ARCHIVES OF CIVIL AND MECHANICAL ENGINEERING

Vol. XI

2011

No. 3

A hydraulic cylinder subjected to Eulers load

in aspect of the stability and free vibrations
taking into account discrete elastic elements
L. TOMSKI, S. UZNY
Czstochowa University of Technology, ul. Dbrowskiego 73, 42-201 Czstochowa, Poland.
Theoretical and numerical research into the stability and free vibrations of a slender system in the
form of a hydraulic cylinder subjected to Eulers load was carried out in this paper. The rigidities in the
constructional nods realising the load of the considered system were taken into account in the system.
Both rotational and translational springs were applied to the loading nods. Regions of the flexural rigidity
asymmetry factor for the piston rod and cylinder, where the system is subject to damage as a result of stability loss, were determined in the frame of numerical research into the hydraulic cylinder. In this paper
critical load and characteristic curves were also determined in the plane: loadnatural frequency. These
two quantities were determined for different parameters of the system: the flexural rigidity asymmetry
factor for the piston rod and cylinder, the degree of coverage of cylinder, the rigidities of the rotational
and translational springs, and the total rigidity factor of the system.
Keywords: hydraulic cylinder, free vibrations, stability, slender system, Euler load

1. Introduction
Hydraulic cylinders were considered in works [3][15]. Lech Tomski has deviced two
basic computational models applied to hydraulic cylinders. The first model presented in
[11] is related to a hydraulic cylinder as a slender system. This model is used in research
into transverse free vibrations and static stability. The discussed model was applied in
[12], [8], [9], [3], [15] to the domain of transverse free vibrations and static stability, while
in [4], [5], [15] it was applied in research into parametrical free vibrations and dynamic
stability. The second computational model, presented in [10], is related to a hydraulic
cylinder as a stocky system. This model is used in research into the free and forced
vibrations taking place in a longitudinal direction (comp. [13], [14], [6], [7]). In the mentioned literature, the hydraulic cylinder is subjected to a compressive Eulers load. The
piston rod of the cylinder is most often built of only one element. However, a hydraulic
cylinder with a piston rod which is built of two elements of different flexural rigidity was
considered in [8], [3]. In this case, non-linear theory of moderately large deflections was
applied to formulate the boundary problem. The pressure of the liquid in the piston rod of
cylinder is also important in research into hydraulic cylinders as it has a direct effect on its
strength. L. Tomski in publications [11], [12] presented changes in stress in the piston rod

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L. TOMSKI, S. UZNY

along all its length on the basis of Lames solution (the piston rod of the cylinder was
treated as a double extra strong pipe). The computational model, proposed by L. Tomski
and applied in research into transverse vibrations and stability (hydraulic cylinder as
a slender system), was experimentally verified in works [9], [2]. The experimental
research relied on frequency analysis (the natural frequency was measured for different
values of the external load). The conducted experimental research verified the accuracy of
the assumed computational model.

2. Formulation of the boundary problem

In this paper, the hydraulic cylinder is considered as a slender system. A mathematical
model is assumed according to work [11]. The considered hydraulic system presented in
Figure 1a consists of two basic elements: the cylinder and the piston rod. Both the cylinder
and the piston rod were divided into two parts to build the mathematical model (Figure 1b). The cylinder is modelled by elements denoted as 11 and 12 in Figure 1b while the
piston rod is modelled by elements denoted as 21 and 22. In the considered model of the
hydraulic cylinder, the rigidity of the loading nods was taken into account. The rotational
rigidity of the loading nods at both ends of the hydraulic cylinder (springs with
rigidities C0 and C1) and the translational rigidity at one end of the hydraulic cylinder (at
the end of the piston fixing) (spring with rigidity C) were also considered.

Fig. 1. Diagram of the considered hydraulic cylinder: a) constructional solution, b) mathematical model

A hydraulic cylinder subjected to Eulers load in aspect of the stability and free vibrations...

