Fundamentals of Fluid-Structure Interaction

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Fundamentals of Fluid-Structure Interaction
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Fundamentals of Fluid-Structure Interaction
Goran Sandberg* , Per-Anders Wernberg* , Peter Davidsson

*
Department of Construction Sciences, Structural Mechanics, Lund University, Lund,
SWEDEN

A2Acoustics, Helsingborg, SWEDEN
Abstract Acoustic and structure-acoustic analysis is of great importance are found

in a number of applications. Common applications for acoustic and structure-
acoustic analysis are the passenger compartments in automobiles and aircraft. The
increased use of light-weight materials in these vehicles usually makes it even more
complicated to achieve good passenger comfort in terms of low level of interior noise.
When the weight of the structure is reduced, the vibrations could be increased and
that could lead to higher noise levels. Another application where structure acoustic
analysis is of interest is in light-weight constructions of buildings, to mention but a
few.
This paper describes the basic finite element formulations of coupled fluid-
structure systems and an overview of the various formulations possible. Then a
scheme for treating unsymmetrical coupled systems is outlined. The discretization
is performed using displacement formulation in the structure and either pressure or
displacement potential in the fluid. Based on the eigenvalues of each subdomain
some simple steps give a standard eigenvalue problem. It might also be concluded
that the unsymmetrical matrices have real eigenvalues. The strategies for formu-
lating the structure-acoustic systems are illustrated using the educational software
routines and elements.
1
Contents
Contents 2
1 Introduction 3
1.1 Organization of the paper . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Structure-acoustic analysis - Governing equations 6
3 Finite element formulation 7

3.1 Structural domain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2 Acoustic fluid domain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.3 The coupled structure-acoustic system . . . . . . . . . . . . . . . . . . . . 11
3.4 Two-dimensional structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.5 Boundary conditions and coupling . . . . . . . . . . . . . . . . . . . . . . 13
3.6 Alternative formulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.7 Modal decomposition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4 Modal representation of Fluid-Structure Systems 18

4.1 Fluid-structure interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2 Modal representation, p-formulation . . . . . . . . . . . . . . . . . . . . . 19
4.3 Modal representation, -formulation . . . . . . . . . . . . . . . . . . . . . 22
4.4 Summary of eigenproblems and eigenvectors . . . . . . . . . . . . . . . . . 23
4.5 Computational effort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.6 Numerical examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.7 Concluding remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
5 Acoustic and Structure-Acoustic Implementations 33

5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5.2 Element routines in Calfem . . . . . . . . . . . . . . . . . . . . . . . . . 34
5.3 Acoustic elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
5.4 Structure-acoustic interface elements . . . . . . . . . . . . . . . . . . . . . 43
5.5 System functions for structure-acoustic analysis . . . . . . . . . . . . . . . 51
Bibliography 55
A Finite element routines 59

