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Article history:
Received 20 May 2013
Received in revised form 13 August 2014
Accepted 19 November 2014
Available online 29 November 2014
Keywords:
Spherical shell
Fluid structure interaction
Hybrid nite element method
a b s t r a c t
In present study, a hybrid nite element method is applied to investigate the free vibration of spherical
shell lled with uid. The structural model is based on a combination of thin shell theory and the classical
nite element method. It is assumed that the uid is incompressible and has no free-surface effect. Fluid
is considered as a velocity potential variable at each node of the shell element where its motion is
expressed in terms of nodal elastic displacement at the uidstructure interface. Numerical simulation
is done and vibration frequencies for different lling ratios are obtained and compared with existing
experimental and theoretical results. The dynamic behavior for different shell geometries, lling ratios
and boundary conditions with different radius to thickness ratios is summarized. This proposed hybrid
nite element method can be used efciently for analyzing the dynamic behavior of aerospace structures
at less computational cost than other commercial FEM software.
2014 Elsevier Ltd. All rights reserved.
1. Introduction
Shells of revolution, particularly spherical shells are one of the
primary structural elements in high speed aircraft. Their applications include the propellant tank or gas-deployed skirt of space
crafts. Space shuttles need a large thrust within a short time interval; thus a large propellant tank is required. Dynamic behavior in
the lightweight, thin-walled tank is an important aspect in its
design. These liquid propelled space launch vehicles experience a
signicant longitudinal disturbance during thrust build up and also
due to the effect of launch mechanism. Dynamic analysis of such a
problem in the presence of uidstructure interaction is one of the
challenging subjects in aerospace engineering. Great care must be
taken during the design of spacecraft vehicles to prevent dynamic
instability.
Free vibration of spherical shell containing a uid has been
investigated by numerous researchers experimentally and analytically. Rayleigh [1] solved the problem of axisymmetric vibrations
of a uid in a rigid spherical shell. The solution for vibrations of
the uid-lled spherical membrane appears in the work of Morse
and Feshbach [2].
The uid movement on the surface of uid (sloshing) in
non-deformable spherical shell has been investigated by few
researchers as Budiansky [3], Stofan and Armsted [4], Chu [5],
Karamanos et al. [6]. The oscillations of the uid masses result
from the lateral displacement or angular rotation of the spherical
shell. Others researchers have studied particular cases like the case
Corresponding author.
E-mail address: aouni.lakis@polymtl.ca (A.A. Lakis).
http://dx.doi.org/10.1016/j.compuid.2014.11.023
0045-7930/ 2014 Elsevier Ltd. All rights reserved.
of a sphere lled with uid. Rand and Dimaggio [7] considered the
free vibrations for axisymmetric, extensional, non-torsional of
uid-lled elastic spherical shells. Motivated by the fact that
human head can be represented as a spherical shell lled by uid,
Engin and Liu [8] considered the free vibration of a thin homogenous spherical shell containing an inviscid irrotational uid.
Advani and Lee [9] investigated the vibration of the uid-lled
shell using higher-order shell theory including transverse shear
and rotational inertia. Guarino and Elger [11] have looked at the
frequency spectra of a uid-lled sphere, both with and without
a central solid sphere, in order to explore the use of auscultatory
percussion as a clinical diagnostic tool. Free vibration of a thin
spherical shell lled with a compressible uid is investigated by
Bai and Wu [12]. The general non-axisymmetric free vibration of
a spherically isotropic elastic spherical shell lled with a compressible uid medium has been investigated by Chen and Ding [13].
Young [14] studied the free vibration of spheres composed of
inviscid compressible liquid cores surrounded by spherical layers
of linear elastic, homogeneous and isotropic materials.
The case of hemispherical shells lled with uid was studied
experimentally by Samoilov and Pavlov [15]. Hwang [16] investigated the case of the longitudinal sloshing of liquid in a exible
hemispherical tank supported along the edge. Chung and Rush
[17] presented a rigorous and consistent formulation of dynamically coupled problems dealing with motion of a surface-uid-shell
system. A numerical example of a hemispherical bulkhead lled
with uid is modeled.
