Marco Amabili

Department of Mechanics
University of Ancona
Ancona 60131, Italy
Bulging Modes of Circular
E-mail: [email protected]
Bottom Plates in Rigid
Cylindrical Containers
Filled with a Liquid

In this article the free vibrations of the bottom plate of an otherwise rigid circular cylindrical
tank filled with liquid are studied, considering only the bulging modes (when the amplitude
of the plate displacement is predominant with respect to that of the free surface). The
tank axis is vertical, thus the free liquid surface is orthogonal to the tank axis. The liquid
is assumed to be inviscid, and the contribution of the free surface waves to the dynamic
pressure on the free liquid surface is neglected. Wet and dry mode shapes of the plate
are assumed to be the same, so that the natural frequencies are obtained by using the
nondimensionalized added virtual mass incremental (NA VMI) factors and the modal
properties ofdry plates. This simplifies computations compared to other existing theoretical
approaches. NAVMI factors express the nondimensionalized ratio between the reference
kinetic energy of the liquid and that of the plate and have the advantage that, due to their
nondimensional form, they can be computed once and for all. Numerical results for
simply supported and clamped bottom plates, as well as for supported plates with an
elastic moment edge constraint are given. For more accurate results, and to exceed the
limits of the assumed modes approach, the Rayleigh-Ritz method is applied and results
are compared to those obtained by using the NAVMI factors and other existing methods
in the literature. © 1997 John Wiley & Sons, Inc.

INTRODUCTION caused by the oscillation of the liquid free surface,

due to the rigid body movement of the container;
The study ofthe free vibrations of circular cylindri- these modes are also affected by the flexibility of
cal tanks has interested many researchers; this is the container. The vibrations of the tank walls
obviously due to the wide application of tanks (bottom plate and shell) take the name of bulging
in mechanical, aeronautical, and civil engineering. modes when the amplitude of the wall displace-
Cylindrical tanks are often composed of a shell and ment is predominant to that of the free surface;
a circular bottom plate. Many studies investigated in this case, the tank walls and base oscillate with
vibrations of the shell and the bottom plate of the liquid. The sloshing modes of circular cylindri-
these containers, and some are reported here. The cal tanks having a flexible bottom and rigid shell
liquid-filled tanks have two families of modes: the wall were studied, for example, by Bleich (1956),
sloshing and the bulging ones. Sloshing modes are Bhuta and Koval (1964a,b), Tong (1967), Siek-

Received September 15, 1995; Accepted August 8, 1996.

Shock and Vibration, Vol. 4, No.1, pp. 51-68 (1997)
© 1997 by John Wiley & Sons, Inc. CCC 1070-9622/97/01051-18

51
52 Amabili

mann and Chang (1968), Bauer and Siekmann give quite complex solutions that must be numeri-
(1969), and Capodanno (1989); other references cally solved for each specific case; therefore, few
are given in Abramson (1966). Both sloshing and numerical results are available, especially for bulg-
bulging axisymmetric modes of the bottom plates ing and asymmetric modes. On the contrary, in
were experimentally and theoretically studied by this work the effects of the free surface waves
Chiba, who also investigated the effect of the static on the dynamic pressure at the free surface, the
deflection due to the fluid weight (Chiba, 1992, superficial tension, and the hydrostatic pressure
1993) and the effect of a Winkler foundation are neglected (Morand and Ohayon, 1992), so that
(Chiba, 1994) on the bottom plate vibrations. the plate vibrations, only considering bulging
Nagaia and Takeuchi (1984) studied plates of arbi- modes, are studied by using a simplified theory.
trary shape in contact with a viscous fluid, and As a consequence, the nondimensionalized added
Nagaia and Nagai (1986) studied circular bottom virtual mass incremental (NAVMI) factor ap-
plates on Winkler foundations in containers filled proach, already successfully used for circular
with viscous fluid. Nonlinear sloshing was studied plates by Kwak and Kim (1991), Kwak (1991),
by Bauer et al. (1971), and nonlinear sloshing and Amabili et al. (1995a,b), and Amabili and Dalpiaz
bulging modes of the bottom circular plate were (1995), is applied so that all numerical computa-
experimentally investigated by Chiba (1992). A tions can be made nondimensional and the natural
circular plate as the surface cover of a rigid circular frequencies of the plate in contact with the liquid
cylindrical tank was studied by Bauer (1995). can be obtained directly from those in a vacuum,
Regarding the shell vibrations, due to the great considering the same plate boundary condition.
amount of literature, we only remember some This is a computational simplification with respect
works of Berry and Reissner (1958), Lindholm to other existing theoretical approaches; more-
et al. (1962), Baron and Skalak (1962), and Kondo over, due to their nondimensional form, NAVMI
(1981), and that of Haroun and Housner (1981) factors can be computed once and for all. The
on the earthquake response of storage tanks. proposed approach is based on the Rayleigh quo-
Bauer and Siekmann (1971) and Bauer et al. tient for coupled vibrations (Zhu, 1994) and on
(1972) studied the sloshing modes of circular cylin- the hypothesis that the dry (in vacuum) and wet
drical containers with both flexible bottom plates (in liquid) mode shapes of the plate are unchanged
and flexible shells. (assumed modes approach); the accuracy of this
It is worth mentioning that the first modem approach is checked by using the Rayleigh-Ritz
day studies on the vibrations of circular plates in method (Zhu, 1995) that removes the restrictive
contact with fluids can be attributed to Rayleigh hypothesis on the wet mode shapes. In particular,
(1877) and Lamb (1921). However, they were in- the wet mode shapes are developed in a series by
terested in plates vibrating in a circular aperture using the dry mode shapes as admissible functions.
of an infinite rigid wall, so that the fluid was unlim- The Rayleigh-Ritz approach allows us to ex-
ited; this is a different problem from that given by ceed the limits of the assumed modes approach,
a cylindrical tank. This is also the case in the works but it retains a remarkable simplicity of computa-
of Kwak (1991), Kwak and Kim (1991), Ginsberg tion, with respect to other analytical techniques
and Chu (1992), and Amabili et al. (1995a,b). already applied to this problem. Moreover, nondi-
In this article attention is focused on the bulging mensional results are very useful for engineering
modes of the flexible bottom plate of an otherwise applications. It is also shown that the results of
rigid circular cylindrical container with a vertical the Rayleigh-Ritz method match very well with
axis and filled with liquid, so that the free surface numerical data available in the literature (Chiba,
of the liquid is orthogonal to the tank axis. The 1993) for bulging modes, obtained by using more
volume occupied by the liquid is cylindrical and complex theories, and thus proving that the very
the liquid velocity potential can be obtained by simple NAVMI factor approach is accurate
using the variable separation. This technique was enough for many engineering applications.
used in the quoted studies to find the velocity
potential of the inviscid liquid for sloshing and
bUlging modes. All these studies which include the THEORETICAL BACKGROUND
effect of the free surface waves of the fluid and,
in some cases, also the effect of the superficial A thin circular plate having the thickness, h, and
tension of the liquid (Bauer and Siekmann, 1971) the mass density, {)p, vibrating in a vacuum, is con-
or the in-plane stress of the plate (Chiba, 1993), sidered. The plate material is assumed to be lin-
 Modes of Bottom Plates in Liquid-Filled Containers 53