771

The boundary problem of the hydraulic cylinder was formulated in a classic way
on the basis of Hamiltons principle:
t2

(T V ) dt = 0,

(1)

t1

where:
T and V kinetic and potential energy, respectively,
t time.
The buckling of a thick-wall cylinder ending with a piston, affected by the axial
force which generated liquid pressure, is equivalent to the buckling of a rod subjected
to a compressive external load. However in the same work conditions for the cylinder
and rod (identical rigidities, the same method of fixing and identical axial forces), the
cylinder can undergo damage as a result of the material effort and not due to stability
loss. There is a different state of stress in the cylinder produced by the liquid pressure.
Only a hydraulic cylinder which undergoes damage due to a stability loss is tested in
this work
Potential energy V is written in the form:

1
V=
2

lij

(EJ )

1
P
2

ij

i =1 j =1
2

l2 j

j =1 0

) dx
2

2Wij xij , t

xij2
0

W2 j x2 j , t

x2 j

ij

2
W11 (x11 , t )
+
+

x11

l11

1 W (x , t ) x 22 = l 22 1
1 W11 (x11 , t )
+ C (W (l , t ))2 .
+ C 22 22
C0
22 22
2
2 1
2
x

x11
22
x11 = 0

(2)

Kinetic energy T is defined by the following equation:

l

T=

( ) dx

ij
Wij xij , t
1 2 2

(
)

ij
2 i =1 j =1
t
0

ij

11
1
( A)C W11 (x11, t ) dx11 +
2
t

x =l
1 W ( x , t ) 22 22
+ m 11 11
,

t
2

where:

(3)

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L. TOMSKI, S. UZNY

Wij(xij, t) transversal displacement of the individual elements of the hydraulic cylinder defined by coordinate xij,
(EJ)ij the flexural rigidity of the individual elements of the hydraulic cylinder,
( A)ij mass per unit length of the individual elements of the hydraulic cylinder,
( A)C mass of liquid per unit length of the cylinder.
In the general case of the hydraulic cylinder (the hydraulic cylinder shown in Figure 1) only one geometrical boundary condition is present at x11 = 0:

W11 (0, t ) = 0.

(4)

Geometrical continuity conditions which occur between adequate elements of the

system (between elements (Figure 1): 1112, 111221, 2122, 122122) are as follows:
W11 (x11 , t )
x11

x11 =l11

W12 (x12 , t )
,
x12
x12 = 0

(5a)

W11 (l11 , t ) = W12 (0, t ) = W21 (0, t ),

W21 (x21 , t )
x21

x12 =l21

(5b)

W22 (x22 , t )
,
x22
x22 = 0

W12 (l12 , t ) = W21 (l21 , t ) = W22 (0, t ).

(5c)
(5d)

Taking into account the potential energy (2) and kinetic energy (3) and geometrical
boundary condition (4) as well as the geometrical continuity conditions (5) in Hamiltons principle (1) the following were obtained:
the differential equations of motion of the individual elements of the hydraulic
cylinder:

( )+k

4Wij xij , t
xij4

2
ij

i, j = 1, 2,

xij2

ij

( ) = 0,

2Wij xij , t
t 2

(6)

where:
k112 =

( )+

2Wij xij , t

(EJ )11

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773

k122 = 0,
2
k 21
=

P
,
(EJ )21

2
k 22
=

P
,
(EJ )22

( A)11 + ( A)C
,
(EJ )11
( A)12
12 =
,
(EJ )11
( A)21 ,
21 =
(EJ )21
( A)22 .
22 =
(EJ )22

11 =

natural boundary conditions at x11 = 0 and at x22 = l22

2
(EJ )11 W11 (2x11 , t )

x11

C0

(EJ )22

(EJ )22

3W22 (x22 , t )
3
x22

2W22 (x22 , t )
m
t 2

= 0,

(7)

11 = 0

x11 = 0

2W22 (x22 , t )
2
x22

W11 (x11 , t )
x11
x

x22 =l 22

W (x , t )
+ C1 22 22
x22

x22 = l 22

W (x , t )
+ P 22 22
x22

x22 =l22

x22 =l22

= 0,

(8)