Komatsu [18,19] used a hybrid method with a uid mass
coefcient added to his system of equations. He also validated
his model with experiments on hemispherical shells partially lled
68
Strains and displacements for three displacements in meridional U/, radial W and circumferential Uh are related as follows:
8
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
<
8
>
>
>
>
>
>
>
>
<
e/ 9
>
>
>
>
eh >
>
>
>
2e/h =
feg
>
>
j/ >
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
j
h
>
>
>
>
> >
:
>
;
>
>
2j/h
>
>
>
>
:1
R2
1
R2
@U h
@/
1 @U h
sin / @h
@U h
@/
sin1 /
@U /
@h
U / cot / W
sin1 /
1
R2
1 @U h
sin / @h
@U /
@/
@U /
@h
U h cot /
2
@U /
@@/W2
@/
2
9
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
=
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
@2 W ;
8 9 2
sin /i
>
<U >
=
6
W 4 cos /i
>
: >
;
V
0
9
38
0 <
> U /i >
=
7
0 5 Wi
>
>
:
;
U hi
1
cos /i
sin /i
0
frg Pfeg
where [P] is the elasticity matrix for an anisotropic shell given by:
P11
6P
6 21
6
6 0
P 6
6P
6 41
6
4 P51
P12
P14
P15
P22
P24
P25
0
P42
P33
0
0
P44
0
P45
P52
P54
P55
P63
0 7
7
7
P36 7
7
0 7
7
7
0 5
P66
Upon substitution of Eqs. (2), (4) and (5) into Eq. (1), a system of equilibrium equations can be obtained as a function of displacements:
L1 U / ; W; U h ; Pij 0
In this study the structure is modeled using hybrid nite element method which is a combination of spherical shell theory
and classical nite element method. In this hybrid nite element
method, the displacement functions are found from exact solution
of spherical shell theory rather approximated by polynomial functions as is done in classical nite element method. In the spherical
coordinate system (R, h, /) shown in Fig. 1, ve out of the six equations of equilibrium derived in reference for spherical shells are
written as follows:
@N/
1 @N/h
N/ Nh cot / Q / 0
@/ sin / @h
@N/h
1 @N/
2N/h cot / Q h 0
sin / @h
@/
@Q /
1 @Q /
Q / cot / N/ Nh 0
sin / @h
@/
@M/
1 @M /h
M / M h cot / RQ / 0
sin / @h
@/
@M/h
1 @M /
2M /h cot / RQ h 0
sin / @h
@/
1
R
0
2. Formulation
1
R
1
R
L2 U / ; W; U h ; Pij 0
L3 U / ; W; U h ; Pij 0
These three linear partial differentials operators L1, L2 and L3 are
given in Appendix A, and Pij are elements of the elasticity matrix
which, for an isotropic thin shell with thickness h is given by:
X3
U
U
X2
where N/, Nh, N/h are membrane stress resultants (forces per unit of
length of the middle surface); M/, Mh, M/h the bending stress
resultants(moments per unit of length of the middle surface) and
Q/, Qh the shear forces(forces per unit of length of the middle
surface) (Fig. 2). The sixth equation, which is an identity equation
for spherical shells, is not presented here.
X1
Fig. 1. Geometry of spherical shell.
69
Q
M
Wi
dW
d i
Ui
U i
mD
6 mD
6
6
6 0
P 6
6 0
6
6
4 0
0
0
1mD
2
0
K
0
mK
mK
0 7
7
7
0 7
7
0 7
7
7
0 5
1mK
2
Eh
where D 1Ehm2 is the membrane stiffness and K 121
m2 is the
bending stiffness.
70
8
8
9 2
9
9
38
cos nh
0
0
>
>
>
< U / /; h >
< u/n / >
< u/n / >
=
=
=
6
7
W/; h 4 0
cos nh
0 5 wn / T wn /
>
>
>
>
>
>
:
:
:
;
;
;
uhn /
uhn /
U h /; h
0
0
sin nh
Setting
8
n l2 1n l2 c2 ic3
wn /
3
X
wni
10
and where Pli cos /; Q li cos / are the associated Legendre functions of the rst and second kinds respectively of order n and degree
li.
The expression of the meridional displacement u/n(/) is:
n
3
X
dwi
n2
Ei
w/
d/
2
sin
/
i1
11
ki k1 m 1 m
1 kki 1 m
12
13
14
1=2
1
1
ki
4
2
15
k3 h1 k2 h2 k h3 0
16
and where
h1 4
h2 4 1 k1 m2
17
h3 21 k1 m
2
with k 12 Rh2 .
The above equation has three roots with one real root and the
two other are complex conjugates.
n
n1
The Legendre functions Pnl1 ; Pn1
are a real
l1 ; Q l1 and Q l1
n
n1
n1
P l2 Re Pl2 i Im Pnl2
P nl3 Re Pnl2 i Im Pnl2
Q nl2 Re Q nl2 i Im Q nl2
Q nl3 Re Q nl2 i Im Q nl2
n1
i Im Pn1
P n1
l2 Re P l2
l2
n1
P n1
i Im Pn1
l3 Re P l2
l2
n1
Q n1
i Im Q n1
l2 Re Q l2
l2
n1
i Im Q n1
Q n1
l3 Re P l2
l2
n
wn / Pnl1 A1 Re P nl2 A2 A3 Im P nl2 iA2 A3 Q nl1 B1
Re Q nl2 B2 B3 Im Q nl2 iB2 B3
1
unh / ne1 Pnl1
A1
sin/
1
1
ne2
Re Pnl2 ne3
Im Pnl2 A2 A3
sin/
sin/
1
1
n
ne3
Re Pl2 ne2
Im Pnl2 iA2 A3
sin/
sin/
2
n
n
1
n
A4 ne1 Q nl1
B1
cot/P1 n 2n 1P n1
1
2
sin/
2
1
1
ne2
Re Q nl2 ne3
Im Q nl2 B2 B3
sin/
sin/
1
1
ne3
Re Q nl2 ne2
Im Q nl2 iB2 B3
sin/
sin/
2
n
n
B4
cot/Q n1 n 2n 1Q n1
1
2
2
In deriving the preceding relation we used the recursive
relations:
n
dPli
20
E3 e2 ie3
li
E1 e 1
E2 e2 ie3
where
Ei
19
n l3 1n l3 c2 ic3
i1
u/n /
n l1 1n l1 c1
d/
n
dQ li
d/
22
18
8
9
8
9
>
>
< U / /; h >
=
< u/n / >
=
W/; h T wn /
TRfCg
>
>
>
>
:
;
:
;
U h /; h
uhn /
23
24
71
fdi g
ui/n
dwn
d/
win
i
25
uihn
dj
ui/n win
dwn
d/
i
uihn
uj/n
wjn
dwn
d/
j
ujhn
26
AfCg
dwn
n cot/P nl1 c1 P n1
l1 A1
d/
h
i
n cot / Re P nl2 c2 Re P n1
c3 Im P n1
A2 A3
l2
l2
h
i
n
n1
n1
n cot / Im P l2 c3 Re P l2 c2 Im P l2
iA2 A3
n cot /Q nl1 c1 Q n1
l1 B1
h
i
n
n cot / Re Q l2 c2 Re Q n1
c3 Im Q n1
B2 B3
l2
l2
h
i
n
n1
n1
n cot / Im Q l2 c3 Re Q l2 c2 Im Q l2
iB2 B3 27
The terms of matrix [A], obtained from the values of matrix [R]
n
and dw
, are given in Appendix A. Now, pre-multiplying by [A]1
d/
Eq. (26) one obtains the matrix of the constant Ci as a function of
the degree of freedom:
fCg A1
di
28
dj
Finally, one substitutes the vector {C} into Eq. (23) and obtains
the displacement functions as follows:
8
9
>
< U / /; h >
=
di
di
W/; h TRA1
N
>
>
dj
dj
:
;
U h /; h
29
feg
T 0
0
T
Q fCg
T 0
0
T
QA1
di
dj
B
di
dj
30
frg PB
di
dj
mloc
/j
pR2
/j
!
