.

IlL Examples
In order to check the above information, the free and forced vibration responses of
a flexible cylinder, fully submerged in water are studied, and comparison with the well
known results of vibration in vacuum is made.
938 R. P. S. Han and H. Xu

TABLE I
Comparison of natural frequency predictions for vibrations in vacuum and in water

First natural frequency I co~' - co'~Ico'7

(a/h) co~ ( s - ' ) ~o~' (s -l) (%)

0.003 0.91348 0.77625 17.68

0.005 1.52247 1.29761 17.33
0.010 3.04494 2.61336 16.51
0.020 6.08989 5.28996 15.12
0.025 7.61236 6.64736 14.52
0.030 9.13483 8.01580 13.96
0.040 12.17977 10.78186 12.97
0.050 15.22471 13.58161 12.10

Second natural frequency Icon'- co~I / ~

(a/h) co~ ( s - ' ) coy ( s - ' ) (%)

0.003 5.72475 4.86441 17.69

0.005 9.54125 8.13115 17.34
0.010 19.08250 16.33095 16.85
0.020 38.16499 33.13798 15.17
0.025 47.70624 41.63500 14.58
0.030 57.24749 50.19705 14.05
0.040 76.32999 67.49178 13.10
0.050 95.41248 84.96987 12.29

Third natural frequency I~o~'- ~o; I/o9~

(a/h) o9~ (s -I) coy (s -1) (%)

0.003 16.02958 13.55518 18.25

0.005 26.71596 22.65141 17.94
0.010 53.43192 45.61338 17.14
0.020 106.86385 92.49087 15.54
0.025 133.57981 116.38233 14.78
0.030 160.29577 140.55052 14.05
0.040 213.72770 189.63353 12.71
0.050 267.15962 237.26008 12.60

3.1. Free vibration response

T h e free v i b r a t i o n responses o f a c y l i n d e r v i b r a t i n g in w a t e r a n d in v a c u u m are
p e r f o r m e d using the following d a t a : Pw = 1000 k g / m 3, Pc = 2450 k g / m 3, E = 2.94 × 107
k P a a n d h = 20 m. T h e first three frequencies o f v i b r a t i o n , c o m p u t e d f r o m Eq. (38),
are t a b u l a t e d in T a b l e I. T h e i r c o r r e s p o n d i n g m o d e shapes, c a l c u l a t e d f r o m Eq. (41),
are d e p i c t e d in Fig. 2. T h e frequencies o f the ith v i b r a t i o n m o d e for v i b r a t i o n s in
 Hydrodynamic Fluid-Structure Interaction Analysis 939

- - Cylinder in water
- - - Cylinder in vacuum

z/h z/h
z,hT
1.0

0.8 .0.8
0.6 /M°daet :hape

0.4 coincides with

in vacuum
0.2 0.2 -- 02pJ ,
i t I,, ~ I I If" I I
0.0 1.0 1.0 0.0 1.0 -1.0 0.0 1.0
First mode Second mode Third mode
FIG 2. Vibration mode shapes in water and vacuum (a/h = 0.025).

z/h z/h z/h

1.0 1.0 1.0

)
0.8 - - ~
0.6 0.6
0.4 0.4 0.4
0.2 0.2
I ~_ _ I
1.0 -1.0 1.0 -1.0 1.0
First mode Second mode Third mode
FIG 3. Hydrodynamic pressure of free vibration (a/h = 0.025).

vacuum, co7 and vibrations in water, ~ , are c o m p a r e d in Table I. As would be expected,

they are quite different, and this is due to the fact that a cylinder in water vibrates at a
slower frequency than in vacuum. The relative difference in frequencies varies with the
ratio (a/h); the smaller the ratio which corresponds to a more slender structure, the
larger is this relative difference.
Figure 2 shows the m o d e shapes and it can be seen that while the fundamental
vibration modes in water and v a c u u m are identical, for the higher modes their differ-
ences become m o r e obvious. The normalized h y d r o d y n a m i c pressures for the first three
modes, as evaluated using Eq. (44), are shown in Fig. 3.