A.1 Routine aco2td.m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
A.2 Routine cp2s2f.m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
B Calfem Examples 62
B.1 Fluid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
B.2 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
B.3 Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
B.4 The complete system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
B.5 A reduced modal form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
2
C Calfem input files 71
C.1 Fluid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
C.2 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
C.3 Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
C.4 The complete system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
C.5 A reduced modal form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3
1 Introduction
Vibrating structures inducing pressure waves in a connecting acoustic fluid and the oppo-
site case of acoustic pressure waves inducing structural vibrations constitute a thoroughly
investigated field of research (see for example the texts by Cremer and Heckl (14), and
Fahy (29). In (47; 48; 31; 23; 49; 36; 37), the structure-acoustic problem is studied
using analytical expressions for the two domains. It is evident that the two connecting
domains, the flexible structure and the enclosed acoustic cavity, can be strongly coupled
and in that case the structure-acoustic system must be studied in a coupled system to
evaluate the natural frequencies and the response to dynamic excitation.
The systems studied often have complex shapes, leading to the conclusion that an-
alytical functions cannot be used for describing the spatial distribution of the primary
variables. Numerical methods must be employed. A review of different solution strate-
gies for structure-acoustic problems is given by Atalla (3), where analytical methods and
two numerical approaches: the finite element method and the boundary element method,
are discussed. The development of structure-acoustic analysis using the finite element
method for the study of vehicle interior noise is reviewed by Nefske et al. (42). The basics
of the finite element method are described in, for example, Ottosen and Petersson (46).
A more thorough investigation of the finite element method is found in, for example, the
cited works of Bathe (5) or Zienkiewicz and Taylor (66).
The formulation of coupled structure-acoustic problems using the finite element meth-
od is described, for example, in (54; 13; 43; 25). In the finite element formulation, a
system of equations describing the motion of the system is developed, with the number
of equations equal to the number of degrees of freedom introduced in the finite element
discretisation. One important property of the equation system derived is the sparsity
of the system matrices, i.e. only a few positions in these matrices are populated. This
property results in that the time for solving the system of equations is much shorter,
compared to solving a fully populated system of equations with equal size.
In the structural domain, the primary variable is displacement. For the fluid domain,
several different primary variables can be used to describe the motion. Using the fluid
displacement as the primary variable, both the structural and fluid domains can be de-
scribed with the same type of solid elements. The fluid domain has no shear stiffness and
normal modes with pure rotational motion are introduced. All rotational modes should
have the eigenvalue equal to zero. However, spurious non-zero, and thereby non-physical,
modes are introduced when using full integration of the solid element. Reduced integra-
tion can be used to make all eigenvalues of rotational modes equal to zero (2). The
hourglass modes due to the reduced integration can however interact with the correct
modes giving spurious modes with the same frequencies as the correct ones. In (18), the
element mass matrix was modified to account for this and the eigenvalue of all spurious
modes becomes zero. A mixed displacement based finite element formulation was pre-
sented by Bathe (5), also removing the spurious modes. Using displacement to describe
the fluid domain can be called an one-field formulation, with only the displacement field
is used to describe the structure-acoustic system.
In order to remove the problem with non-physical modes and to arrive at a more com-
pact system of equations, a potential description of the fluid domain can be used, such
4
as the acoustic pressure or fluid displacement potential. The pressure formulation was
used in (20; 50) to determine normal modes and eigenvalues of complex shaped rigid-wall
enclosures and also in (21) to study the transient response of structure-acoustic systems.
A two-field formulation, with structural displacements and fluid potential function is
achieved with only one degree of freedom per fluid node. The derived system of equa-
tions using pressure or displacement potential yields an unsymmetric system of equations.
A fluid velocity potential can also be used, where a matrix proportional to velocity is
introduced (24). To solve the structure-acoustic eigenvalue problem using the two field
formulation, one needs an eigenvalue solver that either can handle unsymmetric matrices
or can solve quadratic eigenvalue problems. Solving these problems are more computa-
tional intensive compared to solving the generalised eigenvalue problem for symmetric
systems (32).
In order to achieve a symmetric system of equations describing the structure-acoustic
system, a three field formulation with structural displacement, fluid pressure and fluid
displacement potential can be used (41; 51). By condensation of one of the fluid po-
tentials, a symmetric two field system of equations can be achieved (13). However, the
system matrices then lose the positive property of being sparse.
Different types of methods for model reduction are often employed in structure-
acoustic analysis. The most commonly used method is to reduce the system using the
normal modes for the structural and fluid domains, derived in separate eigenvalue anal-
ysis of the two subdomains (61; 44). In a paper by Sandberg (53), the un-symmetric
eigenvalue problem, achieved when using the structural displacement and fluid pressure
as primary variables, is made symmetric using the subdomain modes and matrix scaling.
Reduction methods using component mode synthesis were also proposed in, for example,
(22; 62). In the thesis by Carlsson (13), the Lanczos procedure was used in investigating
structure-acoustic problems.
When introducing generalised coordinates, a reduced set of basis vectors, compared to
the original (physical) coordinates, are derived. For example, after solving the eigenvalue
problem, only a few of the calculated normal modes with the lowest natural frequency
are needed to describe the system (5). Types of modes other then normal can also be
used. When using Ritz vectors (4; 63; 1; 40), or Lanczos vectors (13; 35; 19), a very
efficient modal reduction of the system can be performed.
In condensation methods, a large number of the degrees of freedom, that are not
needed in describing the dynamic behaviour of the system, is removed. This can be done
by static (Guyan) condensation (33), where the choice of the kept degrees of freedom is
very important (56; 34; 6). The reduction of the problem can also achieved by dynamic
condensation, where the influence of the internal degrees of freedom are accounted for in
a simplified manner (38; 39; 7; 8; 9).
A frequently used method for substructuring and modal reduction is the component
mode synthesis method. The research conducted to develop this method was reviewed by
Seshu (55) and detailed description of the method can be found in, for example, the book
by Craig (15). The problem domain under study is divided into a number of components,
or subdomains, and a set of basis vectors is derived for each component to be included
in the description of the whole system. Using generalised coordinates or condensation
methods can be seen as special cases of the component mode synthesis method.
5
Component mode methods are usually divided into the fixed-interface component
mode method and the free-interface component mode method. The fixed-interface mode
method uses static condensation of each component, only keeping the degrees of freedom
at the interface between components (16). These basis vectors, which fulfil the displace-
ment and force continuity at the interface boundary, are expanded with internal modes
calculated with the interface degrees of freedom fixed. The eigenvalue problem of the
static-reduced system, only including the interface degrees of freedom, can first be solved.
The inclusion of only a number of these modes reduces the size of the reduced system
further (12; 11). The convergence of the fixed-interface mode method can be improved
in a certain frequency range using quasi-static constraint modes as basis vectors (57).
Using the free interface mode method, the internal modes are calculated without
constraints on the interface degrees of freedom, see (10; 59; 58) for recent developments
of this method. The continuity over the interface is achieved by including attachment
modes, which are calculated by applying a unit force on each of the interface degrees of
freedom with the other interface degrees of freedom unconstrained.
1.1 Organization of the paper