T
1 T
1
1
33
/i
sin /i
6 cos /
i
6
6
6 0
6
6 0
6
LG 6
6 0
6
6 0
6
6
4 0
32
cos /i
sin /i
0
0
1 0
0 1
0
0
0
0
sin /j
cos /j
0 cos /j
07
7
7
0 07
7
0 07
7
7
0 07
7
0 07
7
7
1 05
0 1
sin /j
35
From these equations, one can assemble the mass and stiffness
matrices for each element to obtain the mass and stiffness matrices
for the whole shell: [M] and [K]. Each elementary matrix is 8 8,
therefore the nal dimensions of [M] and [K] will be 4(N + 1) where
N is the number of elements of the shell.
2.2. Fluid modeling
The Laplace equation satised by velocity potential for inviscid,
incompressible and irrotational uid in the spherical system is
written as:
1 @
@u
1
@
@u
1
@2u
r2
r2 u 2
sin /
0
36
2
2
2
2
r @r
r sin / @/
@r
@/
r sin / @h
The velocity components in the meridional, radial and circumferential directions are:
V / Uf
1 @u
r @/
Vr
@u
@r
Vh
1 @u
r sin / @h
37
@u Uf @u
@t
r @ u rR
38
V r jrR
34
where
Pf qf
ZZ
BT PBdA
A
ZZ
qh
NT NdA
1 T
mloc qhA
31
kloc
pR2
/i
with
The nite element shown in Fig. 3 with two nodal lines (i and j)
and eight degrees of freedom will have the following nodal displacement vector:
di
kloc A1
@ u
@W U f @W
@t
@r rR
r @/
rR
39
with
3
X
Aj Pnlj cos / Bj Q nlj cos / cos nheixt
j1
40
72
u/; r; h
3
X
Rj rSj /; h; t
h i
The matrix Rf2 is given by:
h
Rf2
3
0
0
0 0 0
0
0 0
n
n
n
n
6 P n Re Pn
Im P l2 0 Q l1 Re Q l2 Im Q l2 0 7
ncot /4 l1
5F
l2
2
j1
6 n1
4 Pl1
1
@W U f @W
Sj /; h; t ;
Rj R @t
r @/
rR
41
u/; r; h
3
X
Rj r @W U f @W
R ; R @t
r @/
rR
j1 j
42
lj lj 1
2
R00j r R;j r
Rj r 0
r
r2
44
For internal ow Bj = 0.
Finally, the hydrodynamic pressure in terms of radial displacement is written:
"
j1
lj
U2
j 2 Uf W
_ 0 f W 00
W
j
j
R
R2
l1
R
l2
R
l3
2
6
6
6
6
6
6
6
C 6
6
6
6
6
6
4
c2
c3
c3
c2
0 c1
0
0
0
0
0
0
0
0
0
0
c2
c3
c3
c2
07
7
7
07
7
07
7
7
07
7
07
7
7
05
Rf3
51
is given by:
!
Rf3 n
ncot2 /
sin /
3
0
0
0 0 0
0
0 0
n
n
n
n
6 P n Re Pn
7
Re
Q
Im
P
0
Q
Im
Q
0
4 l1
5F
l2
l2
l1
l2
l2
0
0
0
0 0
0
0
0
2
3
0
0
0 0 0
0
0 0
n
n
n
n
6 Pn Re Pn
7
Re
Q
Im
P
0
Q
Im
Q
0
4 l1
5FC
l2
l2
l1
l2
l2
2
6 n1
cot /4 P l1
0
0
0 0
0
0
0
3
0
0 0 0
0
0 0
n1
n1
n1
n1
7
Re P n1
Re
Q
Im
P
0
Q
Im
Q
0
5FC
l2
l2
l1
l2
l2
0
0
0 0
0
0
0
52
f1
f 2 if3
46
f 2 if3
cf loc
0
48
6
6
6
6
6
6
6
F 6
6
6
6
6
6
4
f1
f2
f 3
0
0
f3
0
f2
0
0
0
0
0
0
0
0
0
0 f1
f2
f 3
f3
f2
0 7
7
7
0 7
7
0 7
7
07
0 7
7
0 7
7
7
0 5
pR2
/j
/i
!