early elastic, homogeneous, and isotropic; the ef- constants can be obtained by using the bound-
fects of shear deformation, rotary inertia, and ary conditions.
damping are neglected. The equation of motion The Rayleigh quotient for coupled vibrations
for the transverse displacement, w, of the plate is (Zhu, 1994) is used to evaluate natural frequencies
governed by (Leiss a, 1969) of the plate in contact with the liquid. The original
idea is attributed to Rayleigh (1877) and Lamb
(1921). Hence, we may write the following for
(1)
each case:

where D = Eh3/[12(1 - zl)] is the flexural rigidity

of the plate and 1) and E are Poisson's ratio and
Young's modulus, respectively. In addition, where V p is the maximum potential energy of the
plate and Tt and Tt are the reference kinetic
energies of the plate and the liquid, respectively.
Based on the hypothesis that the wet mode shapes
are equal to the dry mode shapes, natural frequen-
is the Laplace operator in the polar coordinates r cies of free vibration in a liquid, A, can be related
and e. The solution of Eq. (1) is obtained by using to natural frequencies in a vacuum, fv. Thus, the
the variable separation. In the case where bound- following formula is obtained:
ary conditions at the edge are uniform, the solution
takes the following form (Leiss a, 1969):
(8)

w(r, e, t) = L L WmnCr) cos(me)f(t), (3) where gmn is the added virtual mass incremental
m~O n~O

(AVMI) factor. This factor is given by the ratio

where between the reference kinetic energy of the liquid,
whose movement is induced by the vibration of
the structure, and that of the plate

Tt PLa
f(t) = e iwt , (5) gmn = - = f mn - -h, (9)
Tt Pr
in which m and n represent the number of nodal
where fmn is the NAVMI factor and PL is the mass
diameters and circles; Amn and emn are the mode
density of the liquid.
shape constants, whose ratio is determined by the
boundary conditions; J mand 1m are the Bessel func-
tion and the modified Bessel function of the first NA VMI FACTORS
kind; Amn is the frequency parameter, which is also
determined by the boundary conditions; a is the A circular plate is considered to be the flexible
plate's radius; and i is the imaginary unit. The bottom of a rigid circular cylindrical tank filled
frequency parameter Amn is related to the circular with an incompressible and inviscid liquid (see
frequency w of the plate by Fig. 1); the liquid movement, considered as only
caused by the plate vibration, is assumed to be
(6) irrotational. Then, the liquid movement associated
with each mode shape can be described by the
spatial velocity potential, c[>mn, that satisfies the
The values of the modal parameters Amn , A mn , and Laplace equation
Cnm are given by Leissa (1969) for clamped circular
plates, by Leissa and Narita (1980) for simply sup- V2 c[>mn = O. (10)
ported circular plates, and by Amabili and col-
leagues (1995b) for free-edge circular plates; Amn The spatial velocity potential can be written as
for circular plates with elastic edge supports are
computed in Azimi (1988); and the mode shape <l>mll = 1>mll(r, z)cos(me), (11)
54 Amabili

Rigid shell ~

Liquid
H

l'
I a
'( >I
Elastic plate J
FIGURE 1 Liquid-filled tank with the flexible base.

