Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
A Project Report
Submitted in partial fulfilment of the
requirements for the Degree of
Master of Engineering
in
Faculty of Engineering
by
I would like to express thanks and gratitude to my guide and mentor Prof. V. R Sonti
who gave me the opportunity to work on this challenging topic. His dedication, patience
and scholarly advice has been the foundation of this piece of work. His ideas in times of
troubleshooting and systematic approach has been really helpful.
My time at IISc has been a memorable and learning experience mainly because of the em-
inent professors at Mechanical Engineering department. They have been a constant source
of inspiration. I am grateful to Institutes facilities specially, J. R. D. Tata Memorial Library,
Space Technology Cell-ISRO liaison office. I am indebted to my organization Vikram Sarab-
hai Space Centre/Indian Space Research Organization for providing me this opportunity
to study at IISc. A special thanks to Mr. V Eswaran, Project Director and my team at
S200/PRSO/VSSC/ISRO, without their support this would not have been possible.
Last, but not the least, I wish to thank my family and friends at IISc for their motivation
and support.
1
Abstract
2
Contents
Acknowledgements 1
Abstract 2
3
List of Tables
4
List of Figures
4.1 Sketch of a typical coffee plant, flowers and fruit(From a drawing by Ch.
Emonts in [17]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.2 Sketch of a white stem coffee borer insect [2] . . . . . . . . . . . . . . . . . . 19
5
Part I
1
Chapter 1
Introduction
Acoustic waves in fluids coupled to structural objects such as membranes, plates or solids
have important applications in many engineering fields such as . The compression waves in
acoustic medium interact with the structure at the boundary transferring energy into the
structure. The level of interaction is a function of (1) geometry of the structure,(2)density
of fluid and structure and (3) frequency of imposing forcing function. In this report we will
attempt to obtain a closed form relationship for a cylindrical shell-cavity coupled system.
Even though approximate, a closed form solution provides valuable insights regarding the
extent of coupling on individual mode shapes of the panel-cavity and energy transfer from
the structure to acoustic media.
2
was presented by Leissa[19].
In the present study, a general semi-analytical compact matrix solution similar to the
work of Kim & Brennan and Jain on the basis of linear 3D theory of elasticity attempted
which covers different cases of finite length hollow cylinders for simply supported condition.
Comparing with the previously developed solutions, this method will enable better under-
standing of the mode-by-mode interaction between the cylinder-cavity modes and natural
frequencies.
1.2 Theory
In this paper, the classical theory[3, 18] is modified to present the structural-acoustic cou-
pling of a cylindrical shell and cavity. The basic theory of impedance-mobility is presented
in this section and the same is extended to cylinderical shell in subsequent sections. We have
mobility-impedance relations as:
Structural system
u 1 Q 1
Ys = ; Zs = ; Ya = ; Za = (1.1)
F Ys p Ya
Zca = S 2 Za ; Ycs = S 2 Ys
The cavity pressure pr (x, ω) at any point x can be represented as a weighted sum of its
rigid wall modes shape function ψn (x). Similarly, the panel velocity ur (y, ω) at any point y
can be expressed as a weighted sum of its in vacuo modes shape function φm (y).
N
X
T
pr (x, ω) = ψn (x)an (ω) = a (1.2)
n=1
M
X
ur (y, ω) = φm (y)bm (ω) = ŒT b (1.3)
m=1
Using the impedance and mobility approach, the final compact matric result obtained[18]
is given in equation 2.23 and 2.24 where the matrices Ys ,Za and C represent the structural
mobility, acoustic impedance and geometric coupling matrices respectively. If we analyse
the equation 2.24, the term Za (q + CYs g) represents the response of weakly coupled system
to forcing functions q or g. The first factor (I + Za CYs CT )−1 represents the coupling
term and the presence of inverse operation makes the evaluation of a closed form solution
3
difficult. Kim & Brennan approaches this with a numerical approach, thus obtain solution
for an identified configuration.