h i
T
RT Rf1 sin/d/ A1 qf A1 Sf A1
54
3
0
0 0 0
0
0 0
n
n
n
n
n
6 n
7
4 Pl1 Re P l2 Im P l2 0 Q l1 Re Q l2 Im Q l2 0 5F
53
After substituting for pressure eld vector and matrix [N] in the
above equation, the local matrix [mf] can be found from the
following:
47
NT fPgdA
ZZ
A
The general force vector due the uid pressure loading is given
by:
fF p g
8 9
( )
( )
>
<0 >
=
h i
i d_
di
U f h ih
i
2qf T Rf2 A1
fPg P f qf T Rf1 A1
dj
>
R
d_ j
: >
;
0
U 2f h i
di
2qf 2 T Rf3 A1
dj
R
Rf1
c1
45
We put:
The matrix
Bj
Rj r Aj r lj lj
r
3
X
R
0
0
0 0
0
0
0
3
0
0 0 0
0
0 0
n1
n1
n1
n1
n1
Re Pl2
Im Pl2
0 Q l1 Re Q l2
Im Q l2
07
5FC 50
43
Pf qf
U f 1 T
2qf
A
R
2qf
pR
/j
R
/i
Rf2
!
sin /d/ A1
U f 1 T
A Df A1
R
55
kf loc qf
qf
U 2f
R2
U 2f
R2
1 T
A
pR
/j
R
/i
Rf3
A1 Gf A1
!
sin /d/ A1
56
In the global system the element stiffness and mass matrices are
49
cf 2qf
57
From these equations, one can assemble the mass and stiffness
matrix for each element to obtain the mass and stiffness matrices
for the whole shell: [Mf] and [Kf].
The governing equation which accounts for uid-shell interaction in the presence of axial internal pressure is derived as:
(
M s Mf
di
dj
( )
d_ i
di
0
Cf
K s K f
dj
d_ j
8n o9
> >
( n _ o )
Ms < d =
Ms 0
d
n o
f0g
>
M s C f >
0
K
_
: d ;
fdg
0
where
K K s K f
{d} is the global displacement vector. [Cf] and [Kf] represent the
Coriolis and centrifugal forces induced by the owing uid. The
eigenvalue problem is given by:
DD KI 0
where
"
DD
I
K1 Ms K1 C f
73
X xR
q12
E
where
58
74
0.4
0.3
0.2
U
W
0.1
10
20
30
40
50
-0.1
60
-0.2
-0.3
-0.4
Fig. 7. Displacements versus / coordinate for clamped spherical shell /0 = 60.
Our Model
0.4
Komatsu [17]
0.3
0.2
W
V
0.1
0.5
10
20
30
40
50
60
-0.1
0
0.2
0.4
H/R
0.6
0.8
Fig. 5. Dimensionless frequency as function H/R, where H is the height of the uid
and R is the shell radius, in simply supported spherical shell of with /0 = 60.
-0.2
-0.3
-0.4
Fig. 8. Displacements versus / coordinate for simply supported spherical shell
/0 = 60.
Full shell
Table 1
Dimensionless frequencies for a simply supported hemispherical shell.
Empty shell
(n, m)
2,1
2,2
2,3
Present theory
H/R = 0
H/R = 1
H/R = 0
H/R = 1
0.8987
0.9611
0.9838
0.2004
0.2579
0.3020
0.9057
0.9658
0.9901
0.2134
0.2604
0.3102
0.5
Table 2
Dimensionless frequencies for a clamped hemispherical shell completely lled with
uid.
500
1000
1500
2000
2500
R/h
Fig. 6. Dimensionless frequency as function of radius to thickness ratio R/h in
simply supported spherical shell of with /0 = 60.
Present theory
1
2
3
0.0978
0.1382
0.1676
0.1038
0.1451
0.1789
Present theory
1
2
3
0.1199
0.1919
0.2398
0.1239
0.2036
0.2436
Table 4
Dimensionless frequencies for a clamped hemispherical shell completely lled with
liquid oxygen.
Present model
Hwang [14]
Komatsu [17]
0.066
0.0689
0.0625
0.065
frequencies obtained by these authors and compared to the frequencies obtained by our model. Data resulting from experiments
conducted by Kana and Nagy [10] on a clamped hemispherical shell
lled with water are shown in Table 3. The shell has a density of
2.59 104 lb-s2/in4 and has a radius 5 in and a thickness of 0.03
in. The elastic modulus is 107 lb/in2 and the Poisson coefcient
is 0.3.
The fourth example is the case of a clamped hemispherical shell
that was studied experimentally by Hwang [16]. The shell is made
of aluminum with density of 2.59 104 lb s2/in4 and has a radius
200 in and a thickness of 0.1 in. The elastic modulus is 107 lb/in2
and the Poisson coefcient is 0.3. The uid inside the shell is liquid
oxygen with a density of 1.06 104 lb-s2/in4. This example of a
hemispherical bulkhead lled with liquid oxygen was modeled
by Chung and Rush [17] and investigated numerically. The same
study was conducted by Komatsu and Matsuhima [19] experimentally. The results are presented in Table 4.
4. Conclusion
The problem of free vibration of a partially liquid-lled spherical
shell under different shell geometries, lling ratios and boundary
conditions with different radius to thickness ratios is investigated.
