Nonlinear Dynamics 19: 171191, 1999.

1999 Kluwer Academic Publishers. Printed in the Netherlands.

Articulated Pipes Conveying Fluid Pulsating with High
Frequency

JAKOB SNDERGAARD JENSEN

Department of Solid Mechanics, Technical University of Denmark, DK-2800 Lyngby, Denmark
(Received: 20 January 1998; accepted: 11 December 1998)
Abstract. Stability and nonlinear dynamics of two articulated pipes conveying uid with a high-frequency pulsat-
ing component is investigated. The non-autonomous model equations are converted into autonomous equations by
approximating the fast excitation terms with slowly varying terms. The downward hanging pipe position will
lose stability if the mean ow speed exceeds a certain critical value. Adding a pulsating component to the uid
ow is shown to stabilize the hanging position for high values of the ratio between uid and pipe-mass, and to
marginally destabilize this position for low ratios. An approximate nonlinear solution for small-amplitude utter
oscillations is obtained using a fth-order multiple scales perturbation method, and large-amplitude oscillations
are examined by numerical integration of the autonomous model equations, using a path-following algorithm. The
pulsating uid component is shown to affect the nonlinear behavior of the system, e.g. bifurcation types can change
from supercritical to subcritical, creating several coexisting stable solutions and also anti-symmetrical utter may
appear.
Keywords: Fluid conveying pipes, high-frequency pulsating uid, separation of slow and fast motion, stability,
nonlinear dynamics.
1. Introduction
A two-degree-of-freedom articulated model of a cantilever pipe conveying unsteady owing
uid is considered. The effect of a high-frequency pulsating component on the stability of the
downward hanging pipe position and on the nonlinear dynamic behavior, is studied.
Cantilever pipes conveying uid have been the subject of numerous investigations. Ben-
jamin [1] and Padoussis and Issid [2] presented results concerning the stability of articulated
and exible pipes, respectively. Rousselet and Herrmann [3] studied the nonlinear dynamics
of a system of two articulated pipes describing nite amplitude utter oscillations. Many
other works on different linear and nonlinear behavior of this and similar systems have been
published since, see, e.g., [4] and for a comprehensive review [5]. Chen [6] studied the sta-
bility of cantilever pipes conveying uid with periodic variations in the ow velocity. Also
the papers by Chen and Rosenberg [7], Padoussis and Issid [2, 8], Bohn and Herrmann [9]
and Padoussis and Sundararajan [10] have dealt with pulsating uids. Only few examples
exist of analysis of the nonlinear behavior of cantilever pipes with pulsating uid speed,
i.e. the works of Bajaj [11, 12] and Semler and Padoussis [13]. For supported pipes more
studies on nonlinear behavior have been carried out, e.g. the work by Yoshizawa et al. [14],
Namachchivaya [15] and Namachchivaya and Tien [16, 17] and recently by Jayraraman and
Narayanan [18]. Common to all mentioned studies is that they have focused on resonance

Contributed by Professor A. K. Bajaj.

172 J. S. Jensen
effects, i.e. when the frequency of pulsation causes parametric resonance either of principal,
fundamental or combinational kind.
This work differs from the previous works on cantilever pipes with a pulsating ow, by
presenting a study of the linear and nonlinear dynamics of a two d.o.f. model of a cantilever
pipe considering the effect of ow pulsation at a frequency far above the natural frequencies
of the system. The choice of articulated pipes instead of another choice of discretization, e.g. a
Galerkin discretization, is made since the nonlinear terms, included up to fth order, are more
easily included in this formulation.
This work adds to the growing interest in the synthesis of high-frequency excitation of
nonlinear systems. The use of high-frequency excitation for stabilization of equilibrium po-
sitions and design of specic nonlinear behavior shows promising perspectives. The work is
related to a recent study by the author [19], where the effect of high-frequency base-excitation
on the stability and nonlinear behavior of the partially-follower loaded double pendulum was
considered. It was shown that the presence of high-frequency excitation was capable of stabil-
izing the original position of the pendulum, but also could change bifurcation types and cause
chaotic dynamics. The origin and nature of the fast excitation is inherently different for this
system of uid conveying pipes and is thus believed to affect the dynamics differently. The
motivation for this study is, apart from studying specically the system of uid conveying
pipes, to gain further insight into the linear and nonlinear effects of high-frequency excitation.
This study is deeply inuenced by Blekhman [20] who presents a thorough analysis of the
effect of high-frequency excitation on mechanical systems. For recent work in the area of
high-frequency excitation on nonlinear structures, see also e.g. [21].
The outline of the paper is as follows. In Section 2 the model is presented and the model
equations are derived. In Section 3 the basic system behavior is identied using numerical
integration of the full model equations. The non-stationary model equations are, in Section 4,
transformed into an approximating set of autonomous equations using the method of direct
partition of motion (DPM). Section 5 presents a stability analysis of the downward hanging
position with respect to utter instability, showing the stabilizing/destabilizing effects of the
high-frequency ow pulsations. In Section 6 the method of multiple scales is used to analyze
local nonlinear behavior showing, e.g. the transition from super- to sub-critical Hopf bifurc-
ations when the pulsating uid component is added. Large-amplitude utter motion is then
analyzed using a path-following program, based on numerical integration of the autonomous
set of model equations. Finally, Section 7 presents a summary and the authors conclusions.
2. The Model and Model Equations
In this section the model is presented and the model equations are derived using the method
of Lagrange.
Figure 1 shows the model. The system considered consists of two articulated rigid pipes
hanging downwards in gravity and conveying uid. The pipes are connected to each other and
to the support by identical connecting joints modeled by the linear stiffness coefcient k and
the linear viscous damping coefcient c. The two pipes are assumed to be of equal length l and
with equal mass per unit length m. Fluid is pumped through the pipes with prescribed time-
dependent ow speed U(t ) = U
0
(1 +p cos

t ), where U
0
is the mean ow speed, and p and

the amplitude and frequency of the pulsating ow component, respectively. The frequency
Articulated Pipes Conveying Fluid 173
Figure 1. System conguration. Two rigid pipes hanging in gravity are connected to each other and the support
by linear springs and dampers and are conveying uid. The uid speed has a high-frequency pulsating component.

