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143
Rayleigh-Type Waves in a Water-Saturated Porous Half-Space with an Elastic Plate on Its Surface
RYSZARD STAROSZCZYK
Institute of Hydroengineering, Polish Academy of Sciences, ul. Waryhskiego 17, 71-310 Szczecin, Poland
(Received: 26 June 1991; in final form: 25 July 1991)
Abstract. The paper deals with the plane problem of steady-state time harmonic vibrations of an infinite elastic plate resting on a water-saturated porous solid. The displacements of the plate are described by
means of the linear theory of small elastic oscillations. The motion of the two-phase medium is studied within the framework of Biot's linear theory of consolidation. The main interest is focused on the investigation of properties of the Rayleigh-type waves propagating alongside of the contact surface between the plate and the porous half-space. In particular, the dependence of the phase velocity and attenuation of the waves on the plate stiffness, mass coupling coefficient, and degree of saturation of the medium is studied. Besides, for the limiting case of an infinitely thin plate, the comparison of the wave characteristics is carried out with those of the pure Rayleigh waves.
Key words. Elastic plate, half-space, surface wave, wave propagation.
1. Introduction
The problem of the propagation of Rayleigh surface waves in a porous, water saturated half-space has been studied by several authors. Jones (1961) derived a secular equation of the problem under certain simplifications: the inertia coupling between the pore fluid and solid skeleton was neglected and Darcy's coefficient was assumed to be independent of frequency. For the case of nonviscid fluid, the conditions of existence of the surface waves were also discussed. Deresiewicz (1962) investigated the problem mentioned by applying Biot's (1956) field equations for a porous medium in their full form. Derived irrational dispersion equation turned out to be of the seventh degree, with complex coefficients being a function of dimensionless frequency parameter. Two limiting cases of vanishingly small and very large values of frequency were studied. Also, some results of numerical analysis of the variation of the phase velocity and the dissipation of wave energy per cycle with frequency were presented for the case of kerosene-saturated sandstone. Mei and Foda (1981, 1983) applied their boundary-layer theory to obtain an approximate solution of the problem in hand. In the all above papers, homogeneous boundary conditions of zero stresses at a free surface of the half-space were assumed and, as a consequence, displacements of the pore fluid and solid matrix were allowed to be mutually independent. In some cases, however, it may happen that both the
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RYSZARD STAROSZCZYK
components of the medium are compelled to move together. Such a situation takes place, for example, when a thin layer of ice appears on the surface of a water-saturated porous medium. Or, a layer of impervious material (e.g. concrete) is overlaid on the free surface. This modification of the boundary conditions of the problem implies a change of the wave-propagation parameters compared to the pure Rayleigh waves, when the surface is free of stresses. In the present paper, the upper layer is assumed to be a thin, elastic plate. The considerations are confined to the linearized theory of small disturbances, and time-harmonic variations are taken into account. The motion of the poro-elastic medium is studied on the basis of the dynamic theory of consolidation established by Biot (1956). It is assumed that coupled vibrations of the plate and the medium occur (i.e. two-sided constraints are supposed) and no friction between the plate and the porous medium takes place. The main purpose of the research is to determine the phase velocity and attenuation of the waves propagating in the medium alongside of the plate. In accordance with derived analytical results, numerical computations were performed. Their aim was to investigate the influence of some parameters (stiffness of the plate, inertia coupling coefficient, and degree of saturation of the pores) on the wave-propagation parameters for a wide range of dimensionless frequencies.
D~
+ pph ~
= q(x, t),
(1)
where D denotes the bending stiffness of the plate, pp is its density, t denotes time, and q is the total load acting on the plate.
J:~
~p\\
i... ,...: , .: .: :. :.o]...: :-:.:."-...
145
The equations governing the motion of the fluid-saturated porous solid are assumed according to Biot (1956): V2(p divu + Q div U) = ~ 5 (/911 div u + P12 div U) + bF(~c) div(u - U),
62 ~? V2(Q div u + R div U) = ~ 5 (P12 div u + P22 div U) - bFOc ) ~ div(u - U),
62
V2 rot u = ~
0
(Pll rot u + Pl2 rot U) + bFOc ) ~7 rot(u - U),
(2)
(3)
(4)
where a o. denotes the stress tensor in the skeleton, s is the stress in the fluid, and 6u is the Kronecker symbol. On the assumption that the grains of the porous solid are incompressible, the coefficients in (3) may be written in terms of the commonly used elastic parameters:
N=G,
A=E.,--
(1 __//)2
n
2Gv +--, 1 - 2v
(5)
Q =Ew(1 - n ) ,
R =E.~n,
where G is the shear modulus of the medium, v is the Poisson ratio, Ew is the bulk modulus of elasticity of the pore water, and n is the porosity. If the entrainment of air in the pores occurs, then the modulus Ew is reduced to the value E~, according to Verruijt (1969):
1 1
E',,
Ew
Po
(6)
where P0 denotes the absolute pressure in the fluid and a is the coefficient of the air content in the pore fluid.