An efcient hybrid nite element method is presented to analyze
the dynamic behavior of liquid-lled spherical shell. Shell theory
of spherical shell is coupled Laplace equation of an inviscid uid
to account for hydrodynamic pressure of an internal uid. This theoretical approach is much more precise than usual nite element
methods because the displacement functions are derived from
exact solutions of shell equilibrium equations for spherical shells.
The mass and stiffness matrices are determined by numerical integration. The velocity potential and Bernoullis equation are adopted
to express the uid pressure acting on the structure which yields
three forces (inertial, centrifugal Coriolis) in the case of owing
uid.
The results obtained for spherical shells with various geometric
congurations and different boundary conditions are compared
with results available in the literature. Very good agreement was
found. This approach resulted in a very precise element that leads
to fast convergence and less numerical difculties from the computational point of view.
To the best of the authors knowledge, this paper reports the
rst comparison made between works which deal with spherical
shells subjected to internal uid effects. The proposed hybrid nite
element method provides the capability to analyze cases involving
application of different complex boundaries and loading patterns
for spherical shells.
75
Appendix A
P11 P 41
@ @U /
@U /
2
W
W cot/
@/
R
@/
@/
R
P12 P 42
@
1 @U h
2
U / cot/ W
@/ sin/ @h
R
R
1 @U h
U / cot/ W cot/
sin/ @h
!
!
#
"
1 P 14 P44
@ @U / @ 2 W
@U / @ 2 W
cot/
2
2
2
R R
@/ @/
@/
@/
@/
R
1 P 15 P45
@
1 @U h
2
U / cot/
R R
@/ sin/ @h
R
!
1
@ 2 W @W
2
cot/
2
@/
sin / @h
!
#
1 @U h
1
@ 2 W @W
U / cot/ 2
cot/ cot/
2
sin/ @h
@/
sin / @h
P21 P 51
@U /
2
W cot/
R
@/
R
P22 P 52
1 @U h
2
U / cot/ W cot/
R
sin/ @h
R
!
1 P 24 P54
@U / @ 2 W
cot/
2
2
R R
@/
@/
R
1 P 25 P55
1 @U h
2
U / cot/
R R
sin/ @h
R
!
1
@ 2 W @W
2
cot/ cot/
2
@/
sin / @h
P33 P 63
1
@ @U h
1 @U u
U h cot/
sin/
@h
sin/
R
@/
@h
R
1 P 36 P66
1
@ @U h
1 @U u
U h cot/
R R
R sin/ @h @/ sin/ @h
!
cot/ @W
2 @2W
2
sin/ @h sin/ @/@h
L1 U / ; U h ;W
P21 P 51
1
@ @U /
2
W
R
R sin/ @h @/
P22 P 52
1
@
1 @U h
2
U / cot/ W
R
R sin/ @h sin/ @h
!
1 P24 P 54
1
@ @U / @ 2 W
2
R R
R sin/ @h @/ @/2
1 P25 P 55
1
@
1 @U h
2
U / cot/
R R
sin/
@h
sin/
@h
R
!
1 @ 2 W @W
2
cot/
2
@/
sin / @h
P33 P 63
@ @U h
1 @U u
2
U h cot/
@/ @/ sin/ @h
R
R
@U h
1 @U /
U h cot/ cot/
2
@/ sin/ @h
1 P36 P 66
@ @U h
1 @U u
2
U h cot/
R R
@/ @/ sin/ @h
R
!
cot/ @W
2 @2W
2
sin/ @h sin/ @/@h
@U h
1 @U u
U h cot/
2
@/ sin/ @h
!
#
cot/ @W
2 @2W
2
cott/
sin/ @h sin/ @/@h
L2 U / ;U h ;W
76
P 11 P21
@U /
L3 U / ;U h ; W
W
R
R
@/
P 12 P 22
1 @U h
U / cot/ W
sin/ @h
R
R
!
P 14 P 24
@U / @ 2 W
@/
@/2
R2 R2
P 15 P 25
1 @U h
U / cot/
sin/ @h
R2 R2
!
1
@ 2 W @W
cot/
2
2
@/
sin / @h
P 41 P 51
@ @U /
@U /
cot/
W
W
2
@/ @/
@/
R
1
@
@ @U /
2
P 41
sin/
W
@/
@/
@/
R sin/
@ @U /
P 51
W
@h @/
P 42 P 52
@
1 @U h
cot/
U / cot/ W
2
@/
sin/
@h
R
1 @U h
U / cot/ W
sin/ @h
1
@
@
1 @U h
2
P 42
sin/
U / cot/ W
@/
@/ sin/ @h
R sin/
@
1 @U h
P 52
U / cot/ W
@h sin/ @h
!
!!
P 44 P 54
@ @U / @ 2 W
@U / @ 2 W
cot/
@/ @/
@/
@/2
@/2
R3
"
!!
1
@
@ @U / @ 2 W
P 44
sin/
3
@/
@/
@/
@/2
R sin/
!#
2
@ @U / @ W
P 54
@h @/
@/2
P 45 P 55
@
1 @U h
cot/
U / cot/
3
@/ sin/ @h
R
!
1
@ 2 W @W
cot/
2
2
@/
sin / @h
!!
1 @U h
1
@ 2 W @W
U / cot/ 2
cot/
2
sin/ @h
@/
sin / @h
1
@
@
1 @U h
3
P 45
sin/
@/
@/ sin/ @h
R sin/
!!