is considered to be much larger than the characteristic frequencies for natural oscillations
of the system. The uid mass per unit pipe-length is M.
The Lagrange equations are written as:
d
dt
_
L

i
_

i
+ MU( s + Ut)
s

i
, i = 1, 2, (1)
where the r.h.s. describing the non-conservative forces due to the conveyed uid was formu-
lated in the present form by Benjamin [1]. In Equation (1)
1
and
2
are the angles of the pipes
with respect to the downward hanging position (see Figure 1), and s is the position vector of
the end of the second pipe. This vector is given as s = {l(sin
1
+ sin
2
) l(cos
1
+ cos
2
)}
T
in a xed coordinate system with origin at the inlet of the top pipe. The vector t is the unit
tangent vector at the free pipe end, t = {sin
2
cos
2
}
T
. The Lagrangian L of the system
is given as L = T V, where T and V is the kinetic and potential energy of the system,
respectively. Dissipation is included in the model in form of the Rayleigh dissipation function
D. With the given notation the energies take the form:
T =
1
6
(m + M)l
3
(4

2
1
+

2
2
+ 3

2
cos(
2

1
)) + MUl(U + l

1
sin(
2

1
))
V =
1
2
K
2
1
+
1
2
k(
2

1
)
2
+
1
2
(m + M) gl
2
(4 3 cos
1
cos
2
),
D =
1
2
c

2
1
+
1
2
c(

1
)
2
. (2)
174 J. S. Jensen
Applying Equation (1) with the energies given in Equation (2), results in the following set
of coupled nonlinear differential equations governing the motion of the upper and lower pipe:
4

1
+
3
2
(

2
cos(

2

1
)

2
2
sin(
2

1
)) + 2c

1
c

2
+ 2
1

2
+ 3g sin
1
+ ( u + u
2
) sin(
2

1
) + 2u

2
cos(
2

1
) + u

1
= 0, (3)

2
+
3
2
(

1
cos(
2

1
) +

2
1
sin(
2

1
)) + c

2
c

1
+
2

1
+ g sin
2
+ u

2
= 0. (4)
Equations (3) and (4) have been put in nondimensional form using the following set of vari-
ables:

3M
m + M
, t, u
U
l
, g
3 g
2l
2
,
c
3 c
(m + M)l
3
,
_
3k
(m + M)l
3
, (5)
where is a characteristic frequency for the system. For steady ow, Equations (3) and(4)
correspond to those derived in Benjamin [1]. Inserting the time-dependent ow speed u =
u
0
(1 + p cos ), yields:
4

1
+
3
2
(

2
cos(
2

1
)

2
2
sin(
2

1
)) + 2c

1
c

2
+ 2
1

2
+ 3g sin
1
+ u
0
(

1
+ 2

2
cos(
2

1
) + u
0
(1 +
1
2
p
2
) sin(
2

1
))
+ pu
0
(

1
+ 2

2
cos(
2

1
) + 2u
0
sin(
2

1
)) cos
pu
0
sin(
2

1
) sin +
1
2
p
2
u
2
0
sin(
2

1
) cos 2 = 0, (6)

2
+
3
2
(

1
cos(
2

1
) +

2
1
sin(
2

1
)) + c

2
c

1
+
2

1
+ g sin
2
+ u
0

2
+ pu
0

2
cos = 0, (7)
where the nondimensional excitation frequency is dened as

/.
Equations (6) and (7) govern the dynamics of the two pipes, when they are subjected to
high-frequency parametric excitation from a fast pulsating uid streaming through the pipes.
3. Numerical Simulation of System Behavior
In this section the basic system behavior is analyzed using numerical integration of the full
model Equations (6) and (7), in order to display and identify the inuence of the high-
frequency pulsating uid on the system behavior. The numerical integration is performed
using a standard fth and sixth-order RungeKutta scheme, with a time step corresponding to
1/400 of the period of forcing and the error tolerance 10
6
.
Articulated Pipes Conveying Fluid 175
Figure 2. Angle
1
versus nondimensional time for (a) constant uid speed and (bd) a pulsating uid speed with
a magnitude of pulsation p = 0.15 and frequency = 50. Parameter values: = 2, u
0
= 1.72, c = 0.1, g = 0.2.
Initial conditions: (ab): (
1
,
2
,

1
,

2
)= (0.01, 0.01, 0, 0), (cd): (
1
,
2
,

1
,

2
) = (0.01, 0.01, 0.5, 0.5).
With constant uid speed, corresponding to p = 0 in Equations (6) and (7), the behavior
of the system is well investigated, e.g. by Benjamin [1]. The downward hanging position loses
stability if the uid speed exceeds a critical uid speed u
cri
, and the pipes oscillate around the
hanging position, i.e. they utter. With gravity present in the model, even for the downward
hanging pipes, stability may be lost by divergence. This is discussed, e.g. in Padoussis and
Li [5], where it is claimed that divergence is a consequence of the chosen discretization and
is not found in the corresponding continuous system. Therefore, in the following the gravity
forces are assumed to be weak compared to the elastic forces in the connecting joints, so that
the encountered instability will always be utter.
Figure 2a shows the system behavior without added pulsation and a mean uid speed
u
0
= 1.72 exceeding the critical value u
cri
1.68. The uid ow causes large-amplitude
oscillations of the pipes, when the system is given a small initial disturbance necessary to
force the numerical solution away from the zero-solution.
Figures 2b2d display the results of adding a rapidly pulsating component to the mean
ow speed. The mean speed is kept unchanged u
0
= 1.72, and the pulsating component is
characterized by the nondimensional pulsation frequency = 50 and magnitude of pulsation
p = 0.15. In Figure 2b the system is given a small initial disturbance, whereas in Figure 2c2d
the given disturbance is stronger. It is seen from Figure 2b that the presence of pulsation causes
the utter to disappear, i.e. the downward hanging position is stabilized (note the different
axis-scaling in the Figure 2b). The pipes swing to rest in the straight position, with small
fast vibration (not visible in the gure) overlaid the decaying oscillations. As appears from
Figure 2c, this is however stability only in the Lyapunov sense, i.e. the zero-solution is robust
to small perturbations. If the system is given a stronger disturbance, the pipes goes into utter-
like oscillations, i.e. nite oscillations with overlaid small fast vibrations. Thus adding the
rapid pulsating ow component creates two stable steady-state solutions, and the one actually
reached depends on the specic initial conditions. Figure 2d presents a magnied plot of a
single oscillation peak from Figure 2c in order to display how small fast vibrations are overlaid
the larger, slow oscillation of the pipes.
176 J. S. Jensen
4. Autonomous Model Equations
To study the effects displayed in the previous section, analytical solutions concerning the
stability and nonlinear behavior of the system are desired. The non-autonomous model equa-
tions call, however, for sophisticated and complicated methods of analysis. However, since
only high-frequency excitation is considered it is possible to simplify the model equations
considerably by approximating the fast-varying excitation terms with slow-varying terms.
This is done using an averaging method, direct partition of motion (DPM), see, e.g., [19,
20], which is based on separation of the slow and fast varying terms in the model equations.
The equations of motion are written in vector form with = {
1