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RYSZARD STAROSZCZYK
The parameters Ply, P12, and P22, appearing in (2), are the mass coefficients related to the real densities Ps and Pw of the solid skeleton and pore fluid, respectively, in accordance with the formulae:
Pll=(1--n)ps+Pa, P12 = - - P a , P22=npw+Pa .
(7)
The apparent mass coefficient pa was introduced by Biot (1956) to express the effect of the internal coupling of the motion of both the components of the poro-elastic solid. Applying the interpretation given by Kowalski (1983), this coefficient may be determined from the relation
Da = n D w
0~ 1--~'
(8)
with ~ being the ratio of the fluid imprisoned in the skeleton to the entire volume of the pore fluid. The dissipation function for the porous medium is written in (2) as a product of the damping coefficient b and the function F(x). The parameter b may be expressed by means of the commonly used filtration coefficient kf in the following way bn2pwg (9)
where g denotes the gravitational acceleration. The function F0r ) provides a frequency-dependent correction of frictional force between the fluid and the skeleton, and may be written in the form (Biot, 1956) 1 ~c 2T(tr
F(x) - 4 K + 2iT(x) ' (10)
with
_ i3/2j1
T(tr -
(i3/2/r Jo(i3/2~ ) ,
(11)
where Jo and J1 are the Bessel functions of the first kind and i denotes the imaginary unit. The nondimensional frequency parameter x, following the interpretation of Biot (1956), may be written by means of
1r = 6 ( f o k f / n g ) 1/2
where ~ denotes the angular frequency of vibrations, 6 is a certain structural parameter which depends on the geometry of the pores. The equations of motion (1) and (2) must be supplemented by the continuity conditions which should be satisfied at the contact surface z = 0: (a) the condition of coupling of the vertical displacements of the plate and the porous medium at the surface z = 0 v(x, t) = w(x, O, t), v(x, t) = W(x, O, t); (13)
147
(b) the condition of coupling of the vertical forces acting on the plate and the surface of the half-space z -- 0
(14)
(c) the condition of no friction between the plate and the porous medium, which means that the tangential stress axz in the medium vanishes at the contact surface z = 0
axz(x, 0, t) = 0;
(15)
(d) The Sommerfeld radiation condition to ensure decay of the displacements of the plate and the half-space, as x and z approach infinity. The solution of the problems discussed is constructed with the help of two scalar and two vector potentials, according to the Helmholtz resolution formula (Achenbach, 1973): u = grad (b + rot 4, (16) U = grad 9 + rot ~ , where q5 and q~ denote scalar potentials for the skeleton and the pore fluid: = [0, 0, 0] T and 9 = [0, T, 0] r are vector potentials for both components of the medium, respectively. Substitution of (16) into (2) yields, for the time harmonic vibrations, the following set of equations:
"cl,V2~b -t-"c12V2(D = - k 2 ( ~ ) , l ( b -/-~)120 ) 3i-k2/f(~
--0),
(17)
T).
In the above equations, the dimensionless elastic and dynamic parameters appear:
Tll = ~ ,
711 = - - , P
Q
"C12= H ,
R r22 = ~ , ~/22= - - , P
H=P+R+2Q, P22
(18) (19)
Pll
712 = - - , P
P12
with p being the density of the poro-elastic medium. Also, the dimensionless damping parameter f is introduced
f _ bF(tr
pco The wavenumbers kc and kr are defined by means of
6O (D
(20)
kc
Vc ,
kr
V,.
(21)
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RYSZARD STAROSZCZYK
where Vc and Vr denote the reference velocities of the dilatational and rotational waves:
< =
Vr = , / U >
(22)
The appropriate solutions of Equations (17) are the following functions: ~b(x, z, t) = (B1 e ~1z + B2 e v2z)ei(O,,- kx),
O0(x, z, t) = (elB1 e - v l z + ezB2 e-vzz) ei(~ot kx),
(23)
~(x, z, t) = c e . . . . ei~O~,- kx),
9 (x, z, t) = erC e VrZe~(~
where Bx, B2, and C are constants, k is the wavenumber of the surface wave, Vm and Vr describe decay of the wave along the z-axis and are given by the relations
l~m ~ (/(2 \'~ - - /(2g "~c ~ m ] ~ ~/2~
Re vm ) 0, Rev~/>0.