Recently, this difficulty in evaluating a closed form solution to this problem was revisited
by Jain and utilising Sherman Morrison formula for block matrices, a closed form solution
for light and medium fluid loading was obtained.
4
Chapter 2
2.1 Description
A hollow thin cylinder of length L is considered to be simply supported at its ends. Presently
we consider the end covers are rigid and the longitudinal force due to integral of acoustic
pressure over end covers is not considered in this section. The pressure perturbations and
the dispacements are considered to be small so that linear acoustic wave equation can be
used. Love’s simplified shell theory is used for the equations of equilibrium of the shell.
First, the matrices Ys ,Za and C needs to be evaluated for the cylindrical shell system in
order to apply the compact matrix formulation as described for the panel system.
5
2.2 Formulation
The advantage of the formulation used by Kim and Brennan is the response of the rigid
walled acoustic system and the in vacuo structural system are required to be solved for
arriving at the coupled response.
mπx
Uxm (x, θ) = cos cos n(θ − φ) (2.1)
L
mπx
Uθm (x, θ) = sin sin n(θ − φ) (2.2)
L
mπx
U3m (x, θ) = sin cos n(θ − φ) (2.3)
L
Equations of motion for a simply supported shell as per Soedel is expressed as:
ρ hω 2 − k1,1 k1,2 k1,3
Ã(ω) qx
k2,1 ρ hω 2 − k2,2 k2,3 × B̃(ω) = qθ (2.4)
C̃(ω) q3
k3,1 k3,2 ρ hω 2 − k3,3
where Ã(ω), B̃(ω), C̃(ω) are the modal participation factors and the values of ki,j are
given in Appendix.
Solving the homogenous form of 2.4 i.e qi = 0 we obtain the natural frequency of the
shell. The shell transverse mode has the lowest natural frequency. Considering only the
transverse displacement for analysis,mth modal force for q3 is given by,
Z 2π Z L
1
Fm = q3 (x, θ)U3m (x, θ)adxdθ (2.5)
ρhNm 0 0
Z 2π Z L
2 2 2
Nm = (Uxm + Uθm + U3m )adxdθ
0 0
6
Since |U3m |>> |Uxm |, |Uθm |,
Z 2π Z L
2
Nm ≈ Uxm adxdθ
0 0
Z 2π Z L
Fm 1
C̃m (ω) = 2 2
⇒ C̃m (ω) = 2
q3 U3m adxdθ (2.6)
(ωsh,m − ω ) ρhNm (ωsh,m − ω 2 ) 0 0
Total in vacuo response is obtained by using 2.8 in 2.3. For a point load of magnitude
F acting at (x = xf ,θ = θf ), q3 = F δ(xf )δ(θf ) and the structural mobility for mth mode is
obtained by
C̃m (ω)U3m (x∗ , θ∗ )
Ysm (ω) = jω (2.7)
F
where (x∗ , θ∗ ) represents the location of response measurement on the shell. Thus trans-
verse velocity response of any pont on the shell due to the forcing function q3 (x, θ) is given
by, !
Z 2π Z L
jω
um (x, θ, ω) = 2
q3 U3m adxdθ U3m (x, θ) (2.8)
ρhNm (ωsh,m − ω2) 0 0
In compact matrix formulation used by Kim and Brennan, the mobility matrix for struc-
ture and impedance matrix of the acoustic medium are fragmented so as to obtain a system
of matrices which are easier to solve.