2
}
T
:

= f(

, ) + q
1
(

, , ) + q
2
(, ) + q
3
(, ), (8)
where
f(

, ) = f
_
8c(2

2
) + 8(2
1

2
) + 12((
1

2
) + c(

2
)) cos(
2

1
)
32c(

1
) + 32(
2

1
) + 12((
2
2
1
) + c(

2
2

1
)) cos(
2

1
)
+ 4u
0
(2

1
+

2
cos(
2

1
) + 2u
0
_
1 +
1
2
p
2
_
sin(
2

1
))
+ 2u
0
(10

2
6

1
cos(
2

1
) 6

2
cos 2(
2

1
) 3u
0
_
1 +
1
2
p
2
_
sin 2(
2

1
))
+ 6g(3 sin
1
sin(2
2

1
)) 12

2
2
sin(
2

1
) 9

2
1
sin 2(
2

1
)
+ 2g(7 sin
2
+ 9 sin(
2
2
1
)) + 48

2
1
sin(
2

1
) + 9

2
2
sin 2(
2

1
),
_
, (9)
q
1
(

, , ) = 4pu
0
f
_
(2

1
+

2
cos(
2

1
)) cos
(5

2
3

1
cos(
2

1
) 3

2
cos(
2

1
)) cos
_
, (10)
q
2
(, ) = 2pu
0
f
_
4 sin(
2

1
) sin
3 sin 2(
2

1
) sin
_
, (11)
q
3
(, ) = 2pu
2
0
f
_
(2p cos 2 + 8 cos ) sin(
2

1
)
(3p cos 2 6 cos ) sin 2(
2

1
)
_
, (12)
with f = (9 cos 2(
2

1
) 23)
1
.
Two time-scales are now introduced, a fast time-scale T
0
and a slow time-scale
T
1
. The fast scale describes motion at the rate comparable with the excitation frequency
, whereas the slow scale describes motion at a rate comparable with the natural frequencies
of the system.
Figure 2d showed that with added ow pulsations, the pipes performed slow oscillation
overlaid small fast vibrations. Thus, it is assumed that the solution can be separated into a
term dependent of the slow time-scale only x(T
1
) = {x
1
(T
1
) x
2
(T
1
)}
T
, and a term varying
with both the fast as well as the slow time-scale (T
0
, T
1
) = {
1
(T
0
, T
1
)
2
(T
0
, T
1
)}
T
. The
fast uctuating term is assumed to be of order 1/ compared to the slow oscillations.
The solution assumption can thus be written in the form:
(T
0
, T
1
) = x(T
1
) + (T
0
, T
1
), (13)
Articulated Pipes Conveying Fluid 177
where x and are terms of order
0
(to be checked a posteriori). It is assumed also that
(T
0
, T
1
) is a 2-periodic function of T
0
with:
(T
0
, T
1
)
1
2
2
_
0
(T
0
, T
1
) dT
0
= 0,
i.e. a zero T
0
-average.
The solution assumption (13) is inserted into the model Equation (8):
D
2
1
x +
1
D
2
0
+ 2D
0
D
1
+ D
2
1
= f(D
1
x + D
0
+ D
1
, x + )
+ q
1
(D
1
x + D
0
+ D
1
, x + ) +
1
q
2
(x + ) + q
3
(x + ), (14)
with the notation D
j
i