1, 2, (24)
Vr = ( k 2 - - k 2 O r )
1/2,
The parameters el, e2, and er express the coupling between the potential functions for the skeleton and the pore fluid and may be written in the form
em = --(TllOm - - ]111 + i f ) / ( T l Z O m
-- ]112 - - /f),
m = 1, 2,
(25)
The parameters O~, 0 2 , and Or, appearing in Equations (24), describe the velocities of the plane dilatational and rotational waves compared to the reference velocities (22). The parameters 0~ and 02 are the complex roots of the equation
02(T11~22 - - "(122) - - 0(2711 Y22 "~- "C22711 - - 2 " C 1 2 7 1 2 - - / f )
-{-
(26)
"~- 7111122 - - ]122 - - / f = O,
and O~ is given by
Or = (]111722 - - ]122 - - / f ) / ( ] 1 2 2
-- /f)" (27)
Inserting the functions (23) into (16) one can obtain the following expressions for the components of the displacement vectors w = k~( - #1B1 e ~12_ #292 e u2z _ i~C e . . . . ) e*(O,t-kx),
(28)
W = kr(
~2z _ i{erC e
~)
e i(~
By virtue of (28) and (3), one can derive the relations for the components of the stress tensor
a~ = -NkZ[(th - 2{2)B~ e
VzZ)"1-
(2~ 2 --
(29)
RAYLEIGH-TYPE WAVES IN POROUS HALF-SPACE In the relations (28) and (29) the following dimensionless coefficients appear:
= k/k~,
149
#r
~- ( ~ 2
_ _
O r ) 1/2
#~ = (~2-c20m)1/2,
~1 = 0 1 ( g I 1 - F g l Z l 2 ) , ~3 = ~ 1 ( T 1 2 - t - g l g 2 2 ) ,
m = 1, 2 , c 2 =
N/H,
(30)
Substituting (14) into (l) and then eliminating the function v(x, t) from (l) and (13) one may write the equations
D ~4w(x,O,t) 02w(x,O,t) Ox 4 + pph ~t 2 ffzz(X , O, t) - s(x, O, t) = O,
(31)
W ( x , O, t) - w(x, O, t) = O.
Insertion of expressions (28) and (29) into (31) and (15) yields the following set of three algebraic equations:
I
X
t]1-~-/']3--#1,~--2~ 2,
#1(1 - - 81),
q2-}-g/4--#2,~--2ff 2,
#2(1 -- e2),
-- q(2#r
+ 2)
X
i(( 1 -- er) 2~ 2 -- Or
-- i~#1,
-- i~#2,
The function 2 depends on the relative ratios of the elastic moduli and the densities of the plate and the porous medium, according to the formula
.], __ E p
#3
f~
0 9
(32)
N 12(1 - v~)
if4 __ PP /7, p
(33)
where/7 = krh, Ep and vp are the Young modulus and the Poisson ratio of the plate material, respectively. Expanding the main determinant of the matrix of coefficients of (31), we obtain the secular equation of the problem considered:
#1#2(20r + 4(2#r)(el - e2) + #2(,1 + I/3 - 2~2)[2~2(er - e2)
- - #1 (/~2 "q- /74 - - 2 ~ 2 ) [ 2 ~ 2 ( g r -- gl) --
0r(1
g l ) ] = 0.
The Sommerfeld radiation condition imposes the restrictions Re ~ > 0 and Im ~ < 0 on the complex roots of the dispersion Equation (34). To investigate the number of roots satisfying the latter relations it is convenient to apply the principle of the argument (Achenbach, 1973). Employing this principle, numerical computa-
150
RYSZARD STAROSZCZYK
tions were carried out. Because of the complicated form of (34), the analysis was performed within the finite domain 0 ~< Re ff <~ 10 4 and - 104 ~< Im ~ ~< 0 (instead of within the infinite one, what should be done). It was discovered that, in the considered finite domain, only one root of (34) exists. It is possible that there are other roots beyond of the analysed region. But in this case, the surface waves would have to propagate with the velocities of an order 10 - 4 times less compared to the velocity of the rotational waves. This seems to be physically meaningless so these possible roots are omitted in the analysis. Denoting the root of (34) as ~o, we may determine the following parameters of the surface wave: (a) the phase velocity vR, which in comparison to the reference velocity of the rotational wave (22) takes the form vR Vr 1 Re~0' (35)
(b) the dissipation coefficient /~ which describes the specific loss of the wave energy per one cycle fl = 1 -- e - 47zllrrt~'o/Re ~'0[. (36)
151
/ /
1.04
1.02 1.00 0.98
,--r-
10
Fig. 2. Nondime~sional phase velocity as a function of the frequency parameter ~ and the ptate thickness h.