where z is the axial coordinate. Substituting does not exhibit an intrinsic capability to oscillate;
Eq. (11) in Eq. (10), results in thus, the liquid free surface is not subjected to a
restoring force once it has moved, and sloshing
a2cf>mn + ! acf>mn + a2cf>mn _ m 2 cf> =0 (12) modes cannot be studied.
ar2 r ar az 2 r2 mn . The condition of impermeable walls at the
liquid-rigid tank interface for a noncaviting liq-
The free liquid surface condition is described by uid is
the zero dynamic pressure condition at z = H
(Morand and Ohayon, 1992; Zhu, 1994, 1995),
( -acf>mn) =0 (14)
ar r=a '
(13)

where H is the level of the liquid in the container. and the liquid-flexible plate interface is
This boundary condition is obtained neglecting
the contribution of the free surface waves and
superficial tension to the dynamic pressure of the (15)
liquid at z = H. This simplification does not give
significant errors for tanks when only bulging
modes are studied, as is shown in the discussion The solution of Eq. (12) with the condition given
and comparison of numerical results. Studying the by Eq. (13) is, for axisymmetric modes (m = 0),
shell vibrations, Kondo (1981) discussed this phe-
nomenon observing that wave heights of the free
surface for bulging modes of circular cylindrical cPon(r, z) = Kono(z - H) + i KOnkJO (BOk!..)
k=l a
tanks are so small that they almost coincide with
the undisturbed liquid level. The introduced sim-
plification is the same obtained considering zero
gravity (without superficial tension) and does not (16)
constrain the vertical velocity of the liquid. As a
consequence of the hypotheses, the free surface
 Modes of Bottom Plates in Liquid-Filled Containers 55

and for asymmetric (m #- 0) modes is We also introduce the following integral

(Wheelon, 1968)

. [cosh (Cmk-z) - sinh (cmk~) 1 , (17)

a tanh ( Cmk ~) where

where Kmnk are constants. Equations (16) and (17)

can be obtained by those of Bauer and Siekmann
(1971) considering g = (J = 0; these equations must
satisfy all the boundary conditions. Equations (16)
and (17) satisfy the boundary condition (14) if Cmk If we multiply Eq. (19) by (l/a 2) Jm[cmk(r/a)]r and
are solutions of the following equation then we integrate, this yields

(18)

where J ~, is the derivative of the Bessel function

in respect to its argument. The constants Kmnk are
calculated in order to satisfy Eq. (15). For asym-
metric modes we have
Therefore, the constants Kmnk are given by

(19)

(27)

Recalling the orthogonality condition of the

Bessel function (Spiegel, 1974), we have
If one applies the Green's theorem to the har-
monic function <Pmn , the reference kinetic energy
of the liquid can be computed as a boundary inte-
gral (Lamb, 1945; Amabili, 1995):

where Okn is the Kronecker delta and (Xmk is given by

(21)
(28)

Moreover, we have (Wheelon, 1968)

where V is the liquid volume, aV is the boundary

of the volume V, and s is the direction normal to
the boundary oriented inward to the liquid region.
where Due to Eqs. (13) and (14), only the integration
over the plate surface gives a nonzero result; there-
fore, the reference kinetic energy of the liquid is
given by
56 Amabili

For axisymmetric modes (m = 0), the spatial veloc-

ity potential of the liquid is described by Eq. (16);
for these modes, the boundary condition at the
( -a4Jrnn ) 4Jrnn(r, 0)cos2(mO)r dr dO liquid-plate interface, Eq. (15), is satisfied if
az z=O

= ~ PLa 2"'rn I: WrnnCap )4Jmn(ap, O)p dp (29) -Kono

~
+ k=!
LJ KonkJo
(r)
SOk-
SOk
()
a H
a' tanh SOk- (34)
a
1 '"
= -2PLa3"'mL
k=O

The constant Kono is given by

where "'rn = 27T for m = 0 and 7T for m > 0, and
Tt depends on m and n. The reference kinetic
energy of the plate is given by
= -TOn,
Tt = -21 pph fa f21T W~(r)cos2(mO)r drdO
o 0 (30) where (Wheelon, 1968)
_1 h 20
- 4 "'mPP a p mn '

(36)
where

(1 - ~~)
The constants KOnk' for k > 0, are obtained by
OPmn = A;n [J;'2(Arnn) + J;(Amn) ] Eq. (27) computed for m = 0; therefore, for axi-
symmetric modes, the reference kinetic energy of

- C;n [I;'2(Amn ) - (1 + ~J I; (Amn) ]

the liquid is

(31)

(37)

and J;' and I;' are the derivatives of corresponding

and the NAVMI factor is given by
Bessel functions in respect to their arguments.
Then, by using Eq. (9), the A VMI factor is given by
r On -- 2
Opmn
[2H 2
-;; TOn

(38)
(32)

NUMERICAL RESULTS
and the NA VMI factor is
NAVMI factors are computed for circular plates
with different boundary conditions by using
Eqs. (33) and (38) and the software Mathematica
(Wolfram, 1991). Data for simply supported plates
is listed in Table 1 for m :S 4, n :S 3 and for
different liquid depth ratios H/a. NAVMI factors
 Modes of Bottom Plates in Liquid-Filled Containers 57