2
1
@ W @W
cot/
U / cot/ 2
2
@/
sin / @h
@
1 @U h
P 55
U / cot/
@h sin/ @h
!#
1
@ 2 W @W
cot/
2
2
@/
sin / @h
"
2
P 63
@
@U h
1 @U u
U h cot/
2
R sin/ @/@h @/ sin/ @h
@ @U h
1 @U u
3cot/
U h cot/
@h @/ sin/ @h
"
P 66
@2
@U h
1 @U u
U h cot/
3
@/@h
@/ sin/ @h
R sin/
!
cot/ @W
2 @2W
2
sin/ @h sin/ @/@h
@U h
1 @U u
3 cot/
U h cot/
@/ sin/ @h
!
cot/ @W
2 @2W
2
sin/ @h sin/ @/@h
R1; 2 ne2 cot / Re Pnl2 ne3 cot / Im Pnl2
e3 c2 e2 c3 Im Pn1
e2 c2 e3 c3 Re Pn1
l2
l2
R1; 1 e1 n cot /Pnl1 e1 c1 Pn1
l1
R3; 7 ne3
R1; 3 ne3 cot / Re Pnl2 ne2 cot / Im P nl2
e3 c2 e2 c3 Re Pn1
e2 c2 e3 c3 Im Pn1
l2
l2
R1; 4
n2
Pn
2 sin / 1
R1; 5 e1 n cot /Q nl1 e1 c1 Q n1
l1
R1; 6 ne2 cot / Re Q nl2 ne3 cot / Im Q nl2 e2 c2
e3 c3 Re Q n1
e3 c2 e2 c3 Im Q n1
l2
l2
R1; 7 ne3 cot / Re Q nl2 ne2 cot / Im Q nl2 e3 c2
e2 c3 Re Q n1
e2 c2 e3 c3 Im Q n1
l2
l2
R1; 8
n2
Qn
2 sin / 1
R2; 1 P nl1
R2; 2 Re Pnl2
R2; 3 Im Pnl2
R2; 4 0
R2; 5 Q nl1
R2; 6 Re Q nl2
R2; 7 Im Q nl2
R2; 8 0
R3; 1 ne1
1
Pn
sin / l1
R3; 2 ne2
1
1
Re P nl2 ne3
Im P nl2
sin /
sin /
R3; 3 ne3
R3; 4
1
1
Re Pnl2 ne2
Im Pnl2
sin /
sin /
n2
n
cot /Pn1 n 2n 1Pn1
1
2
2
R3; 5 ne1
1
Qn
sin / l1
R3; 6 ne2
1
1
Re Q nl2 ne3
Im Q nl2
sin /
sin /
1
1
Re Q nl2 ne2
Im Q nl2
sin /
sin /
77
R3; 8
n2
n
cot/Q n1 n 2n 1Q n1
1
2
2
dwn
j; A4; j R3; j with / /i
d/
dwn
j; A8;j R3;j with / /j j 1; .. .;8
d/
"
!
#
1
1
e1
2
1
P nl1 c1 cot /P n1
e1 c1 ne1
ncot
/
l1
2
R
r
sin /
"
!
#
1
1
e2 c2 e3 c3 ne2
ncot2 / 1 Re P nl2
2
R
sin /
"
!#
1
1
2
e3 c2 e2 c3 ne3
ncot / Im P nl2
2
R
sin /
1
1
e3 c2 e2 c3 cot / Im Pn1
e2 c2 e3 c3 cot / Re Pn1
l2
l2
R "
R
#
1
1
e3 c2 e2 c3 ne3 2 ncot2 / Re P nl2
R
sin /
"
!
#
1
1
2
1
Im P nl2
e2 c2 e3 c3 ne2
ncot
/
2
R
sin /
1
1
e3 c2 e2 c3 cot / Re Pn1
e2 c2 e3 c3 cot / Im Pn1
l2
l2
R
R
n2
1
n2
1
n 1
cot /Pn1
n 2n 1
Pn1
sin /
sin / 1
2R"
2R !
#
1
1
e1
e1 c1 ne1
e2 c2 e3 c3 ne2
ncot2 / 1 Re Q nl2
2
R
sin /
"
!#
1
1
2
Im Q nl2
e3 c2 e2 c3 ne3
ncot
/
2
R
sin /
1
1
e3 c2 e2 c3 cot / Im Q n1
e2 c2 e3 c3 cot / Re Q n1
l2
l2
R "
R
!#
1
1
2
Re Q nl2
ncot
/
e3 c2 e2 c3 ne3
2
R
sin /
"
!
#
1
1
2
e2 c2 e3 c3 ne2
ncot / 1 Im Q nl2
2
R
sin /
1
1
e2 c2 e3 c3 cot / Im Q n1
e3 c2 e2 c3 cot / Re Q n1
l2
l2
R
R
n2
1
n2
1
n 1
cot /Q n1
n 2n 1
Q n1
sin /
sin / 1
2R
2R
Q 1; 1
Q 1; 2
Q 1; 3
Q 1; 4
Q 1; 5
Q 1; 6
Q 1; 7
Q 1; 8
"
!#
1
1
e1
1 ne1 n 2 cot2 / P nl1 c1 cot/Pn1
l1
R
r
sin
/
"
!#
!