CW22 (l22 , t )

x22 =l22

= 0,

(9)

natural continuity conditions between adequate elements of the system (between

elements (Figure 1): 1112, 111221, 2122, 122122):
2W11 (x11 , t )
(EJ )11
2
x11

x11 = l11

+ (EJ )12

2W12 (x12 , t )
= 0,
2
x12
x12 =0

(10a)

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L. TOMSKI, S. UZNY

(EJ )21

2W21 (x21 , t )
2
x21

3
(EJ )11 W11 (3x11 , t )
x11

W (x , t )
+ P 11 11
x11

x11 =l11

x11 =l11

3
(EJ )12 W12 (3x12 , t )
x12

(EJ )22

x21 =l21

x12 =l12

+ (EJ )22

(EJ )12

2W22 (x22 , t )
= 0,
2
x22
x22 =0

(10b)

3W12 (x12 , t )
3W21 (x21 , t )
(
)

+
EJ
21
3
3
x21
x12
x12 =0
x21 =0

W21 (x21 , t )
= 0,
x21
x21 =0

3W21 (x21 , t )
+ (EJ )21
3
x21

(10c)
x21 =l21

3W22 (x22 , t )
= 0.
3
x22
x22 =0

(10d)

The harmonic solutions to differential Equations (6) are assumed in the form:

( )

Wij xij , t = Yij xij cos( t ),

(11)

where is the natural frequency.

Taking into account formula (11) in Equations (6) one can obtain differential equations which must be fulfilled for the length range of the individual elements of the hydraulic cylinder xij (0, lij) at every moment of time t. These new differential equations (after separation of variables) together with the boundary conditions after taking
into account (11) form the boundary problem concerning free vibrations.

3. The solution of the boundary problem

Natural frequencies in dependence on the parameters of the system (including
dependences on the external load) can be determined on the basis of the formulated
boundary problem. In this paper the kinetic criterion of stability is used to determine
the critical load of the system (stability problem). On the basis of the kinetic criterion
of stability, the critical force of the system corresponds to the first zero natural frequency (the considered system is a divergence system).
The solutions to the differential equations obtained after separation of the variables
can be written in the form:

( )

Yij xij = Aij cosh ij xij + Bij sinh ij xij + Cij cos ij xij + Dij sin ij xij ,

(12)

A hydraulic cylinder subjected to Eulers load in aspect of the stability and free vibrations...

775

where:

ij =
ij =

kij2
2

kij2

kij4
4
kij4

+ 2 ij ,

+ 2 ij .

2
4
By substituting solution (12) into the boundary conditions after separation of the
variables, a system of homogeneous equations is obtained:

[amn ]{Aij , Bij , Cij , Dij }= 0,

i, j = 1, 2;

m, n = 1, 2, , 16.

(13)

The matrix determinant of coefficients, equated to zero, is the transcendental

equation, from which the consecutive natural frequencies of the system are
determined:
amn = 0.

(14)

4. Stability
The results of numerical simulations concerning the stability problem are
presented in this part of the paper. Numerical research was carried out for different
parameters of the considered hydraulic cylinders, such as the flexural rigidity
asymmetry factor for the piston rod and cylinder a, the degree of coverage A, and
the total rigidity factor of the system . It was also assumed that the piston rod and
the cylinder are made of the same material. Parameters a, A, are defined by the
following equations:

a =

(EJ )21 ,
(EJ )11

(15a)

A =

l12
,
l11 + l12

(15b)

(EJ )S ,
(EJ )odn

where:
(EJ)S is the rigidity of the hydraulic cylinder, (EJ)S = (EJ)11 + (EJ)21,
(EJ)odn is the reference rigidity.

(15c)

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L. TOMSKI, S. UZNY

Rigidity (EJ)odn has only a comparative character. In this work, rigidity (EJ)odn is
equal to the rigidity of the system built from a pipe (cross-section of the pipe Ar,
geometrical axial moment of inertia of the pipe Jr) and a middle rod (cross-section of
the rod Ap, geometrical axial moment of inertia of the rod Jp), (EJ)odn = E(Jr + Jp).
Diameters: dzr exterior of the pipe, dwr interior of the pipe, dp the rod is evaluated
on the basis of a modified equation for slenderness:
imin =