The paper is organized in the following way. First we introduce the basic formulations
for structure-acoustic systems based on different independent variables. Then, Section
4, we show how the unsymmetric formulations can be reformulated to a symmetric al-
ternative, thus showing that the eigenvalues are real.
In order to bring a more solid understanding of the details we introduce the imple-
mentations of these in a script language, Matlab. It is our belief that to really understand
what goes on in the mathematically discrete form, how the formulations actually work, a
programming code is a good tool that further the operational understanding. In Section
5 the educational code Calfem is the vehicle for that discussion. The theoretical back-
ground for the element routines is described. Particularly the interface elements clearly
show how the information is passing between the two physical domains. Finally some
example are presented in Appendix B
6
2 Structure-acoustic analysis - Governing equations
This Section investigates the analysis of structure-acoustic systems, here limited to sys-
tems consisting of a flexible structure in contact with an enclosed acoustic cavity, within
the finite element environment.
For the structure-acoustic system, the structure is (here) described by the differential
equation of motion for a continuum body assuming small deformations and the fluid by
the acoustic wave equation. Coupling conditions at the boundary between the struc-
tural and fluid domains ensure the continuity in displacement and pressure between the
domains. The governing equations and boundary conditions can, as for example, was
described in detail by Carlsson (13), be written:

2

T s + bs = s us s
Structure : t2

+ Boundary and initial conditions

2
p c2 2 p = c2 qf

f
0 0 (2.1)
Fluid : 2t t

+ Boundary and initial conditions

us |n = uf |n f s
Coupling :
| = p f s
s n
The structure-acoustic problem schematically sketched in Figure 1. It consists of a

fluid domain, f , and a structure domain, s . The boundary between the fluid domain
and the structure domain is denoted, sf , the fluid boundaries with prescribed pressure,
p , with prescribed velocity, v , and with a prescribed impedance, z .
Figure 1. A principal sketch of the problems discussed in this report
The variables and material parameters are defined in the following sections, where
also the finite element formulation of this coupled problem derived.
7
The structure of interest in most structure-acoustic problems is two dimensional and
is therefore often described by plate or shell theory. For derivation of the system matrices
for these problems, see, for example, (5; 66).
3 Finite element formulation