COARSE 0,6
SAND
h=O20m
0.5
0.4
03
0.2
0.1
/
i
//
~ - ~
h:O.O~_m
'~
10
Fig. 3.
Dissipation coefficient fl as a function of the frequency parameter ~c and the plate thickness h.
152
I I I I I I I
I [
RYSZARD STAROSZCZYK
1.02
-
COARSE
-
SAND
surfoce
eC=0.0
I .t "" e(= 0.2
o(=04
free
1.00 0.98
- -
>~
>
o.9~
0.94
o.g2
o~= 0.2
o~= 0.4
0.90
I l I I I I I I I
10
o(=0,0 o(=0.2
//
t~/"
. . . . . . .
_%_0 _
c(=0.0 c( = 0.2
0.94 0.92
c~=0.4
/
0.90
I I I L i I ; I I
10
20
30
40
50
60
70
80
90
100
Fig. 4. Nondimensional phase velocity as a function of the frequency parameter ~ and the structural factor e.
Figures 4 and 5 depict the influence of the mass coefficient on the wave propagation parameters. Two cases are compared. The first one, when an infinitely thin plate (i.e. h ~ 0) rests on the surface z = 0, and the second one, when there is no plate on the surface z = 0 (i.e. we deal with the pure Rayleigh wave propagation along the free surface). For the latter case, the results of Deresiewicz (1962) are applied. Concerning the phase velocity, it is seen that the inertia coupling plays an important role for frequencies higher than approximately 3. As regards the dissipation coefficient/3, it is important only for frequencies near to which the parameter //reaches its maximum, i.e. for 1.5 ~ 5. Finally, in Figure 6, the dependence of the phase velocity of the surface wave on the air content coefficient is displayed. From this figure, it follows that the presence
153
o~=04
COARSE 0,6 - SAND h=0
pLate
0.5
0.4
d?0.3
0.2
-----0.1
I I [ I I I F ] ]
-_-L
8 9 10 K
Fig. 5.
Dissipation coefficient/~ as a function of the frequency parameter ~ and the structural factor cr
1.01 1.00 0.99 0.98 "- 0.97 > 0.96 0.95 0.94 0.93
COARSE
a-air
SAND
content
Fig. 6.
of air in the pore fluid influences the wave velocity only for relatively small (approximately less than 2) values of the dimensionless frequency parameter ~c. Concerning the dissipation coefficient /~, the numerical results are practically indistinguishable for every air content coefficient a and, therefore, the plots are omitted.
154
RYSZARD STAROSZCZYK
It should be mentioned that similar results (in terms of the nondimensional quantities) have been obtained for the case of fine sand. The numerical values differ slightly (in limits of about 5%) from those of coarse sand, but the character of all the plots is practically the same.
References
Achenbach, J. D., 1973, Wave Propagation in Elastic Solids, North-Holland, Amsterdam, pp. 65, 189-191. Blot, M. A., 1956, Theory of propagation of elastic waves in a fluid-saturated porous solid, J. Acoust. Soe. Amer. 28, 168-191. Deresiewicz, H., 1962, The effect of boundaries on wave propagation in a liquid-filled porous solid. IV. Surface waves in a half-space, Bull. Seism. Soc. Amer. 52, 627 638. Foda, M. A. and Mei, C. C., 1983, A boundary layer theory for Rayleigh waves in porous fluid-filled halfspace, Internat. J. Soil Dynam. Earthquake Engrg 2, 62-65. Jones, J. P., 1961, Rayleigh waves in a porous, elastic, saturated solid. J. Aeoust. Soe. Amer. 33, 859 -962. Kowalski, S. J., 1983, Identification of the coefficients in the equation of motion for a fluid-saturated porous medium, Acta Mech. 47, 263-276. Mei, C. C. and Foda, M. A., 1981, Wave-induced responses in a fluid-filled poro-elastic solid with a free surface - a boundary layer theory, Geophys. J. R. Astron. Soe. 66, 597-631. Verruijt, A., 1969, Elastic storage of aquifers, in R. J. M. De Wiest (ed), Flow Through Porous Media, Academic Press, New York, pp. 331-376.