1
[Ys ]ij = B̃i δij (2.9)
ρhS
∂
−∇p + ρbf = ρ u (2.11)
∂t
7
The continuity relation for a source with strength density s = Q̇/V is given by
∂ρ
+ ∇(ρ.u) = ρs (2.12)
∂t
∂ρ ρ
= 2 (2.13)
∂p c0
Using equation 2.11,2.12 and 2.13 we obtain the following relation after eliminating u
∂ 2p ∂
2
− c20 ∇2 p = c20 (ρs) − c20 ∇.(ρbf ) (2.14)
∂t ∂t
As we neglect gravity, the body force term bf = 0.Using the modal representation of
∂
pressure from 1.2 and ∂t (ρs) = jωρs we obtain,
N
X
(−ai ω 2 ψi − c20 ai ∇2 ψi ) = jωρc20 s (2.15)
i=1
PN
Multiplying both sides with r=1 ψr and integrating over the volume we get,
N X
X N Z Z N
X Z
2 2 2 2
ai ω ψi ψg dV + c0 (∇ ψi )ψg dV = − ρc0 jω sψg dV (2.16)
i=1 g=1 V V g=1 V
R
Now, the modeshapes are orthogonal and normalised. So V ψi ψg dV = V for i = g and
0 otherwise. ∇2 ψi = (−k.k)ψi in k domain. k.k = kmnr
2
where kmnr represents the acoustic
wave number corrosponding to (m, n, r) rigid-wall acoustic mode. Using c20 kmnr = ωmnr ,
th
N X
X N N
X Z
2
ai δig V ω − ωmnr = − ρc20 jω sψg dV (2.17)
i=1 g=1 g=1 V
ρc20
Z
jω
ag = sψg dV (2.18)
V (ωmnr − ω 2 ) V
ρc20 jω
Here the terms V (ωmnr −ω 2 )
is used to construct the acoustic impedance matrix Za .
jω
Ãi = 2
(ωac,i − ω2)
8
Impedance matrix is constructed as [18]
ρ0 c20
[Za ]ij = Ãi δij (2.19)
V
The cylindrical fluid filled rigid walled cavity has the boundary condition of zero velocity
at 1)u(x, θ, r = a) = 0, 2)u(0, θ, r) = 0 and 3)u(L, θ, r) = 0. Using these conditions and the
fact that the pressure is finite at r=0, we get the mode shape as,
N
X
p(r, θ, ω) = ψ(r, θ, m)an (ω) (2.21)
n=1
M
X
u(x, θ, ω) = U3m (x, θ)bm (ω) (2.22)
m=1
Here for the coupled system we need to evaluate an and bm corrosponding to the acoustic
and structural responses respectively. The matrix
Z Z
[C]nm = ψn U3m dS
represents the geometric coupling between the uncoupled structural and acoustic mode shape
functions on the cylinder-fluid interface. The solution is given as
b = (I + Ys CT Za C)−1 Ys (q − CT Za g) (2.24)
In the equations 2.23 and 2.24, we see that when Za CYs C T and Ys C T Za C are small, the
response is weakly coupled.
9
" #" # " #
In,n Za C a Za g
= (2.25)
Ys CT Im,m b Ys q
Using the block matrix algebra for the equation 2.25 we obtain the relation for natural
frequency of the system as,
Det(Im,m + Ys CT Za C) = 0 (2.26)
The equation 2.26 can be further simplified using matrix determinant lemma after factori-
sation of Ys CT Za C into groups of two column vector to yield closed form solutions. This is
mainly possible due to the diagonal nature of Ys and Za matrices.