Table 1. NAVMI Factors for Simply Supported Circular Plates (v = 0.3)

H/a n m = 0 m = 1 m = 2 m = 3 m = 4
0.1 0 0.098391 0.096003 0.093042 0.089681 0.086056
0.1 1 0.092046 0.087819 0.083471 0.079132 0.074892
0.1 2 0.082724 0.077819 0.073163 0.068790 0.064727
0.1 3 0.072629 0.067887 0.063568 0.059637 0.056068
0.3 0 0.27307 0.23771 0.20248 0.17190 0.14705
0.3 1 0.19476 0.16204 0.13689 0.11755 0.10259
0.3 2 0.13502 0.11514 0.099871 0.087934 0.078500
0.3 3 0.099569 0.087473 0.077770 0.069908 0.063503
0.5 0 0.42482 0.32286 0.24346 0.19058 0.15548
0.5 1 0.23908 0.18413 0.14705 0.12208 0.10461
0.5 2 0.14999 0.12355 0.10396 0.089811 0.079350
0.5 3 0.10679 0.091918 0.080024 0.070969 0.063990
0.7 0 0.56892 0.37144 0.25685 0.19423 0.15650
0.7 1 0.26783 0.19397 0.14979 0.12283 0.10482
0.7 2 0.16083 0.12770 0.10516 0.090148 0.079445
0.7 3 0.11258 0.094265 0.080725 0.071168 0.064047
1 0 0.78213 0.40489 0.26173 0.19500 0.15663
1 1 0.30528 0.20035 0.15075 0.12298 0.10485
1 2 0.17605 0.13050 0.10560 0.090219 0.079457
1 3 0.12087 0.095863 0.080979 0.071210 0.064055
2 0 1.4909 0.42224 0.26267 0.19507 0.15664
2 1 0.42649 0.20361 0.15093 0.12299 0.10485
2 2 0.22622 0.13194 0.10568 0.090225 0.079458
2 3 0.14825 0.096689 0.081028 0.071214 0.064055
00 0 0.42270 0.26267 0.19507 0.15664
00 1 0.20370 0.15093 0.12299 0.10485
00 2 0.13198 0.10568 0.090225 0.079458
00 3 0.096711 0.081028 0.071214 0.064055

increase with the ratio H/a and decrease with m suits are reported in Tables 3 and 4 for axisymme-
and n. In particular, the fundamental mode (m = tric and asymmetric modes, respectively, and were
oand n = 0) presents a high value of the NAVMI obtained by using the modal parameters given in
factor for H/a ?: 1, due to the movement of the Azimi (1988). The full range 0 (simply supported
liquid center of mass during vibrations; on the plate) + 00 (clamped plate) of the stiffness K t
contrary, no change of the center of mass height was studied.
is verified for mode shapes having m > O. The
limit NAVMI factors, when H/a goes to infinity,
are given for asymmetric modes. These limit val- IMPROVED SOLUTION:
ues cannot be obtained for axisymmetric modes RA YLEIGH-RITZ METHOD
by using the assumed modes approach but can be
obtained by the Rayleigh-Ritz method. A similar The Rayleigh-Ritz method (Meirovitch, 1986) is
behavior is shown in Table 2, where the data for applied to eliminate the restrictive hypothesis that
clamped plates is reported; however, the factor dry and wet modes have the same shape. All the
for the fundamental mode is lower in this case in other hypotheses, previously introduced, are re-
respect to simply supported plates. NAVMI fac- tained. The wet mode shapes W, by using the un-
tors for axisymmetric modes are also plotted in known parameters qn and the admissible functions
Fig. 2. The case of supported plates with a constant W mn , can be described by
elastic moment constraint at the edge is studied
for different torsional distributed stiffness K t
W(r, 0) = cos(mO) 2: qn Wmn(r),
00

(39)
[moment/unit length] values; this constraint simu- n=O
lates well the plate boundary condition when this
plate is welded to a circular cylindrical shell. Re- where Wmn is given by Eq. (4). To simplify the
58 Amabili

Table 2. NAVMI Factors for Clamped Circular Plates

H/a n m = 0 m = 1 m = 2 m = 3 m = 4
0.1 0 0.097822 0.094943 0.091566 0.087876 0.084007
0.1 1 0.090596 0.086083 0.081542 0.077109 0.072837
0.1 2 0.080858 0.075921 0.071285 0.066976 0.063004
0.1 3 0.070826 0.066204 0.062016 0.058206 0.054765
0.3 0 0.25929 0.21971 0.18523 0.15710 0.13489
0.3 1 0.18245 0.15304 0.12983 0.11178 0.097757
0.3 2 0.13033 0.11226 0.097624 0.085924 0.076620
0.3 3 0.098648 0.087184 0.077504 0.069479 0.062925
0.5 0 0.38260 0.28372 0.21504 0.17050 0.14089
0.5 1 0.22690 0.17674 0.14079 0.11662 0.099885
0.5 2 0.15041 0.12404 0.10333 0.088506 0.077769
0.5 3 0.11001 0.094289 0.081074 0.071131 0.063672
0.7 0 0.49286 0.31845 0.22438 0.17302 0.14159
0.7 1 0.26282 0.18911 0.14414 0.11751 Q.10013
0.7 2 0.16724 0.13042 0.10514 0.088997 0.077905
0.7 3 0.11974 0.098195 0.082219 0.071450 0.063761
1 0 0.65320 0.34209 0.22775 0.17354 0.14168
1 1 0.31406 0.19750 0.14535 0.11770 0.10016
1 2 0.19151 0.13478 0.10579 0.089101 0.077923
1 3 0.13381 0.10087 0.082635 0.071517 0.063773
2 0 1.1844 0.35431 0.22840 0.17359 0.14168
2 1 0.48321 0.20184 0.14558 0.11771 0.10016
2 2 0.27178 0.13703 0.10592 0.089110 0.077923
2 3 0.18037 0.10225 0.082715 0.071523 0.063773
00 0 0.35463 0.22840 0.17359 0.14168
00 1 0.20195 0.14558 0.11771 0.10016
00 2 0.13709 0.10592 0.089110 0.077923
00 3 0.10229 0.082715 0.071523 0.063773