1
1
ne3
1
n 2 cot2 / Im Pnl2
Q2;2 1 ne2 n 2 cot2 / Re Pnl2
R
R
sin /
sin /
1
1
e3 c2 e2 c3 cot/ Im P n1
e2 c2 e3 c3 cot/ Re Pn1
l2
l2
R
R"
!#
1
ne3
1
1
Q2;3
n 2 cot2 / Re Pnl2 1 ne2 n 2 cot2 / Im Pnl2
R
R
sin /
sin /
1
1
e2 c2 e3 c3 cot/ Im P n1
e3 c2 e2 c3 cot/ Re Pn1
l2
l2
R
R
n2
1
n2
1 n1
Q2;4 n 1
cot/Pn1 n 2n 1
P
sin/
sin/ 1
2R
"2R
!#
1
1
e
1
Q2;5 1 ne1
ncot2 / Q nl1 c1 cot/Q n1
l1
2
R
r
sin /
"
!#
ne
1
1
1
3
Q2;6 1 ne2 n 2 cot2 / Re Q nl2
n 2 cot2 / Im Q nl2
R
R
sin /
sin /
1
1
e3 c2 e2 c3 cot/ Im Q n1
e2 c2 e3 c3 cot/ Re Q n1
l2
l2
R
R"
!#
1
ne3
1
1
Q2;7
n 2 cot2 / Re Q nl2 1 ne2 n 2 cot2 / Im Q nl2
R
R
sin /
sin /
1
1
e2 c2 e3 c3 cot/ Im Q n1
e3 c2 e2 c3 cot/ Re Q n1
l2
l2
R
R
n2
1
n2
1
Q2;8 n 1
cot/Q n1 n 2n 1
Q n1
sin/
sin/ 1
2R
2R
Q2;1
2n
1
2n
1 n1
e1 n 1
cot /P nl1 e1 c1
P
R
sin /
R
sin/ l1
2n
1
2n
1
Q 3;2 e2 n 1
cot / Re P nl2 e3 n 1
cot / Im P nl2
R
sin /
R
sin /
2n
2n
1
1
n1
e2 c2 e3 c3
Re Pl2 e3 c2 e2 c3
Im Pn1
l2
R
sin/
R
sin /
2n
2n
1
1
Q 3;3 e3 n 1
cot/ Re P nl2 e2 n 1
cot/ Im P nl2
R
sin /
R
sin /
2n
2n
1
1
e3 c2 e2 c3
e2 c2 e3 c3
Re Pn1
Im Pn1
l2
l2
R
sin/
R
sin /
"
!#
n
1
n
2
P n1 n 2n 1cot /P n1
cot
/
Q 3;4 n 1 n 2 n
1
2
2R
R
sin /
Q 3;1
2n
1
2n
1
e1 n 1
cot /Q nl1 c1
Q n1
R
sin /
R sin/ l1
2n
2n
1
1
Q 3;6 e2 n 1
cot / Re Q nl2 e3 n 1
cot / Im Q nl2
R
sin /
R
sin/
2n
2n
1
1
e2 c2 e3 c3
e3 c2 e2 c3
Re Q n1
Im Q n1
l2
l2
R
sin/
R
sin /
2n
2n
1
1
Q 3;7 e3 n 1
cot/ Re Q nl2 e2 n 1
cot/ Im Q nl2
R
sin /
R
sin /
2n
2n
1
1
n1
e3 c2 e2 c3
Re Q l2 e2 c2 e3 c3
Im Q n1
l2
R
sin/
R
sin /
"
!#
n
1
n
2
cot / Q n1 n 2n 1 cot /Q n1
Q 3;8 n 1 n 2 n
1
2
2R
R
sin /
Q 3;5
Q4;1
Q4;2
1
R
1
R
"
e1 1c1 ne1 1
!#
1
2
sin /
"
e2 1c2 e3 c3 ne2 1
"
R2
e3 c2 e2 1c3 ne3
ncot2 /
sin /
1
2
P nl1
e1 1
!#
ncot2 /
!#
ncot2 /
R2
c1 cot /P n1
l1
Re Pnl2
Im Pnl2
sin /
1
2 e2 1c2 e3 c3 cot / Re P n1
2 e3 c2 e2 1c3 cot / Im Pn1
l2
l2
R
R
"
!#
1
1
2
Re Pnl2
ncot
/
Q4;3 2 e3 c2 e2 1c3 ne3
2
R
sin /
"
!#
1
1
ncot2 / Im P nl2
2 e2 1c2 e3 c3 ne2 1
2
R
sin /
1
1
2 e3 c2 e2 1c3 cot / Re P n1
2 e2 1c2 e3 c3 cot / Im Pn1
l2
l2
R
R
1
n2
1
n2
1 n1
n 1
cot/P n1 2 n 2n 1
P
sin /
sin / 1
2R2
2R
"
!#
1
1
e1 1
Q4;5 2 e1 1c1 ne1 1
ncot2 / Q nl1 2 c1 cot/Q n1
l1
2
R
R
sin /
"
!#
1
1
Q4;6 2 e2 1c2 e3 c3 ne2 1
ncot2 / Re Q nl2
2
R
sin /
"
!#
1
1
2
Im Q nl2
ncot
/
2 e3 c2 e2 1c3 ne3
2
R
sin /
1
1
2 e2 1c2 e3 c3 cot / Re Q n1
2 e3 c2 e2 1c3 cot / Im Q n1
l2
l2
R
R
"
!#
1
1
2
Q4;7 2 e3 c2 e2 1c3 ne3
Re Q nl2
ncot
/
2
R
sin /
"
!#
1
1
ncot2 / Im Q nl2
2 e2 1c2 e3 c3 ne2 1
2
R
sin /
1
1
2 e3 c2 e2 1c3 cot / Re Q n1
2 e2 1c2 e3 c3 cot / Im Q n1
l2
l2
R
R
Q4;4
Q4;8
n2
2R2
n 1
1
n2
1
cot/Q n1 2 n 2n 1
Q n1
sin /
sin / 1
2R
78
1
e 1 1
P nl1
1 e1 cot2 / n 2
c1 cot/Pn1
l1
R2
R2
sin /
!