i
/T
j
i
introduced in order to denote partial differentiation with
respect to the different time-scales. Applying the averaging operator to both sides of Equa-
tion (14) yields:
D
2
1
x = f(D
1
x + D
0
+ D
1
, x + ) + q
1
(D
1
x + D
0
+ D
1
, x + )
+
1
q
2
(x + ) + q
3
(x + ), (15)
where it has been used that D
2
0
= D
0
D
1
= D
2
1
= 0. Equation (15) is now
subtracted from Equation (14) and multiplied by :
D
2
0
+ 2D
0
D
1
+
2
D
2
1
= f(D
1
x + D
0
+ D
1
, x + )
+ q
1
(D
1
x + D
0
+ D
1
, x + ) + q
2
(x + ) + q
3
(x + )
f(D
1
x + D
0
+ D
1
, x + ) + q
1
(D
1
x + D
0
+ D
1
, x + )
+ q
2
(x + ) + q
3
(x + ). (16)
Equations (15) and (16) represent an alternative formulation of the model equation (8). At this
point no approximations have been introduced.
To solve the new set of equations, a
0
-order approximation of the two obtained equations
is applied. The
0
-order approximation of Equation (16) is given as:
D
2
0
= q
2
(x), (17)
Equation (17) can readily be solved for (T
0
, T
1
), where the homogenous part of the solution
vanishes since = 0:
(T
0
, T
1
) =
2pu
0
9 cos 2(x
2
x
1
) 23
_
4 sin(x
2
x
1
) sin T
0
3 sin 2(x
2
x
1
) sin T
0
_
. (18)
The
0
-order approximation of Equation (15) is given as:
D
2
1
x = f(D
1
x, x) + f(D
1
x + D
0
, x) f(D
1
x, x)
+ q
1
(D
1
x + D
0
, x) + q
2
(x)/x, (19)
where the term f(D
1
x, x) has been added outside and subtracted inside the averaging brackets.
In the presented form, the averaging bracket represents the additional terms in the equation
governing the slow variables that arise due to the pulsating component of the ow.
178 J. S. Jensen
Inserting the solution for the variable , Equation (18), into Equation (19) and rearranging,
the equations governing the slow variables x
1
and x
2
nally become:
4 x
1
+
3
2
( x
2
cos(x
2
x
1
) x
2
2
sin(x
2
x
1
)) + 2c x
1
c x
2
+ 2x
1
x
2
+ 3g sin x
1
+ u
2
0
sin(x
2
x
1
) + u
0
(2 x
2
cos(x
2
x
1
) + x
1
)
+
_
V
1
+
1
2
p
2
u
2
0
sin(x
2
x
1
)
_
= 0, (20)
x
2
+
3
2
( x
1
cos(x
2
x
1
) + x
2
1
sin(x
2
x
1
)) + c x
2
c x
1
+ x
2
x
1
+ g sin x
2
+ u
0
x
2
+ V
2
= 0, (21)
where V
1
and V
2
are given as:
_
V
1
V
2
_
=
p
2
u
2
0
(18 cos 2(x
2
x
1
) 46)
3
_
18257 sin(x
2
x
1
) 5152 sin 2(x
2
x
1
)+
9546 sin 2(x
2
x
1
)
(22)
11379 sin 3(x
2
x
1
) + 1008 sin 4(x
2
x
1
) 2889 sin 5(x
2
x
1
) + 243 sin 7(x
2
x
1
)
2664 sin 4(x
2
x
1
) + 162 sin 6(x
2
x
1
)
_
.
From Equations (20) and (21) and Equation (18) it is noted that x and both are of order
0
,
i.e. the excitation frequency does not appear as coefcients in the equations at this level of
approximation. This corresponds to what was assumed when stating the solution form in (13).
When results based upon numerical integration of the original model Equations (6) and
(7) and the autonomous Equations (20) and (21) are compared, it is noted that even for large
values of p and large pipe angles the autonomous equations yield accurate results. The small
uctuations are discarded and the slow oscillations at the rate comparable with the natural
frequencies are fully captured. Also, numerical integration of the simpler equations is signi-
cantly faster compared to integration of the non-autonomous equations, since the time-steps
now just need to be sufciently small to capture the slow oscillations instead of oscillations at
the rate of the excitation frequency.
It should be noted however, that the transformation only captures solutions which can
be written on the form (13). Performing sample numerical integration and simulations with
many different parameter combinations has not revealed any dynamic behavior which cannot
be separated as proposed.
The effects of the added rapid ow pulsations are now studied by examining only the slow
components of motion governed by Equations (20) and (21).
5. Linear Stability of the Hanging Position
In this section the linear stability of the downward hanging position of the pipes is investigated.
The effect of the added ow pulsations on the stability of this position with respect to onset of
utter is analyzed by examining the eigenvalues of the corresponding linearized autonomous
model equations.
Linearizing the equations near the hanging position given as (x
1
, x
2
) = (0, 0) yields:
M x + (C
static
+ C
uid
) x + (K
static
+ K
uid
+ K
puls
)x = 0, (23)
Articulated Pipes Conveying Fluid 179
where the mass matrix M, the different contributions to the damping matrix C, and the
stiffness matrix K, are given as:
M =
_
4
3
2
3
2
1
_
, C
static
=
_
2 1
1 1
_
c, C
uid
=
_
1 2
0 1
_
u
0
,
K
static
=
_
2 + 3g 1
1 1 + g
_
, K
uid
=
_
1 1
0 0
_
u
2
0
,
K
puls
=
_
1
7

1
2

1
7
+
1
2

3
7

3
7

_
p
2
u
2
0
. (24)
It is noted from Equations (24) that the pulsating ow component contributes with an asym-
metric component to the stiffness matrix, for all values of the mass-ratio parameter . The
effect of pulsation can thus be either stabilizing or destabilizing for the downward hanging
position. To this rst approximation, no contribution from the pulsation to the damping matrix
arises. Second-order terms proportional to the inverse of the pulsation frequency, will however
enter the damping and also the stiffness matrix in a second-order approximation.
With assumed time-dependent form of the solution x() = z exp(), the following char-
acteristic equation for the eigenvalue is obtained:
a
0

4
+ a
1

3
+ a
2

2
+ a
3
+ a
4
= 0, (25)
where
a
0
= 49, a
1
= 28(9c + 2u
0
),
a
2
= 252 + 28c
2
+ 196g + 14u
0
(2u
0
+ 10c 5u
0
) + (76 35)p
2
u
2
0
,
a
3
= 56c + 140cg + 140u
0
+ 112u
0
g + 12c
2
p
2
u
2
0
+ (2(20 7)p
2
28)
2
u
3
0
,
a
4
= 28 + 140g + 84g
2
28U
2
0
g + 12
2
p
2
u
2
0
+ 2(20 7)gp
2
u
2
0
. (26)
5.1. ONSET OF FLUTTER
The downward hanging position will be stable only if all satisfying Equation (25) have
negative real parts. For the case of u
0
= 0, this is so for positive damping c > 0. Thus,
applied disturbances will die out, and the two pipes will swing to rest in the downward hanging
position. If u
0
= 0, for some value of u
0
a single eigenvalue or a pair of complex conjugate
eigenvalues will pass the imaginary axis into the positive real half-plane, and an initially
applied disturbance will be magnied. The system will thus be unstable. If a pair of complex
eigenvalues crosses the imaginary axis the instability will be dynamic, also known as utter.
If a single eigenvalue passes through the origin, the instability is static, known as divergence.
For this system both types of instabilities may occur depending on system parameters. As
mentioned previously the study will be restricted to cover only the case of utter.
For onset of utter, a pair of complex conjugate eigenvalues crosses the imaginary axis
into the right half-plane, i.e., = with = 0, where = 0 is the frequency of
utter. Inserting this condition into the characteristic Equation (25), the following conditions
for onset of utter are obtained:
a
0