computations, the mode shape constants, Amn and functions; in fact, dry mode shapes are quite simi-
emn , are normalized to have lar to wet mode shapes. The trial functions Wmn
are linearly independent and constitute a com-
(40) plete set.
The spatial distribution of the velocity potential
of the liquid, <P, calculated at the liquid-plate in-
The result of quadrature of Eq. (40) is [see terface (z = 0), is given by
Wheelon eqs. 11.106, 33.10, and 31.101 (1968)]
<P(r, e,O) = ¢(r,O)cos(me), (42)

where

L qn¢mn(r, 0).
00

¢(r, 0) = (43)
11=0

Using the principle of superposition, considering

that the plate deflection is given by the sum of
Eq. (39), and Eq. (43), the function ¢ at the liquid-
plate interface is given by the following sum:
00 00

In Eq. (39) the eigenfunctions of the plate vibrat-

ing in a vacuum are assumed to be admissible
¢(ap, O) = L qn L KmllkJm(SmkP)'
n~O k~O
(44)
 Modes of Bottom Plates in Liquid-Filled Containers 59

0.7 r----------------------,

0.6 ~
I:~::I
0.5
1-:-
--.-nn =2\
=3

0
... 0.4
U
.e
~

z~ 0.3

0.2

0.1

o ~----~----~-----~----~
o 0.5 1.5 2
H/a

FIGURE 2 NAVMI factors for axisymmetric modes (m = 0) of clamped circular plates.

The reference kinetic energy of the liquid is expression for the reference kinetic energy of the
given by liquid for asymmetric modes is obtained:

1 PL f2u
Tt = - -2
a
fa
a az Fa
(a<p) <P(r, 0) r dr d8. (45)
(46)
+ Cm/Ymjk).
Using the boundary condition at the liquid-plate The reference kinetic energy of the liquid for axi-
interface (a<plaz)z=a = - W(r, 8), the following symmetric modes (m = 0) is then given by

Table 3. NAVMI Factors for Supported Circular Plates with Elastic Moment Edge Constraint, Axisymmetric
Modes (m = 0), and v = 0.3
Hla n K,aID ~ 00 K,aID = 100 K,aID = 10 K,aID = 1 K,aID ~ 0
0.1 0 0.097822 0.097864 0.098086 0.098340 0.098391
0.1 1 0.090596 0.090770 0.091474 0.091964 0.092046
0.3 0 0.25929 0.26013 0.26484 0.27139 0.27307
0.3 1 0.18245 0.18415 0.19084 0.19447 0.19476
0.5 0 0.38260 0.38508 0.39915 0.41943 0.42482
0.5 1 0.22690 0.22970 0.23939 0.24036 0.23908
0.7 0 0.49285 0.49726 0.52239 0.55906 0.56892
0.7 1 0.26282 0.26632 0.27663 0.27157 0.26783
1 0 0.65319 0.66061 0.70300 0.76528 0.78213
1 1 0.31406 0.31840 0.32864 0.31311 0.30528
2 0 1.1844 1.2019 1.3022 1.4506 1.4909
2 1 0.48321 0.49028 0.49953 0.44818 0.42649
60 Amabili

Table 4. NAVMI Factors for Supported Circular Plates with Elastic Moment Edge Constraint, Asymmetric
Modes with No Internal Circular Nodes (n = 0), and v = 0.3
Hla m K,alD -'? 00 K,alD = 100 K,alD = 10 K,alD = 1 K,alD -'? 0
0.1 1 0.094943 0.095038 0.095490 0.095921 0.096003
0.1 2 0.091567 0.091722 0.092392 0.092942 0.093043
0.3 1 0.21971 0.22112 0.22818 0.23598 0.23771
0.3 2 0.18523 0.18686 0.19426 0.20112 0.20249
0.5 1 0.28372 0.28671 0.30189 0.31901 0.32286
0.5 2 0.21504 0.21769 0.22980 0.24116 0.24346
0.7 1 0.31845 0.32247 0.34295 0.36620 0.37144
0.7 2 0.22438 0.22740 0.24346 0.25422 0.25685
1 1 0.34209 0.34684 0.37108 0.39866 0.40489
1 2 0.22775 0.23090 0.24536 0.25898 0.26173
2 1 0.35432 0.35944 0.38564 0.41549 0.42224
2 2 0.22840 0.23158 0.24616 0.25989 0.26267