Jr + J p
Ar + Ap

w (l11 + l12 )
s gr

(16)

where:
imin minimal radius of the gyration of the intersection,
sgr limiting slenderness ratio of material of the hydraulic cylinder,
w buckling coefficient. The value of the buckling coefficient was assumed as
w = 1 (which corresponds to the hinged fixed system). For computations of
diameters: dzr, dwr, dp it was additionally assumed that Jp/Jr = 0.15 and dp/dwr = 0.8.
In this paper, only hydraulic cylinders which undergo damage as a result of a loss
of stability and not due to material effort were considered. The part of cylinder filled
with liquid is especially at risk of damage due to material effort. A dangerous excess
of stress in this part of cylinder is caused by liquid pressure. The boundary value of
the flexural rigidity asymmetry factor gr, where the way in which the damage to the
hydraulic cylinder is changing, should be determined assuming the constant flexural
rigidity of the hydraulic cylinder (EJ)S. The damage to the hydraulic cylinder is a result of a stability loss at the coefficient a (0, gr (this region of coefficient a is
considered in this paper). The damage to the hydraulic cylinder is a result of material
effort at the value of coefficient a > gr. The theory of a double extra strong pipe
(Lam theory (compare 0,0, 0,0)) was applied to the computations of stresses in the
part of cylinder which is at risk of liquid pressure action.
In Figures 26, the dependence of the boundary value of the flexural rigidity asymmetry factor gr on the system parameters is presented, while in Figures 25, the dependence of the boundary value of factor gr on the degree of coverage of the hydraulic cylinder A is shown.
Numerical computations were carried out for different values of total rigidity of the
system (EJ)S, determined on the basis of coefficient and reference rigidity (EJ)odn.
Due to the construction it was assumed that the value of the degree of coverage of the
hydraulic cylinder A was changing in the range A 0.1, 0.9 (thick fragments of the
curves). Identical lengths of the cylinder and the piston (l11 + l12 = l21 + l22) were taken
into account in the numerical computations. The diagrams in Figure 2 were made for
the rigidity values c1 = c0 = 0.5, while the diagrams in Figure 3 were made for the rigidity values c1 = c0 = 2.5.

A hydraulic cylinder subjected to Eulers load in aspect of the stability and free vibrations...

777

Fig. 2. The boundary value of the flexural rigidity asymmetry factor gr in dependence
on the degree of coverage of the hydraulic cylinder A for different values of coefficient
( = 0.1, 0.2, 0.3, 0.4, 0.6, 0.8, 1.0) and for c1 = c0 = 0.5 and 1/c = 0

Fig. 3. The boundary value of the flexural rigidity asymmetry factor gr in dependence
on the degree of coverage of the hydraulic cylinder A for different values of coefficient
( = 0.1, 0.2, 0.3, 0.4, 0.6, 0.8, 1.0) and for c1 = c0 = 2.5 and 1/c = 0

The dimensionless parameters of the rigidity of the springs were defined as follows:

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c0 =

L. TOMSKI, S. UZNY

C0 (l11 + l12 )
,
(EJ )S

c1 =

C1 (l11 + l12 )
,
(EJ )S

c=

C (l11 + l12 ) 3
.
(EJ )S

(17)

Fig. 4. The boundary value of the flexural rigidity asymmetry factor gr in dependence on the degree
of coverage of the hydraulic cylinder A for different values of rigidities
of the rotational springs c0 and c1 (c1 = c0 = 0, 0.1, 0.25, 0.5, 0.75, 1.25, 2.5) and for = 0.07 and 1/c = 0

Fig. 5. The boundary value of the flexural rigidity asymmetry factor gr in dependence on the degree
of coverage of the hydraulic cylinder A for different values of rigidities of rotational springs c0 and c1
(c1 = c0 = 0, 0.1, 0.25, 0.5, 0.75, 1.25, 2.5) and for = 0.9 and 1/c = 0

A hydraulic cylinder subjected to Eulers load in aspect of the stability and free vibrations...