!
ne
n
1
1
3
Re P nl2 2 cot2 / n 2
Im Pnl2
2 1 e2 cot2 / n 2
R
R
sin /
sin /
1
1
2 e2 1c2 e3 c3 cot/ Re Pn1
2 e3 c2 e2 1c3 cot/ Im Pn1
l2
l2
R
R
!
!
n
ne3
1
1
2 cot2 / n 2
Re Pnl2 2 1 e2 cot2 / n 2
Im Pnl2
R
R
sin /
sin /
1
1
2 e3 c2 e2 1c3 cot/ Re Pn1
2 e2 1c2 e3 c3 cot/ Im Pn1
l2
l2
R
R
n
1
n
1 n1
2 n 1
cot/P n1 2 n 2n 1
P
sin /
sin / 1
2R
2R
!
n
1
e
1
1
Q nl1
2 1 e1 cot2 / n 2
c1 cot/Q n1
l1
R
R2
sin /
!
!
n
1
ne3
1
Re Q nl2 2 cot2 / n 2
Im Q nl2
2 1 e2 cot2 / n 2
R
R
sin /
sin /
1
1
n1
2 e2 1c2 e3 c3 cot/ Re Q n1
e
c
e
1
c
3
2
2
3 cot/ Im Q l2
l2
2
R
R
!
!
n
ne3
1
1
2 cot2 / n 2
Re Q nl2 2 1 e2 cot2 / n 2
Im Q nl2
R
R
sin /
sin /
1
1
2 e3 c2 e2 1c3 cot/ Re Q n1
2 e2 1c2 e3 c3 cot/ Im Q n1
l2
l2
R
R
n
1
n
1
2 n 1
cot/Q n1 2 n 2n 1
Q n1
sin /
sin / 1
2R
2R
Q 5;1
Q 5;2
Q 5;3
Q 5;4
Q 5;5
Q 5;6
Q 5;7
Q 5;8
1
2n
1 n1
n 1e1 1
cot /Pnl1 2 1 e1 c1
P
sin /
sin / l1
R2
R
2nn 1
2nn 1
1
1
e2 1
cot / Re Pnl2
e3
cot / Im Pnl2
sin /
sin /
R2
R2
2n
2n
1
1
2 e2 1c2 e3 c3
2 e3 c2 e2 1c3
Re P n1
Im Pn1
l2
l2
sin /
sin/
R
R
2nn 1
2nn 1
1
1
e3
cot / Re Pnl2
e2 1
cot / Im P nl2
sin/
sin /
R2
R2
2n
2n
1
1
Re P n1
Im Pn1
2 e2 1c2 e3 c3
2 e3 c2 e2 1c3
l2
l2
sin /
sin/
R
R
"
!#
n
1
n
2
Pn1 2 n 2n 1cot /P n1
2 n 1 n 2 n
cot
/
1
2
2R
R
sin /
2n
1
2n
1
2 n 1e1 1
cot /Q nl1 2 1 e1 c1
Q n1
sin /
sin / l1
R
R
2nn 1
2nn 1
1
1
e2 1
cot / Re Q nl2
e3
cot/ Im Q nl2
sin /
sin/
R2
R2
2n
2n
1
1
2 e3 c2 e2 1c3
2 e2 1c2 e3 c3
Re Q n1
Im Q n1
l2
l2
sin /
sin/
R
R
2nn 1
2nn 1
1
1
e3
cot / Re Q nl2
e2 1
cot/ Im Q nl2
sin/
sin/
R2
R2
2n
2n
1
1
2 e2 1c2 e3 c3
2 e3 c2 e2 1c3
Re Q n1
Im Q n1
l2
l2
sin /
sin/
R
R
"
!#
n
1
n
2
2 n 1 n 2 n
Q n1 2 n 2n 1cot /Q 1n1
cot
/
2
2R
R
sin /
Q 6; 1
Q 6; 2
Q 6; 3
Q 6; 4
Q 6; 5
Q 6; 6
Q 6; 7
Q 6; 8
2n
d Pnl
d/2
2
d Q nl
d/2
"
n l 1n l n
"
n l 1n l n
1
2
sin /
!#
ncot2 /
1
2
sin /
ncot2 /
Q nl cot /n l 1n lQ n1
l
References
[1] Rayleigh L. On the vibrations of a gas contained within a rigid spherical
envelope. Proc Lond Math Soc 1872;4:93103.
[2] Morse PM, Feshbach H. Methods of theoretical physics Part II. New
York: McGraw-Hill; 1953.
[3] Budiansky B. Sloshing of liquids in circular canals an spherical tanks. J Aerosp
Sci 1960;27:16173.
[4] Stofan AJ, Armstead AL. Analytical and experimental investigation of forces
and frequencies resulting from liquid sloshing in a spherical tank. NASA TN D128; 1962.
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