(51)
1
Tt = 2PLa2l/Jrn~ ~ qnqj
00 00 [

2 H'Ton'TOj
(47) U sing the introduced notation, the kinetic energy

+ ~ KOnk(Aoj/3 ojk + CO/YOjk) ]. of the liquid is given by

(52)
The reference kinetic energy of the plate, using
the normalization introduced in Eq. (40) and the
orthogonality of the dry mode shapes, is given by where the N X N symmetric NAVMI matrix ML
for asymmetric modes (m 2: 1) is introduced
(48)

The maximum potential energy of the system, con-

sidering an incompressible liquid, coincides with (53)
that of the plate and can be computed as a sum
of the reference kinetic energies of the dry eigen-
functions, i,j=O,l, ... ,N-l,

(49) for symmetric modes (m = 0) it is defined by

To perform numerical computations for each fixed

m value, only a finite number N of terms must
be considered in all the previous sums. To this (54)
purpose, the vector q of the unknown parameters
is introduced
i,j = 0, 1, . . . , N - 1.

q=
(
ql
qo 1 . (50)
The NA VMI matrix describes the inertial effect
of the liquid on the modes. Therefore, this is the
extension of the NAVMI factor to the Rayleigh-
q~-l Ritz approach. Moreover, the NA VMI factors are
the diagonal elements of the NA VMI matrix.
To make the formulas more compact, the follow- Similar to Eq. (52), the reference kinetic energy
ing constant is also given: of the plate is obtained
 Modes of Bottom Plates in Liquid-Filled Containers 61

,1
T p = 2: apphq- .q,
TT
(55)
80

where I is the N X N identity matrix. Then, the 60

maximum potential energy of the plate takes the
C 40
following expression:

-
n=1
20
(56)
n-Q
0
where P is the N X N diagonal matrix given by 0 5 10 15 20

Jl
(57)
FIGURE 3 The wet frequency parameters n for axi-
and Oij is the Kronecker delta. In order to find symmetric modes (m = 0) of clamped plates having a
natural frequencies and wet mode shapes of the ratio H/a = 0.5, as a function of the density-thickness
correction factor JL. Curves relative to the first three
plate vibrating in contact with the liquid, the Ray-
axisymmetric modes.
leigh quotient for coupled vibration in an inviscid
and incompressible liquid (Zhu, 1994) is used.
Minimizing the Rayleigh quotient with respect to
the unknown parameters qn, one gets (Wolfram, 1991) computer program. The compu-
tation of the NAVMI matrix ML is performed
by using Eq. (53) for asymmetric modes and
~ Pq -
a
A2(p p hl + PLaMdq = 0, (58) Eq. (54) for axisymmetric modes. Due to the
nondimensional form of these equations and the
where A is the circular frequency of the wet plate. number of nodal diameters m once fixed, ML
Equation (58) is a Galerkin equation and gives an depends only on the plate boundary conditions
eigenvalue problem. It would be convenient to at the edge, on the ratio Hla, and on the Poisson
introduce the following non dimensional constants: ratio v; clamped plates are independent from v.
The numerical results for three different cases
a4 are reported here; these results are also used as
fP=A2-ph
D P , (59) a testing bench for the assumed modes approach.
The NAVMI matrix for axisymmetric modes (m
= 0) of clamped plates having a ratio Hla =
(60)
0.5 is

nand JL are called the wet frequency parameter

and the density-thickness correction factor, re-
o~==========~~====~
spectively. Then, Eq. (58) can be written in the
following nondimensional form: -0.5
dP -1
Pq - fP(1 + JLMdq = O. (61) 1-1-1. 5

It is interesting to see that, if the NA VMI matrix

81-1 -2
ML is diagonal, the system ofEq. (61) is uncoupled; fil-2.5
in this case, the approximate solutions given in the -3
previous section become exact.
o 5 10 15 20

DISCUSSION AND COMPARISON OF jl

NUMERICAL RESULTS FIGURE 4 The percentage errors of the NAVMI fac-

tor solution in respect to the Rayleigh-Ritz results as
The numerical solution to the Galerkin equation, a function of JL for clamped plates. Axisymmetric modes
Eq. (61), is obtained by using the Mathematica (m = 0) and H/a = 0.5.
62 Amabili

0.38260 -0.072123 0.052138 -0.040194 0.032578 -0.027353

-0.072123 0.22690 -0.053876 0.042747 -0.035069 0.029613
0.052138 -0.053876 0.15041 -0.036409 0.030367 -0.025878
(62)
-0.040194 0.042747 -0.036409 0.11001 -0.025847 0.022253
0.032578 -0.035069 0.030367 -0.025847 0.085817 -0.019282
-0.027353 0.029613 -0.025878 0.022253 -0.019282 0.069921

The NAVMI matrix for axisymmetric modes (m = 0) of clamped plates having a ratio H/a = 2 is