4
a
2

2
+ a
4
= 0, a
3
a
1

2
= 0. (27)
180 J. S. Jensen
Figure 3. Stability diagram showing borders between linear stability of the downward hanging position and utter
oscillations for the case of constant uid speed and a pulsating uid for three different values of the relative
pulsation amplitude p. Parameter-values: c = 0.1, g = 0.2.
The utter frequency is eliminated from Equations (27) to give the following condition for
onset of utter:
a
1
a
2
a
3
a
0
a
2
3
a
2
1
a
4
= 0, (28)
and the corresponding frequency is found from
2
= a
3
/a
1
. Equation (28) is recognized as
part of the RouthHurwitz criteria. Evaluating a
3
/a
1
from Equation (26) it can be shown that

p
>
p=0
for > 7/20, whereas for < 7/20 the utter frequency will decrease with
added pulsation, if the damping coefcient c is sufciently small.
In the following a stability diagram is presented, showing the boundaries between linear
stability of the downward hanging position and utter oscillations, based on Equation (28).
Figure 3 shows the stability boundaries for four different values of the relative pulsation
amplitude p. For mass ratios larger than 0.58, the effect of the added ow pulsations
is stabilizing, i.e. the critical mean uid speed u
cri
for onset of utter is increased. Below
this value of , the added pulsation acts marginally destabilizing. Changing the frequency of
excitation has no effect on the stability properties, provided that the frequency is sufciently
high for the
0
-order approximation of the autonomous equations to be valid. Numerical
integration of the full model Equations (3) and (4) shows that for > 10, Equation (28)
gives reliable results for sufciently low values of p.
For magnitudes of ow pulsations above p 0.35, shown as maximum value in Figure 3,
the results based on Equation (28) appear to be inaccurate in the region of high mass ratios.
Numerical integration of the full equations shows the hanging position to be unstable even
for very small initial disturbances, when the theoretical results predict the hanging position to
be stable. A possible reason could be that the basin of attraction for the hanging position for
large values of p becomes so small that the presence of fast uctuations is sufcient to push
the system beyond the limit of this basin (see also discussion in Section 6.2).
Changing the amount of viscous damping will affect the stability curves only quantitat-
ively, no qualitative changes can be noted. For different ratios of gravity to elastic forces also,
Articulated Pipes Conveying Fluid 181
the curves are expected to be also be qualitatively similar, given that this ratio is small enough
so that the pipes will not diverge.
6. Periodic Motion of the Autonomous System
The stability analysis presented in the previous section revealed when stability of the down-
ward hanging position was lost. No information was obtained concerning the post-critical
behavior or about the global stability of this position. A quantitative analysis of periodic
oscillations of the pipes is presented in the following. Small-amplitude local oscillations are
analyzed using the method of multiple scales, and large-amplitude oscillations are examined
using a path-following algorithm based on numerical integration of the autonomous set of
model equations.
6.1. SMALL-AMPLITUDE PERIODIC OSCILLATIONS
A fth-order Taylor expansion of the autonomous model equations is carried out in order
to capture the behavior of the pipes in the vicinity of the critical ow speed. The choice
to include nonlinearities up to fth order is made since a third-order model is shown to be
insufcient. The nonlinear analysis is performed using the perturbation method of multiple
scales. Bifurcation diagrams are provided, showing small-amplitude oscillations of the pipes
in the vicinity of the critical mean uid speed. The transition of bifurcations from super to
sub-critical is examined also.
The notation y = {x
1
x
2
x
1
x
2
}
T
is introduced. The fth-order approximation can now be
written as:
y = Ay + f(y) + g(y), (29)
where the bookkeeping parameter is introduced to indicate that the nonlinear terms are
assumed to be small compared to the linear terms and A, f(y) and g(y) are the linear system
matrix and vectors containing third- and fth-order nonlinear terms, respectively. The vector
functions are given as:
A =
_
0 I
M
1
K M
1
C
_
,
f(y) =
4

j,k,l=1
b
jkl
x
j
x
k
x
l
, g(y) =
4

j,k,lm,n=1
c
jklmn
x
j
x
k
x
l
x
m
x
n
, (30)
where the non-zero components of the vectors b and c are given in the Appendix.
The local behavior in the vicinity of the critical mean uid speed u
0
is to be examined.
Giving u
0
a small perturbation from the critical value, the resulting mean uid speed be-
comes u
0
= u
cri
+ , where indicates that the perturbation is small. Expanding A, f(y)
and g(y) in terms of yields:
A = A
0
+ A
1
+ O(
2
), f(y) = f
0
+ O(), g(y) = g
0
+ O(), (31)
with
A
0
= A|
u
0
=u
cri
, A
1
= A/u
0
|
u
0
=u
cri
, f
0
= f(y)|
u
0
=u
cri
, g
0
= g(y)|
u
0
=u
cri
. (32)
182 J. S. Jensen
Inserting the expansions in Equation (31) into Equation (29) yields:
y = A
0
y + (A
1
+ f
0
+ g
0
) + O(
2
), (33)
An approximate solution to Equation (33) is now obtained by use of the perturbation method
of multiple scales. The method of analysis follows the outline of Thomsen [22], where a
similar analysis was conveniently carried out for the follower-loaded double pendulum in
matrix form.
The two time scales T
1
= and T
2
= are introduced, with the slow time scale T
2
describing the slow modulation of amplitudes and phases. To obtain an
0
-order approximate
solution to the solution of Equation (33), an
1
-order uniformly valid expansion is introduced:
y = y
0
(T
1
, T
2
) + y
1
(T
1
, T
2
) + O(
2
). (34)
Inserting the expansion (34) into Equation (29) yields to order
0
:
y
0
/T
1
A
0
y
0
= 0, (35)
and to order
1
:
y
1
T
1
A
0
y
1
=
y
0
T
2
+ A
1
y
0
+
4

j,k,l=1
b
0
x
0j
x
0k
x
0l
x
0m
x
0n
+
4

j,k,l,m,n=1
c
0
x
0j
x
0k
x
0l
x
0m
x
0n
, (36)
where b
0
and c
0
denote b
jkl
and c
jklmn
evaluated for u
0
= u
cri
.
The solution to the
0
-order Equation (35) is:
y
0
= Y(T
2
)ue
i
cri
T
1
+