Using matrix determinant lemma and Sherman Morrison matrix inverse results,
N
X
T T
[IMxM + Ys C Za C] = IMxM + um vm (2.28)
m=1
1 jΩ
[um ]i = 2
Cm,i (2.29)
ρp hS ωsh,i − Ω2
ρa c20
[vm ]i = Am Cm,i (2.30)
V
10
1
Ai = ;i = 1
( t1a
− jΩ)
jΩ
= 2 ; i 6= 1 (2.31)
(ωac,i − Ω2 )
N
X N
Y
T
Det[IMxM + um vm ]= (1 + uT
m vm ) (2.32)
m=1 m=1
Let Tm be defined as
Tm = (1 + uT
m vm ) (2.33)
Expanding the (1 + uT
m vm ) term we obtain the general expression for Tm term;
M
X ρa c20 jΩAm
Tm = 1 + 2 2
(Cm,i )2 (2.34)
i=1
ρ p hSV ωsh,i − Ω
jΩAm
Tm = 1 + y 2 2
(Cm,m )2 (2.35)
ωsh,m −Ω
For m = 1 and ta = ∞,
C1,1 2 y
T1 = 1 + (2.36)
ωsh,1 2 − ω 2
For m 6= 1 and ta = ∞,
ω 2 Cm,m 2 y
Tm = 1 − (2.37)
(ωa,m 2 − ω 2 ) (ωsh,m 2 − ω 2 )
Since the assumed fluid loading is light, the perturbed frequency will be close to the uncou-
pled plate frequency H. Substituting ω = 2π(H + δ) in equations 2.36 and using T1 = 0, we
11
obtain,
4 H 2 π 2 − C1,1 2 y − ωsh,1 2 + 8 Hπ 2 δ + O δ 2 = 0
(2.38)
1 4 H 2 π 2 − C1,1 2 y − ωsh,1 2
δ1 = − (2.39)
8 Hπ 2
4π 2 (H + δ)2 Cm,m 2 y
1− =0 (2.40)
−4 π 2 (H + δ)2 + ωac,m 2 −4 π 2 (H + δ)2 + ωp,m 2
The expression obtained in equation 2.42 represents the perturbation of natural frequency
of the shell mode for a light fluid loading case corresponding to a diagonal structure-acoustic
coupling matrix.
For the case of non diagonal C matrix, the product of uTm vm will yield more than one term.
Thus the perturbed solution has to be obtained starting from the most significant term. One
expanding equation 2.32 we get,
N M
Y X ρa c20 jΩ 2
1+ 2
A C
2 m m,i
=0 (2.43)
m=1 i=1
ρp hSV ωsh,i − Ω
12
Chapter 3
For the configuration of plate as given in the paper under case 1 (L1=0.5,L2=0.4,L3=0.3,h=0.005),
the coupling matrix is obtained as;
0.1621 0.0 0.0 0.0
0.0 0.1528 0.0 0.0
C=
(3.1)
0.0 0.0 0.1528 0.0
0.0 0.0 0.0 0.1441
Using the relations obtained under equation 2.42 we get the perturbation(without iterating
the solution) for the panel modes as;
13
Table 3.2: Perturbed cavity modes for case 1.
Mode no Uncoupled δm (Hz) Coupled cavity
cavity frequency(Hz)
frequency(Hz)
1.0 0.0 - -
2.0 340.0 2.0 342.0
3.0 425.0 1.9 426.9
4.0 544.3 2.6 546.8
For the configuration of plate as given in the paper under case 1 (L1=0.5,L2=0.4,L3=0.3,h=0.005)
and fluid density of 20kgm−3 the solution need to be obtained by iterative procedure. For
obtaining the perturbed solution, we substitute Ω = H + δ where H = ωp,i for obtaining
the perturbed solution about ith panel mode. If the obtained δ is more than 0.1, the δ value
is added to H and the procedure is repeated to find δ again. Finally we get the coupled
frequency as given in table below.
Table 3.3: Perturbed panel modes for case 1(moderate fluid loading).
Mode no Uncoupled Total δm (Hz) Coupled panel
panel frequency(Hz)
frequency(Hz)
1.0 124.6 32.9 157.5
2.0 270.6 - 22.0 248.6
3.0 352.6 - 22.5 330.1
4.0 498.6 - 33.2 465.4
Table 3.4: Perturbed cavity modes for case 1(moderate fluid loading ρa = 20kgm−3 ).
Mode no Uncoupled δm (Hz) Coupled cavity
cavity frequency(Hz)
frequency(Hz)
2.0 340.0 367.9 367.9
3.0 425.0 450.8 450.8
4.0 544.3 575.7 575.7
14
3.1.1 For non-diagonal C matrix
For the case of non diagonal C matrix, the product of uTm vm will yield more than one term.