1.1844 -0.51803 0.35960 -0.27439 0.22161 -0.18580

-0.51803 0.48321 -0.23007 0.17693 -0.14337 0.12039
0.35960 -0.23007 0.27178 -0.12882 0.10495 -0.088390
(63)
-0.27439 0.17693 -0.12882 0.18037 -0.082638 0.069854
0.22161 -0.14337 0.10495 -0.082638 0.13165 -0.057701
-0.18580 0.12039 -0.088390 0.069854 -0.057701 0.10212

The NAVMI matrix for modes with a nodal diameter (m = 1) of clamped plates having a ratio H/a =
2 is

0.35432 -0.09636 0.071934 -0.056968 0.047049 -0.040039

-0.09636 0.20184 -0.057211 0.046136 -0.038442 0.032866
0.071934 -0.057211 0.13703 -0.037619 0.031698 -0.027282
(64)
-0.056968 0.046136 -0.037619 0.10225 -0.026719 0.023162
0.047049 -0.038442 0.031698 -0.026719 0.080907 -0.020026
-0.040039 0.032866 -0.027282 0.023162 -0.020026 0.066598

Six terms in the series expansion of mode shapes trary, the importance of the off-diagonal elements
are used in the cases presented; this choice allows decrease with m, as verified comparing Eqs. (63)
a good evaluation of the first three eigenvalues and (64).
(Meirovitch, 1986). Observing Eqs. (62)-(64), one Figure 3 shows the wet frequency parameters
can find that the NAVMI factors previously com- n for axisymmetric modes (m = 0) of clamped
puted are the diagonal elements of the NAVMI plates for H/a = 0.5 as function of the density-
matrices. Moreover, the off-diagonal elements can thickness correction factor fL. Curves relative to
be positive or negative, but generally have a the first three axisymmetric modes are given. The
smaller absolute value than the diagonal elements; circular frequency of this plate is obtained by using
exceptions are obtained in Eq. (63), where the Eq. (59) and Fig. 3. The percentage errors that
axisymmetric modes of a clamped plate having a one commits by using the NA VMI factor solution,
ratio H/a = 2 are considered. It is clear that the instead of the Rayleigh-Ritz solution, is plotted
matrix in Eq. (62), relative to clamped circular in Fig. 4 for this plate as function of fL. It is very
plates with a ratio H/a = 0.5, is more diagonal interesting to note that the fundamental mode is
than the others reported in Eqs. (63) and (64). In accurately estimated by the NA VMI factor solu-
fact, an increment of the off-diagonal elements tion and that the error increases with the number
with the ratio H/a can be observed; on the con- of nodal circles and with fL. In Figs. 5 and 6 the
 Modes of Bottom Plates in Liquid-Filled Containers 63

120r-----------------------~

20 ___ n=O
'--- n=O ------~~~----------
____~____~____~____~
o~================~
O~

o 5 10 15 20 o 5 10 15 20

J.l

FIGURE 5 The wet frequency parameters n for axi- FIGURE 7 The wet frequency parameters n for
symmetric modes (m = 0) of clamped plates having a modes with a nodal diameter (m = 1) of clamped plates
ratio H/a = 2, as a function of the density-thickness having a ratio H/a = 2, as a function of the density-
correction factor /L. Curves relative to the first three thickness correction factor 11-. Curves relative to the first
axisymmetric modes. three modes.

modes having nodal diameters, the percentage er-

wet frequency parameters n and the percentage rors decrease with m.
errors are given for axisymmetric modes (m = 0) The wet mode shapes are investigated by using
of clamped plates for Hla = 2. These figures are Eq. (61); data relative to the three is reported. In
given in order to understand the changes due to Fig. 9 the dry and wet mode shapes are plotted
the different ratio of Hla; it is clearly an increment along a radius for axisymmetric modes of clamped
of the percentage errors that are maximum for plates with Hla = 0.5 and J1, = 10. Modes with up
modes having one nodal circle (n = 1). In Figs. 7 to two nodal circles are considered. It is clear that,
and 8 the wet frequency parameters n and the as for the natural frequency, the mode shape of
percentage errors are plotted for modes with one the fundamental mode (m = 0; n = 0) shows
nodal diameter (m = 1) of clamped plates with a little change. Similar results are given in Fig. 10
ratio Hla = 2. It is interesting to observe that the for axisymmetric modes of clamped plates with
frequency error for all modes and for all the J1, Hla = 2 and J1, = 10 and in Fig. 11 for modes
values are lower in this case with respect to the with one nodal diameter of clamped plates with
one shown in Fig. 6; therefore, as well as the off- Hla = 2 and J1, = lO.
diagonal elements becoming less important for The results of the NA VMI factor approach

0
0

-5 -1
@ @

-10
~

-2
H H
0
H 2 -3
H
[il
-15 H
[il
-4
-5

0 5 10 15 20 0 5 10 15 20

J.l J.l
FIGURE 6 The percentage errors of the NA VMI fac- FIGURE 8 The percentage errors of the NA VMI fac-
tor solution in respect to the Rayleigh-Ritz results as tor solution in respect to the Rayleigh-Ritz results as
a function of /L for clamped plates. Axisymmetric modes a function of /L for clamped plates. Modes with a nodal
(m = 0) and H/a = 2. diameter (m = 1) and H/a = 2.
64 Amabili