779

Fig. 6. The boundary value of the flexural rigidity asymmetry factor gr in dependence on the degree
of coverage of the hydraulic cylinder A for different values of rigidities of rotational springs c0 and c1
(c1 = c0 = 0, 0.1, 0.25, 0.5, 0.75, 1.25, 2.5) and for A = 0.5 and 1/c = 0

In Figures 4 and 5 the change in factor gr in dependence on the degree of coverage

of the hydraulic cylinder A is shown. In this case, the numerical computations were
carried out for different values of the rigidities of the rotational springs (and equality
of rigidity c0 = c1 was assumed). The following values of the parameter ( = 0.07
Figure 4 and = 0.9 Figure 5) were also assumed. In Figure 6, factor gr in dependence on parameter , describing rigidity of hydraulic cylinder ( (0, 1)) is presented.
It was also assumed that the degree of coverage is equal to A = 0.5. The numerical
computations were carried out for different values of the rigidities of the rotational
springs c0 and c1. All the numerical computations carried out in this work were made
at equality of rigidities of springs c0 = c1 and at an infinite rigidity of the translational
spring supporting the system x22 = l22 (1/c = 0). At a given value of coefficient , the
rigidity of hydraulic cylinder does not undergo changes independently of the values of
the remaining parameters including the flexural rigidity asymmetry factor of the piston
rod and cylinder a. On the basis of the conducted numerical simulations it was stated
that the rotational rigidity of the loading nods influences the change in the method of
damage to the system (damage as a result of cylinder material effort or as a result of
stability loss). A decrease in the rigidity of the rotational springs leads to an increase
in the value of factor gr, and so the range of factor a (a (0, gr) where the system
undergoes damage due to stability loss. The coefficient of system rigidity and the
degree of coverage of the hydraulic cylinder A also has an influence on the value gr.
Together with an increase in the system rigidity (an increase in the value of coefficient
) the value of factor gr decreases.

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L. TOMSKI, S. UZNY

Fig. 7. The value of the dimensionless parameter of a critical force cr in dependence on the degree
of coverage of the hydraulic cylinder A for the chosen values of parameter
and for c1 = c0 = 0.1, 1/c = 0 as well as = 0.5

Fig. 8. The value of the dimensionless parameter of a critical force cr in dependence on the degree
of coverage of the hydraulic cylinder A for the chosen values of parameter
and for c1 = c0 = 2.5, 1/c = 0 as well as = 0.5

In Figures 7 and 8, the dimensionless parameter of a critical load cr in dependence

on the degree of coverage A for chosen values of parameter ( = 0.1, 0.2, 0.3, 0.4,

A hydraulic cylinder subjected to Eulers load in aspect of the stability and free vibrations...

781

0.5, 0.6, 0.7, 0.8, 0.9) and = 0.5, 1/c = 0 are presented. Computations were carried
out for c0 = c1 = 0.1 (Figure 7) and for c0 = c1 = 2.5 (Figure 8). Parameters cr and
were defined in the following way:

cr =

Pcr (l11 + l12 )

,
(EJ )S
2

(18a)

a
.
gr

(18b)

Parameter was introduced to determine the range of factor a, where the system
undergoes damage due to stability loss.

5. Free vibrations
In respect of the problem of vibrations, the characteristic curves in the plane: the
dimensionless parameter of the load the dimensionless parameter of the first frequency of free vibrations , were presented. Parameters i were defined as follows:
P(l + l )
= 11 12 ,
(EJ )S
2

2 (( A)11 + ( A)12 )(l11 + l12 )4

(EJ )S

(19a)

(19b)

Numerical computations concerning free vibrations were carried out for hydraulic
cylinders which undergo damage due to stability loss (the value of parameter is in
the range 0.1, 0.9).
In Figures 9 and 10, the characteristic curves of the first frequency of the free
vibrations of the considered hydraulic cylinders are presented for different values of
parameter A and for = 0.5, = 0.5. The following rigidities of the rotational springs
were assumed c0 = c1 = 0.25 (Figure 9) and c0 = c1 = 2.5 (Figure 10).
In Figures 11 and 12, the characteristic curves were plotted for different values of
parameter and for c0 = c1 = 0.25, = 0.5, A = 0.2 (Figure 11), A = 0.8 (Figure 12).
All the curves presented in the plane: load natural frequency are characterised by
a negative slope over the whole tested range of external load.