Thus the perturbed solution has to be obtained starting from the most significant term. One
expanding equation 2.32 we get,
N M
Y X ρa c20 jΩ 2
1+ 2
Am Cm,i = 0 (3.2)
m=1
ρ hSV ωp,i
i=1 p
− Ω2
The natural frequency of the panel and cavity system is as given under,
Interaction between the panel modes and cavity modes is found out by taking the panel
freqency corrosponding to a mode and considering the effect of only term in equation 3.2.
The uncoupled structural modes constitutes a set of independent eigen vectors. Different
structural modes interact through the acoustic fluid term.
15
Table 3.6: Perturbed natural frequency(Hz) of the panel modes for light fluid loading case).
Table 3.7: Change in natural frequency(Hz) of the panel modes for light fluid loading case).
Table 3.8: Perturbed in natural frequency(Hz) of the panel modes for light fluid loading
case).
Coupled B1(140.5) B2(156.7) B3(183.7) B4(221.6)
mode
(A1+B1) 142.0 156.7 184.0 221.6
(A2+B2) 140.5 159.1 183.7 221.9
(A3+B3) 140.3 156.7 182.2 221.6
(A4+B4) 140.5 156.6 183.7 221.1
Table 3.9: Change in natural frequency(Hz) of the panel modes for light fluid loading case).
16
Part II
17
Chapter 4
Infinite Cylinder
4.1 Introduction
Coffee plantation was introduced in 18th century by British entrepreneurs in forest terrain
of southern India. Ever since, Indian coffee industry has earned a distinct identity and has
been exporting worldwide. Coffee white stem borer, Xylotrechus quadripes, is a serious pest
of arabica coffee causing a yield loss up to 40 per cent in all coffee growing areas of India. It
has a habit of boring through the stems of coffee plants in plantations causing yield losses.
Because the larvae damages the plant while being hidden inside the wooden stems, its control
becomes extremely difficult.[2].
The insect is a blackish brown coloured beetle measuring about 2 cm in size with three
pairs of white stripes running obliquely across the wings. Alternate host plants of this beetle
include rose sandal wood, teak etc. The larvae enters the hard wood and burrows up to the
roots. Infested plants show yellowing and wilting of leaves, presence of ridges on the stem,
wilting of branches and occasional drying.
A typical sketch of the coffee tree and white stem coffee borer insect is given below [17]
in figures 4.1 and 4.2.
A typical coffee stem bark has a diameter of 0.15m and the insect bores are approximately
5mm in diameter.
4.2 Scope
The present work is focused on working out a scheme for non-destructive evaluation of health
of the coffee plant trunk. So to built up the understanding of the problem we will restrict
18
Figure 4.1: Sketch of a typical coffee plant, flowers and fruit(From a drawing by Ch. Emonts
in [17])
• Develop a simplified elastic model of the coffee tree trunk and study the vibration and
scattering response of the model.
19
On the other hand, scattering of layered cylinders has been studied by Flax[4]. A method for
obtaining resonance scatter spectrum is presented for a fluid filled layered elastic cylinder.
Honarvar and Sinclair [11] studied the acoustics plane wave scattering for a circular clad
tube. In more recent studies by Hasheminejad et. al.[7, 8, 9] studies on isotropic eccentric
fluid filled cylinders have been attempted.
4.4 Formulation
We consider a simplified case of the hollow cylinder vibroacoustic problem with the following
assumptions
• plane stress condition is assumed for a normal incident plane wave on the cylindrical
surface.
u = ∇φ + ∇ × ψ (4.2)
Where φ(r, θ, z) represents the scalar potential field and ψ(r, theta, z) represents the
vector potential field with condition ∇.ψ = 0. Now the three components of ψ are not
20
really independent after enforcing the non-dilation condition and thus can be expressed as
two independent components[10]. In case of symmetry about r−θ plane, the vector potential
can be further simplified to a single component vector ψ =< 0, 0, ψ >. This model has been
used to study layered cylinder due to the simplification in the equations for the symmetric
loading case[7, 4]. In this report, the displacement field used is,
u = ∇φ + ∇ × (ψez ) (4.3)
∂ 2u
(λ + µ)∇(∇.u) + ∇2 u = ρ (4.4)
∂t2
where ρ represents the density of the solid and u represents the displacement field. Taking the
divergence and curl(separately) we obtain two equation representing the P-wave(dilatation)
and S-wave(distortion) respectively as given below as two separate Helmholtz equation for
harmonic loading case in equation 4.5.