3.2. Forced vibration response

The forced vibration response o f a cylinder vibrating in water o f depth h = 20 m,
and in v a c u u m is presented in Figs (4)-(6). The amplitude o f the forcing acceleration,
~Tgis 1 m / s 2. The fluid and structural properties are identical to those used in the free
vibration response study. The relative displacement response at the top o f a very slender
cylinder (a/h = 0.025) for varying frequencies o f excitation is presented in Fig. 4. The
response for vibrations in water is shown as a solid line while the b r o k e n line represents
940 R. P. S. Han and H. Xu
tr~

l
- - Cylinder in water
- - - Cylinder in vacuum
9

8
Q
ii
ea~
7

,fi I I
6
I I
e~ 5

3
p
2
o

0
0 20 40 60 80 100 120 140
F r e q u e n c y o f excitation (rad/s)
FIG 4. R e l a t i v e d i s p l a c e m e n t r e s p o n s e at t h e t o p o f t h e c y l i n d e r .

vibrations in vacuum. At zero forcing frequency, the cylinder experiences an excitation

of constant acceleration of 1 m / s 2 and, consequently, exhibits a relative displacement
at the top of 3.57 and 2.67 cm for vibration in water and vacuum, respectively.
Except at the resonant frequencies, the displacement response decays very rapidly with
increasing frequency of excitation. The first three resonant frequencies for vibrations
in water are 6.65, 41.64 and 116.38 rad/s, and the corresponding frequencies for a

1.o/
z/h

0.8
z/h T

0.6 0.6

0.4 0.4

O.2 0.2

t I _ ~, I I I ,.
0.0 1.0 -1.0 0.0 1.0

Relative H y d r o d y n a m i c p r e s s u r e (t/m)
d i s p l a c e m e n t (cm)
FIG 5. R e l a t i v e d i s p l a c e m e n t r e s p o n s e a n d h y d r o d y n a m i c p r e s s u r e d i s t r i b u t i o n at 09 = 15 r a d / s
( a / h = 0.025).
 Hydrodynamic Fluid-Structure Interaction Analysis 941

1.0

E
L) 0.9

0.8

-~
-z3 0.7
<

0.6

I I I [ I
0.00 0.01 0.02 0.03 0.04 0.05

Ratio of the radius of cylinder to water depth (a/h)

FIG 6. Relative displacement response and hydrodynamic pressure distribution at co = 40 rad/s
(a/h = 0.025).

cylinder vibrating in vacuum are 7.61, 47.71 and 133.58 rad/s. Figure 5 shows the
relative displacement response and the hydrodynamic pressure distribution at a fre-
quency of excitation of 15 rad/s. Since this excitation frequency is in the vicinity of the
fundamental natural frequency of the cylinder, the relative displacement response is
similar to the first mode shape. Figure 6 shows the relative displacement response and
the hydrodynamic pressure at a frequency of excitation of 40 rad/s. Since this excitation
frequency is near the second natural frequency, the relative displacement response is
similar to the second mode shape.

IV. The Added Mass Model for Computing Natural Frequencies

To compute the natural frequencies of a cylinder vibrating in water, Eq. (38) has to
be solved. It is almost impossible to do so without a computer. To avoid this require-
ment, the derivation of a simple and yet highly accurate formula will be shown here,
using the added mass concept. This simple formula is first derived for computing the
fundamental natural frequency. F r o m this, an extension to compute natural frequencies
of any order will be made.
When a structure vibrates in fluid, it induces acceleration in the surrounding fluid.
To account for this extra hydrodynamic effect, a hypothetical mass of the fluid is
considered moving with the structure. Rao (4) used this added mass representation to
derive expressions for the hydrodynamic pressures acting on rigid piers. The added
mass concept is also introduced here to facilitate the computation of natural frequencies
and, for our purpose, a uniform added mass representation will be shown to be
sufficiently accurate.
942 R. P. S. Han and H. Xu

1.0

0.9

o
cJ 0.8

E
0.7
<

0.6

I I I I I i-

0,00 0.01 0.02 0.03 0.04 0.05

Ratio of the radius of c y l i n d e r to w a t e r depth (a/h)
FIG 7. Added mass coefficient for natural frequency computations.