'0 0.2
Ql

.~ O~--------~.---~.-----~~--------~~~~
rl
cO
~ -0.2
o
Z -0.4
o 0.2 0.4 0.6 0.8 1

r
FIGURE 9 Comparison of (---) dry and (-) wet modes for clamped plates; axisymmetric
modes (m = 0) and H/a = 0.5.

and Rayleigh-Ritz methods are compared to first three axisymmetric modes of the plate inves-
those given by Chiba (1993) for bulging modes tigated by Chiba (1993) are compared to the
of a clamped circular bottom plate, where both results obtained by using both the simple NA VMI
the effects of the free surface waves on the factor approach and the Rayleigh-Ritz method.
dynamic pressure and the in-plane stress of the It is clear that the results of the Rayleigh-Ritz
plate are considered. Results of Chiba (1993) method always match very well with Chiba's
are dimensional and refer to a steel plate having results (see Fig. 12), confirming that the applied
radius a = 0.144 m, thickness h = 0.002 m, free surface condition (zero dynamic pressure at
Young's modulus E = 206 Gpa, Poisson ratio Z = H) is correct when one is studying bulging
v = 0.25, mass density pp = 7850 kg m- 3 in modes. Moreover, the simple NAVMI factor
contact with water, having PL = 1000 kg m- 3• approach gives quite good results, especially for
In Fig. 12 the natural frequencies (Hz) of the the fundamental mode and for small values of

1
.\.l
>=:
~ 0.8
Ql
o 0.6
cO
rl
0..
Ul 0.4
•.-1
'0
'0 0.2
Ql
.~ o~--------~--~~~----~~---------=~~
rl
~ -0.2
So-!

~ -0.4
o 0.2 0.4 0.6 0.8 1

FIGURE 10 Comparison of (---) dry and (-) wet modes for clamped plates; axisymmetric
modes (m = 0) and H/a = 2.
 Modes of Bottom Plates in Liquid-Filled Containers 65

.j..J
1
~
(])
S 0_75
(])
u
(\j
..-!
0.5
0.
!Jl
•..-l 0.25
'0
'0
(]) O~--------~--~\-~t-------~I
N
•..-l
';;j-0.25
eo -0.5
:z;

o 0.2 0.4 0.6 0.8 1

r
FIGURE 11 Comparison of (---) dry and (-) wet modes for clamped plates; modes with
a nodal diameter (m = 1) and H/a = 2.

the ratio H/a; in fact, it was previously found D = Eh3/[12(1 - v 2 )], flexural rigidity
that, when the ratio H/a increases, the accuracy E Young's modulus of the plate ma-
of the NAVMI factor approach decreases. terial
Iv natural frequency in a vacuum (Hz)
CONCLUSIONS A natural frequency of the plate in con-
tact with the liquid (Hz)
h plate thickness
The proposed approach to the problem has the H level of the liquid
advantage that the natural frequencies are quickly m number of nodal diameters
obtained by using the NAVMI factors and the n number of nodal circles
modal properties of dry plates. The NAVMI fac- r radial coordinate
tors are listed for application to engineering and
t time
design; to this end, some common constraints at
Tt reference kinetic energy of the liquid
the plate edge are studied. In spite of the computa-
tional simplicity, the present approach gives good
T: reference kinetic energy of the plate
Vp maximum potential energy of the
results, especially for the fundamental mode
plate
(m = 0 and n = 0) or modes without nodal circles
= w(r, (), t), deflection of the plate
(n = 0), and for values ofthe ratio H/a ~ 1; with.in
= Wmn(r), radial mode shape function
the aforestated range, mode shapes havmg no CIr-
coordinate along the tank axis
cular nodes present nearly equal wet and dry mode
added virtual mass incremental
shapes, so that the assumed mode approach gives
(AVMI) factor
nearly exact natural frequencies.
nondimensionalized added virtual
When more accurate results are necessary, the
mass incremental (NA VMI) factor
Rayleigh-Ritz method, which retains a relative
() angular coordinate
computation simplicity and gives nondimensio?al
results, can be used. This method for bulgmg plate frequency parameter
modes gives results nearly equal with those ob- circular frequency of the wet plate
tained by using more complex theories. density-thickness correction factor
Poisson ratio
spatial velocity potential of the liquid
NOMENCLATURE in the plane () = 0
<Pmn spatial velocity potential of the liquid
plate radius PL mass density of the liquid
mode shape constants pp mass density of the plate material
66 Amabili

N'
.....
:1:
>-
(,,)
c:
Q)
::I

....e
0-

~
::I 1000
1iS
z

H/a
.
FIGURE 12 Comparison of natural frequencies obtained by using different theories as a
function of the ratio H/a. (D) NAVMI factors approach; (e) Rayleigh-Ritz method; (-)
results of Chiba (1993).

circular frequency of the plate (rad/s) Fluid-Filled Circular Cylindrical Tank: Axisymmetric
frequency parameter of the wet plate Modes of the Elastic Bottom Plate," Proceedings of
Laplace operator the International Forum on Aeroelasticity and Struc-
= V2~72, iterated Laplace operator
tural Dynamics, Vol. 1, June 26-28, Manchester, UK,
pp. 38.1-38.8.
Amabili, M., Dalpiaz, G., and Santolini, c., 1995a,
"Free-Edge Circular Plates Vibrating in Water,"
Modal Analysis: The International Journal of Analyti-
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