Solving these equations we get the solution for cylindrical geometry symmetric loading
about θ = 0 case;
∞
X
φ= (Bn Jn (kp r) + Cn Jn (kp r))cos(nθ) (4.6)
n=0
∞
X
ψ= (Dn Jn (ks r) + En Jn (ks r))sin(nθ)
n=0
• For solid cylinder case, the Bessel function of second kind coefficient should be zero for
21
rendering the displacement field finite.
∞
X
φ= (Fn Jn (kp r))cos(nθ) (4.7)
n=0
X∞
ψ= (Gn Jn (ks r))sin(nθ)
n=0
In case of a hollow cylinder there are two interfaces where we need to match the
following boundary conditions;
(1) (2) (1) (2)
– The displacements at the boundary are continuous i.e ur = ur and uθ = uθ
(1) (2) (1) (2)
– The stresse at the boundary are equal, i.e σrr = σrr and σrθ = σrθ
22
Bibliography
[3] EH Dowell and HM Voss. The effect of a cavity on panel vibration, 1963.
[4] Lawrence Flax and Werner G Neubauer. Acoustic reflection from layered elastic ab-
sorptive cylinders. The Journal of the Acoustical Society of America, 61(2):307–312,
1977.
[6] Karl F Graff. Wave motion in elastic solids. Dover Publications,New York, 1991.
[7] Seyyed M Hasheminejad and Siavash Kazemirad. Dynamic viscoelastic effects on sound
wave scattering by an eccentric compound circular cylinder. Journal of Sound and
Vibration, 318(3):506–526, 2008.
[10] F Honarvar and AN Sinclair. Acoustic wave scattering from transversely isotropic
cylinders. The Journal of the Acoustical Society of America, 100(1):57–63, 1996.
23
[11] F Honarvar and AN Sinclair. Scattering of an obliquely incident plane wave from a
circular clad rod. The Journal of the Acoustical Society of America, 102(1):41–48, 1997.
[13] James R Hutchinson. Axisymmetric vibrations of a free finite-length rod. The Journal
of the Acoustical Society of America, 51(1B):233–240, 1972.
[15] JR Hutchinson and SA El-Azhari. Vibrations of free hollow circular cylinders. Journal
of Applied mechanics, 53(3):641–646, 1986.
[16] N.K Jain. A study of the resonances and modes of a vibrating panel backed by an
acoustic cavity:a matrix approach. Master’s thesis, Indian Institute of Science, 2015.
[18] SM Kim and MJ Brennan. A compact matrix formulation using the impedance and
mobility approach for the analysis of structural-acoustic systems. Journal of Sound and
Vibration, 223(1):97–113, 1999.
[19] Arthur W Leissa and Jinyoung So. Accurate vibration frequencies of circular cylinders
from three-dimensional analysis. The Journal of the Acoustical Society of America,
98(4):2136–2141, 1995.
[20] Tai-bao Li and Mitsuhiro Ueda. Sound scattering of a plane wave obliquely incident on
a cylinder. The Journal of the Acoustical Society of America, 86(6):2363–2368, 1989.
[21] Philip McCord Morse and K Uno Ingard. Theoretical acoustics. Princeton university
press, 1968.
[22] AJ Pretlove. Free vibrations of a rectangular panel backed by a closed rectangular cavity
by a closed rectangular cavity. Journal of Sound and Vibration, 2(3):197–209, 1965.
24
[24] AJ Pretlove and A Craggs. A simple approach to coupled panel-cavity vibrations.
Journal of Sound and Vibration, 11(2):207–215, 1970.
[26] Werner Soedel. Vibrations of shells and plates. CRC Press, 2004.
25