Y(T
2
) ue
i
cri
T
1
, (37)
where Y is a complex function of T
2
, a bar denotes the complex conjugate, and i
cri
and
u = {u
1
u
2
u
3
u
4
}
T
is the purely imaginary eigenvalue and the right eigenvector, respectively,
for the corresponding eigenvalue problem:
(A
0
i
cri
I)u = 0. (38)
Substituting Equation (37) into the
1
-order Equation (36) yields:
y
1
/T
1
A
0
y
1
= q
1
e
i
cri
T
1
+ q
3
e
3i
cri
T
1
+ q
5
e
5i
cri
T
1
+ cc, (39)
where cc denotes complex conjugates of the preceding terms and q
1
, q
3
and q
5
are dened as:
q
1
=
Y
T
2
u + YA
1
u + Y
2

Y
4

j,k,l=1
b
0
( u
j
u
k
u
l
+ u
j
u
k
u
l
+ u
j
u
k
u
l
)
+ Y
3

Y
2
4

j,k,l,m,n=1
c
0

_
_
u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+
u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+
u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
_
_
, (40)
Articulated Pipes Conveying Fluid 183
q
3
= Y
3
4

j,k,l=1
b
0
(u
j
u
k
u
l
+ u
j
u
k
u
l
+ u
j
u
k
u
l
)
+ Y
4

Y
4

j,k,l,m,n=1
c
0
_
u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
_
, (41)
q
5
= Y
5
4

j,k,l,m,n=1
c
0
u
j
u
k
u
l
u
m
u
n
. (42)
The solution to Equation (39) will contain secular terms which grow unbounded in time unless
v
T
q
1
= 0, see, e.g., [22], where v is the left eigenvector of A
0
found from v
T
(A
0
i
cri
I) =
0
T
, i.e., the r.h.s. of Equation (39) must be orthogonal to the homogenous solution. The
solvability condition thus becomes:
Y/T
2
Y Y
2

Y Y
3

Y
2
= 0, (43)
with
=
v
T
A
1
u
v
T
u
= () + i(), (44)
=
v
T

4
j,k,l=1
b
0
( u
j
u
k
u
l
+ u
j
u
k
u
l
+ u
j
u
k
u
l
)
v
T
u
= ( ) + i( ), (45)
=
v
T

4
j,k,l,m,n=1
c
0
_
_
u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+
u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
+
u
j
u
k
u
l
u
m
u
n
+ u
j
u
k
u
l
u
m
u
n
_
_
v
T
u
= () + i(), (46)
where ( ) and ( ) denote real and the imaginary parts of a complex number. Now, intro-
ducing the polar notation Y = a exp(i) and separating Equation (43) into a real and an
imaginary equation, the solvability condition can be written as:
a
T
2
= ()a + ( )a
3
+ ()a
5
, (47)
a

T
2
= a(() + ( )a
2
+ ()a
4
). (48)
The stationary solutions are found by setting a/T
2
= 0. The non-zero positive solution for
a then becomes:
a =
_
( )
_

2
( ) 4()()
2()
, (49)
which exists for parameter combinations that render the radicals positive. With a determined
from Equation (49), (T
2
) can be found by integrating Equation (48).
184 J. S. Jensen
Figure 4. Mean uid speed response curves for four different values of p showing results for the fth-order and
the third-order expansion, and numerical integration of the full equations and the autonomous fth-order model,
(a) p = 0.25, (b) p = 0.30, (c) p = 0.31, (d) p = 0.35. Parameter-values: = 1, = 50, c = 0.1, g = 0.2.
Solid lines: stable solutions, dashed lines: unstable solutions, : numerical integration of (67), : numerical
integration of (29).
With a given by Equation (49) and (T
2
) given from Equation (48), the
0
-order approx-
imate solution to Equation (33) is:
x
i
x
0i
= 2(Au
i
e
i
cri
T
1
) = 2a|u
i
| cos(
cri
+ () +
i
), i = 1, . . . , 4, (50)
where tan
i
= (u
i
)/(u
i
). The stability of the non-zero solution can be found by evaluating
the derivative:

a
a
T
2
= () + 3( )a
2
+ 5()a
4
. (51)
Evaluating (51) at the solution point, the solution is stable if the derivative is negative and
unstable otherwise.
In the following, sample response curves based on the approximate solution (50) are presen-
ted. The results exemplify the effect of pulsating ow on the local nonlinear bifurcation
behavior of the pipes. The results based on the fth-order expansion of the autonomous
model equations are compared to results based on a third-order expansion, found by setting
() = () = 0 in Equations (47) and (48) and solving for a, as well as numerical
integration of the fth-order autonomous equations, and the full model equations.
Figure 4 shows such response curves for four different values of the magnitude of the
pulsating ow component, p, with all other parameters kept constant. In all four pictures the
stable zero solution, corresponding to the downward hanging position, loses stability by a
Hopf bifurcation for a certain critical value of the mean uid speed u
0
. The two lowest values
of p (Figures 4a, and 4b) show supercritical Hopf bifurcations, whereas for the two higher
values of p (Figures 4c, and 4d) the bifurcations are subcritical. In the two supercritical cases
Articulated Pipes Conveying Fluid 185
Figure 5. Bifurcation diagram showing the transition curves between super- and sub-critical Hopf-bifurcations for
four different values of the relative strength of gravity compared to the elastic forces. Parameter-values: c = 0.1.
the fth and third-order expansions yield qualitatively similar results, both predicting a stable
post-critical solution branch. For p = 0.3 (Figure 4b), the third-order expansion predicts,
however, far too large an amplitude of oscillation. For the subcritical Hopf bifurcations the
results are qualitatively different. The fth-order expansion correctly predicts stable post-
critical solution branches, whereas the third-order model predicts only unstable pre-critical
solutions to exist. This shows that relying on a nonlinear model including nonlinearities only
up to third order might be misleading. The unstable pre-critical solutions predicted by the
third-order model suggest possible existence of large-amplitude pre-critical solutions caused
by the repelling unstable solution branches. Also, the lack of post-critical periodic solutions
suggests non-periodic and possibly chaotic post-critical behavior. Examining the fth-order
model, the existence of such solutions is not indicated, but of course not ruled out either.
The numerical results based on the fth-order expansion of the autonomous model equa-
tions, indicated with discrete box-markers in Figure 4, show that the approximate analyt-
ical solution adequately models the fth-order expansion. The limited validity of the fth-
order model is indicated when the results are compared to numerical integration of the full
model equations, shown with discrete circle-markers. The integration is based on the non-
autonomous equations but are identical to results based on the full autonomous equations.
It is seen that for amplitudes of oscillations above about 10% of a full pipe rotation, signi-
cant discrepancies exist. In Section 6.2, large-amplitude oscillations are analyzed using a
path-following algorithm based on the full equations.
Figure 4 indicated that the Hopf bifurcation encountered when the mean uid speed is
increased beyond the critical value, turns from being supercritical to subcritical for a certain
value of the magnitude of pulsation p. In Figure 5 is shown the type of Hopf bifurcation for
values of the mass ratio parameter and the magnitude of uid speed pulsation p, for four
values of the gravity parameter g. It is noted that for a gravity free (g = 0) and a low gravity
(g = 0.2) system, the bifurcations are supercritical for all values of , even if the uid speed
is held constant. If the gravity forces are more dominant, the bifurcations will be subcritical
for high values of , also without a pulsating ow component. It is noted that supercritical
bifurcations all change to subcritical if sufcient amount of pulsation is added to the uid,
186 J. S. Jensen
Figure 6. Large amplitude periodic motion shown for two different values of the mass ratio parameter , computed
by use of PATH based on Equations (20) and (21) and compared to numerical integration of the full equations,
(a) = 1, (b) = 2. Parameter-values: = 50, g = 0.2, c = 0.1. Solid lines: stable solutions, dashed lines:
unstable solutions, , : numerical integration of (67).
except for very low values of the mass ratio < 0.1 for which the type of bifurcation does
not change.
6.2. LARGE-AMPLITUDE PERIODIC OSCILLATIONS
The local perturbation solution based on the fth-order expansion ceases to adequately de-
scribe the behavior of the full nonlinear system when the amplitudes of oscillation grow large.
In this section, large-amplitude oscillations are analyzed using the package PATH [23], based
on numerical integration of the autonomous set of model equations. PATH is a path-following
package capable of following both stable and unstable solutions. This opens possibility for a
good understanding of the effect of ow pulsations on the motion of the full nonlinear system.
Figure 6 shows response curves depicting oscillation amplitudes versus the mean uid
speed. Figures are given for two different values of the mass ratio parameter , each showing
curves for three different values of the pulsation amplitude p. The results are compared to
numerical integration of the full non-autonomous model equations, where averaged amp-
litudes of oscillation have been found by subtracting the amplitude of the small fast overlaid
vibrations from the maximum oscillation amplitude.
Figures 6a and 6b show how large-amplitude oscillations are affected by the added ow
pulsations. The response curves for different values of p are seen to lie rather close for large
amplitudes, especially for the higher value of , but to diverge when they approach the zero
solution. Thus, even if the hanging position is stabilized, there is likely to be a coexisting
large-amplitude nonlinear solution. From Figure 6a it is noted that for the largest magnitude
of pulsation shown p = 0.65, for u
0
[2.73;2.79] the nonlinear large-amplitude solution
is unstable with the zero solution being unstable also. The system will for this range of u
0
perform anti-symmetric utter vibrations as depicted in Figure 7b. Figures 7a, and 7c show
symmetric utter oscillations for values of u
0
corresponding to points on the nonlinear solu-
tion branch in Figure 6a just before and after the unstable segment. No similar anti-symmetric
utter is detected for = 2 even when p is increased beyond p = 0.35. The phenomenon
Articulated Pipes Conveying Fluid 187
Figure 7. Time series obtained by numerical integration of the full model equations showing existence of
anti-symmetrical utter for p = 0.65, (a) u
0
= 2.72, (b) u
0
= 2.76, (c) u
0
= 2.8. Parameter values:
= 50, c = 0.1, g = 0.2.
appears to be restricted to low values of , and is a result of a saddle-node bifurcation of the
nonlinear periodic solution with a single positive real eigenvalue passing the unit circle.
Further information about the stability of the downward hanging position can be drawn
from the results presented in Figure 6. It is noted that when p is increased, the stability of the
hanging position is increased. However, the slope of the unstable solution branch connecting
the zero solution with the stable nonlinear solution becomes very small, and this branch will
thus be close to the stable zero solution. This indicates that the global stability of the stabilized
zero solution is low, i.e. the hanging position can be destabilized even with small initial
disturbances. This might explain the lack of agreement between the non-autonomous and
autonomous equations for high values of with respect to linear stability, as described in Sec-
tion 5. It is noted from Figure 6 that the large-amplitude dynamics of the full non-autonomous
equations are adequately modeled by the autonomous equations.
It should be mentioned also, that with excessive initial conditions the system can display
chaotic dynamics involving several full rotations of both pipes. This is thought to be a result of
the chosen discretization, with no direct connection to the corresponding continuous system.
7. Summary and Conclusions
This paper has dealt with stability and nonlinear dynamics of a two degree-of-freedom ar-
ticulated model of a uid conveying cantilever pipe, when the uid speed contains a high-
frequency pulsating component.
The full model equations containing fast excitation terms were transformed into autonom-
ous equations using the method of direct partition of motion (DPM). In the autonomous
equations the fast excitation appears just as additional slowly varying forces. This allowed
for analytical solutions concerning stability and nonlinear behavior to be obtained. In addition,
numerical integration of the autonomous equations was signicantly faster. The linear stability
of the downward hanging pipe position in respect to utter instability was analyzed. It was
shown that for higher values of the ratio between uid and pipe mass, the effect of the uid
speed pulsation was to stabilize the hanging position, whereas for low values of the mass ratio
the added pulsation was marginally destabilizing.
An approximate analytical solution for local periodic utter oscillations, based on a fth-
order Taylor expansion of the autonomous equations, was derived. The derived equation
adequately described qualitatively and quantitatively the bifurcation behavior and proved
superior to a third-order model. It was shown that added uid speed pulsation could turn
supercritical bifurcations into subcritical.
188 J. S. Jensen
The global nonlinear behavior of the system was then analyzed using a path-following
algorithm. It was seen how the added pulsation increased the linear stability of the hanging
position, but also that the global stability of the stabilized position was limited due to nearby
repelling unstable solutions and coexisting large-amplitude nonlinear solutions. The global
analysis revealed also the existence of anti-symmetric utter oscillations for low values of the
mass ratio, as well as chaotic motion involving several pipe rotations.
The possibility of using high-frequency excitation for stabilization and design of nonlinear
system with specic properties has further been examined in this present work. The possibility
of stabilizing equilibrium points is an interesting and promising aspect of high-frequency
excitation. Interesting aspects dealing with global stability of several coexisting equilib-
rium points has not been fully exploited in this study, and also the aspect of bi-directional
vibrational forcing deserves further future research.
Appendix: Nonlinear Coefcients
The non-zero components of the vector b
3jkl
are:
b
3111
= 3 +
122
49
g
122
147
u
2
0
+
1
1029
(2015 427)p
2
u
2
0
,
b
3222
=
111
49