The fundamental frequency of a cylinder vibrating in vacuum is given by,

(45)
coj = 2hZ~] Pc
where ~1 = 1.8751 is the first root of the characteristic equation,
1 + cosh t/cos r / = 0. (46)
For a cylinder vibrating in water, it is hypothesized that the fundamental natural
frequency is of the form similar to Eq. (45). That is,

w r/2a / E (47)
= qpc + Cmpw
where Cm is the unknown added mass coefficient, defined as the ratio of the added mass
to the mass of the water displaced by the cylinder. Solving for the unknown Cm in Eq.
(47) we have,

1 ~rl4E(a/h) 2 Pc] (48)

Cm=k
By solving the fundamental frequency o~ exactly using Eq. (38) and substituting into
Eq. (48), one can compute Cm for prescribed values of E, Pw, Pc, h and (a/h). However,
from a parametric study, the results of which are depicted in Fig. 7, it was found that
Cm only varies with the (a/h) ratio. This is not surprising as this is true of slender
structures. Using a least-squares fit, the equation of the curve is found to be,
 Hydrodynamic Fluid-Structure Interaction Analys& 943

TABLE II
Comparison of natural frequency predictions between the analytical expression and the proposed
simple formula

First natural frequency Error

(a/h) Exact solution Simple formula (%)

0.003 0.77625 0.77647 0.028

0.005 1.29761 1.29768 0.005
0.010 2.61336 2.61260 0.029
0.020 5.28996 5.28896 0.019
0.025 6.64736 6.64754 0.003
0.030 8.01580 8.01760 0.022
0.040 10.78186 10.78544 0.033
0.050 13.58161 13.57780 0.028

Second natural frequency Error

(a/h) Exact solution Simple formula (%)

0.003 4.86441 4.86611 0.035

0.005 8.13115 8.13249 0.016
0.010 16.33095 16.32675 0.026
0.020 33.13798 33.14563 0.023
0.025 41.63500 41.65977 0.059
0.030 50.19705 50.24602 0.098
0.040 67.48919 67.59178 0.152
0.050 84.96987 85.09140 0.143

Third natural frequency Error

(a/h) Exact solution Simple formula (%)

0.003 13.55518 13.62536 0.518

0.005 22.65141 22.77138 0.530
0.010 45.61338 45.84521 0.508
0.020 92.49087 92.80938 0.344
0.025 116.38233 116.64939 0.299
0.030 140.55052 140.69130 0.100
0.040 189.63353 189.26029 0.197
0.050 237.26008 238.26008 0.421

Cm = 59.5597(a/h) 2 - 9.7633(a/h) + 0.9697. (49)

E q u a t i o n (49) can n o w be used to p r e d i c t Cm for a n y value o f (a/h). S u b s t i t u t i n g Eq.

(49) into Eq. (47) yields
944 R. P. S. Han and H. X u

~/~a / E
(50)
o~'~ = ~ / Pc + Pw [59.5597(a/h) 2 - 9.7633(a/h) + 0.9697]"

The result of Eq. (50) can be generalized to compute higher order natural frequencies
of vibration for a cylinder submerged in water as follows,

(51)
~o'~ = ~h2 ~[ p c + pw [ 5 9 . 5 5 9 7 ( a / h ) z - 9 . 7 6 3 3 ( a / h ) + 0.9697]
where r/k is now the kth root of the characteristic equation in Eq. (46). Table II lists
the excellent agreement obtained when the natural frequencies are predicted by the
exact solution of Eq. (38) and the approximate solution given by Eq. (51). It thus
appears that the Cm calibrated to provide the exact fundamental frequency also provides
excellent results for higher frequencies.

V. Conclusion
An analytical model is developed in this paper to compute the eigenquantities'
response to harmonic ground and inertia dominated hydrodynamic loading of a slender,
flexible cylinder vibrating in an irrotational and incompressible fluid. Based on this
model and using the added mass representation, a simple formula for computing
natural frequencies of vibrations of flexible structures submerged in water is proposed.
Excellent agreement with the natural frequencies computed from the analytical model
is observed. This extremely good accuracy is maintained, even at higher natural fre-
quencies of vibration, and thus the formula should be very useful to designers working
in the area of the dynamics of submerged flexible structures.

Acknowledgements
This work was supported by the Natural Sciences and Engineering Research Council of
Canada.

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