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L. TOMSKI, S. UZNY

Fig. 9. The characteristic curves in the plane: parameter of the load parameter of the first frequency
of free vibrations for different values of the degree of coverage A ( A = 0.1 0.9) and for = 0.5,
= 0.5, c1 = c0 = 0.25 and 1/c = 0

Fig. 10. The characteristic curves in the plane: parameter of the load parameter of the first frequency
of free vibrations for different values of the degree of coverage A ( A = 0.1 0.9) and for = 0.5,
= 0.5, c1 = c0 = 2.5 and 1/c = 0

A hydraulic cylinder subjected to Eulers load in aspect of the stability and free vibrations...

783

Fig. 11. The characteristic curves in the plane: parameter of the load parameter of the first frequency
of free vibrations for different values of the parameter ( = 0.1 0.9)
and for A = 0.2, = 0.5, c1 = c0 = 0.25 and 1/c= 0

Fig. 12. The characteristic curves in the plane: parameter of the load parameter of the first frequency
of free vibrations for different values of the parameter ( = 0.1 0.9)
and for A = 0.8, = 0.5, c1 = c0 = 0.25 and 1/c= 0

6. Summary
The boundary problem applied to the free vibrations of a hydraulic cylinder, taking
into account discrete elements in the form of rotational springs and a translational
spring, is formulated in the paper. Rotational springs are present at both ends of the

784

L. TOMSKI, S. UZNY

hydraulic cylinder. The translational spring is present at only one end of the hydraulic
cylinder at the piston rod. The hydraulic cylinder was subjected to a compressive
Eulers load. On the basis of the kinetic criterion of stability, the critical load and the
boundary value of the flexural rigidity asymmetry factor were determined. The boundary value of the flexural rigidity asymmetry factor gr separates two regions. In the
first region a (0, gr the system undergoes damage due to a loss of stability, while
in the second region a ( gr, the system undergoes damage due to material effort.
The theory of a double extra strong pipe (Lam theory) was applied to determine
stresses in the part of cylinder filled with liquid. The characteristic curves in the plane:
load natural frequency, were plotted in the case of free vibrations. Numerical computations were carried out for different parameters of the system, namely: the flexural
rigidity asymmetry factor of the piston rod and the cylinder, the total rigidity factor of
the system and the degree of coverage of hydraulic cylinder.
Acknowledgement
The study has been carried out within Research Project No. N N501 117236 and with statutory funds BS-1-101-302-99/P awarded by the Ministry of Science and Higher Education.
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A hydraulic cylinder subjected to Eulers load in aspect of the stability and free vibrations...

785

[9] Tomski L., Uzny S.: Stateczno i drgania swobodne siownika hydraulicznego sprycie
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Siownik hydrauliczny poddany obcieniu Eulera w aspekcie statecznoci
i drga wasnych z uwzgldnieniem dyskretnych elementw sprystych
W niniejszej pracy przeprowadzono badania teoretyczne i numeryczne dotyczce statecznoci i drga wasnych smukego ukadu w postaci siownika hydraulicznego, ktry poddano
obcieniu Eulera. W ukadzie uwzgldniono sztywnoci w wzach konstrukcyjnych realizujcych obcienie rozwaanego ukadu. W wzach obciajcych zastosowano spryny rotacyjne jak i translacyjne. W ramach bada numerycznych siownika hydraulicznego okrelono
obszary wspczynnika asymetrii sztywnoci na zginanie toczyska i cylindra, przy ktrych
ukad ulega zniszczeniu w wyniku utraty statecznoci. W pracy wyznaczono rwnie obcienie krytyczne oraz krzywe charakterystyczne na paszczynie obcienieczsto drga wasnych. Te dwie wielkoci wyznaczono przy rnych wartociach parametrw ukadu, do
ktrych zalicza si wspczynnik asymetrii sztywnoci na zginanie toczyska i cylindra, stopie
przekrycia siownika, sztywnoci spryn rotacyjnych i translacyjnej oraz wspczynnik cakowitej sztywnoci ukadu.