82
49
g +
122
147
u
2
0

1
1029
(2015 427)p
2
u
2
0
,
b
3112
=
405
49

291
49
g +
122
49
u
2
0

1
343
(2015 427)p
2
u
2
0
,
b
3122
=
369
49
+
258
49
g
122
49
u
2
0
+
1
343
(2015 427)p
2
u
2
0
,
b
3113
= 3c +
36
49
u
0
, b
3114
=
111
49
c +
25
49
u
0
, b
3223
= 3c +
36
49
u
0
,
b
3224
=
111
49
c +
25
49
u
0
, b
3123
= 6c
72
49
u
0
, b
3124
=
222
49
c
50
49
u
0
,
b
3133
=
9
7
, b
3144
=
6
7
, b
3223
=
9
7
, b
3244
=
6
7
, (A1)
and of b
4jkl
:
b
4111
= 6
246
49
g +
82
49
u
2
0

1
1029
(4608 861)p
2
u
2
0
,
b
4222
=
219
49
+
488
147
g
82
49
u
2
0
+
1
1029
(4608 861)p
2
u
2
0
,
b
4112
=
807
49
+
594
49
g
246
49
u
2
0
+
1
343
(4608 861)p
2
u
2
0
,
b
4122
=
732
49

513
49
g +
246
49
u
2
0

1
343
(4608 861)p
2
u
2
0
,
b
4113
= 6c
75
49
u
0
, b
4114
=
219
49
c
48
49
u
0
, b
4223
= 6c
75
49
u
0
,
Articulated Pipes Conveying Fluid 189
b
4224
=
219
49
c
48
49
u
0
, b
4123
= 12c +
150
49
u
0
, b
4124
=
438
49
c +
96
49
u
0
,
b
3233
=
24
7
, b
3244
=
9
7
, b
4133
=
24
7
, b
4144
=
9
7
. (A2)
The non-zero components of the vector c
3jklmn
are:
c
311111
=
19
4

13549
3430
g +
13549
10290
u
2
0

1
20580
(125957 13549)p
2
u
2
0
,
c
311222
=
27689
686
+
1409
49
g
13549
1029
u
2
0
+
1
2058
(125957 13549)p
2
u
2
0
,
c
311112
=
30953
1372
+
23845
1372
g
13549
2058
u
2
0
+
1
4116
(125957 13549)p
2
u
2
0
,
c
311122
=
29321
686

10723
343
g +
13549
1029
u
2
0

1
2058
(125957 13549)p
2
u
2
0
,
c
312222
=
26057
1372

4652
343
g +
13549
2058
u
2
0

1
4116
(125957 13549)p
2
u
2
0
,
c
322222
=
4885
1372
+
4516
1715
g
13549
10290
u
2
0
+
1
20580
(125957 13549)p
2
u
2
0
,
c
311113
=
19
4
c
408
343
u
0
, c
311114
=
4885
1372
c
3253
4116
u
0
,
c
311223
=
57
2
c
2448
343
u
0
, c
311224
=
14655
686
c
3253
686
u
0
,
c
311123
= 19c +
1632
343
u
0
, c
311124
=
4885
343
c +
3253
1029
u
0
,
c
312223
= 19c +
1632
343
u
0
, c
312224
=
4885
343
c +
3253
1029
u
0
,
c
322223
=
19
4
c
408
343
u
0
, c
322224
=
4885
1372
c
3253
4166
u
0
,
c
311133
=
123
49
, c
311144
=
61
49
, c
311233
=
369
49
,
c
311244
=
183
49
, c
312233
=
369
49
, c
312244
=
183
49
,
c
322233
=
123
49
, c
322244
=
61
49
, (A3)
and of c
4jklmn
:
c
411111
=
19
2
+
13548
1715
g
4516
1715
u
2
0
+
1
3430
(45639 4516)p
2
u
2
0
,
c
411222
=
55411
686

2817
49
g +
9032
343
u
2
0

1
343
(45639 4516)p
2
u
2
0
,
c
411112
=
61917
1372

11916
343
g +
4516
343
u
2
0

1
686
(45639 4516)p
2
u
2
0
,
190 J. S. Jensen
c
411122
=
29332
343
+
21429
343
g
9032
343
u
2
0
+
1
343
(45639 4516)p
2
u
2
0
,
c
412222
=
26079
686
+
37215
1372
g
4516
343
u
2
0
+
1
686
(45639 4516)p
2
u
2
0
,
c
422222
=
9781
1372

27098
5145
g +
4516
1715
u
2
0

1
3430
(45639 4516)p
2
u
2
0
,
c
411113
=
19
2
c +
3523
1372
u
0
, c
411114
=
9781
1372
c +
544
343
u
0
,
c
411223
= 57c +
9759
686
u
0
, c
411224
=
29343
686
c +
3264
343
u
0
,
c
411123
= 38c
3253
343
u
0
, c
411124
=
9781
343
c
2176
343
u
0
,
c
412223
= 38c
3253
343
u
0
, c
412224
=
9781
343
c
2176
343
u
0
,
c
422223
=
19
2
c +
3253
1372
u
0
, c
422224
=
9781
1372
c +
544
343
u
0
,
c
411133
=
244
49
, c
411144
=
123
49
, c
411233
=
732
49
,
c
411244
=
369
49
, c
412233
=
732
49
, c
412244
=
369
49
,
c
422233
=
244
49
, c
422244
=
123
49
. (A4)
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