3.1 Structural domain
The structure is described by the equation of motion for a continuum body. The
finite element formulation is derived with the assumption of small displacements. This
presentation follows the matrix notation used by Ottosen and Petersson (46).
For a continuum material the equation of motion can be written
T s + bs = qs
(3.1)
with the displacement, us , the body force, bs , and the inertia force, qs ,
s s
u1 b1
2 us
us = us2 ; bs = bs2 ; qs = s 2 (3.2)
us3 bs3 t
can be written
where s is the density of the material. The differential operator

x1 0 0

0 0
x2

0
0
= x3 ; (3.3)

x2 x1 0

0
x3 x1

0
x3 x2
The Green-Lagrange strain tensor, Es , and the Cauchy stress tensor Ss are defined as
S S
11 S12 S13 11 12 S S
13
Es = S22 S23 ; Ss = S
22 S
23 (3.4)
S S
sym. 33 sym. 33
and in matrix notations the strains and stresses can be written
s s
11 11
s22 s
22
s s
33
s = 33

s = s
12 s
12
(3.5)
s s
13 13
s s
23 23
8
s
where 12 = 2s12 , 13
s
= 2s13 and 23
s
= 2s23 . The kinematic relations, the relations
between the displacements and strains, can be written
s
s = u (3.6)
For an isotropic material, the stresses and strains are related by the constitutive
matrix Ds given by
s = Ds s (3.7)
where
+ 2 0 0 0

+ 2 0 0 0

+ 2 0 0 0
Ds = (3.8)

0 0 0 0 0

0 0 0 0 0
0 0 0 0 0
The Lame coefficients, and , are expressed in the modulus of elasticity, E, the shear
modulus, G, and Poissons ratio, by
E
= (3.9)
(1 + )(1 2)
E
=G= (3.10)
2(1 + )
To arrive at the finite element formulation for the structural domain, the weak form
of the differential equation is derived. This can be done by multiplying equation (3.1)
with a weight function, vs = [v1 v2 v3 ]T , and integrating over the material domain, s ,
Z 2
T s s us + bs )dV = 0
vsT ( (3.11)
s t2
Using Green-Gauss theorem on the first term in equation (3.11) gives

Z Z Z
T s dV =
vsT (vs )T ts dS s )T s dV
(v (3.12)
s s s
The surface traction vector ts related to the Cauchy stress tensor, Ss , by
ts = Ss ns (3.13)
where ns is the boundary normal vector pointing outward from the structural domain.
The weak form of the problem can be written
Z Z Z Z
2 us s )T s dV
vsT s 2 dV + (v (vs )T ts dS vsT bs dV = 0 (3.14)
s t s s s
Introducing the finite element approximations of the displacements ds and weight func-
tions cs by
us = Ns ds ; vs = Ns cs (3.15)
9
where Ns contains the finite element shape functions for the structural domain, the
strains can be expressed as
s ds
s = N (3.16)
This gives the finite element formulation for the structural domain, when described as a
continuum body
Z Z Z Z
NTs s Ns dV ds + s )T Ds N
(N s dV ds = NTs ts dS + NTs bs dV
s s s s
(3.17)
and the governing system of equations can be written
Ms ds + Ks ds = ff + fb (3.18)
where Z Z
Ms = NTs s Ns dV ; Ks = s )T Ds N
(N s dV
s s
Z Z (3.19)
ff = NTs ts dS fb = NTs bs dV
s s
3.2 Acoustic fluid domain

The governing equations for an acoustic fluid are derived using the following assump-
tions for the compressible fluid (13):
The fluid is inviscid.
The fluid only undergoes small translations.
The fluid is irrotational.
Thereby, the governing equations for an acoustic fluid are, the equation of motion,
2 uf (t)
0 + p(t) = 0 (3.20)
t2
the continuity equation,
f (t) uf (t)
+ 0 = qf (t) (3.21)
t t
and the constitutive equation,
p(t) = c20 f (t) (3.22)
Here uf (t) is the displacement, p(t) is the dynamic pressure, f (t) is the dynamic density
and qf (t) is the added fluid mass per unit volume. 0 is the static density and c0 is the
speed of sound. denotes a gradient of a variable, i.e.,
T

= ; (3.23)
x1 x2 x3
10
The nonhomogeneous wave equation can be derived from equations (3.20) (3.22). Dif-
ferentiating equation (3.21) with respect to time and using (3.22) gives

1 2p 2 uf qf
+ 0 0 = (3.24)
c20 2 t t2 t
Substituting (3.20) into this expression gives the nonhomogeneous wave equation ex-
pressed in acoustic pressure p.
2p qf
2
c20 2 p = c20 (3.25)
t t
where 2 = 2 /x21 + 2 /x22 + 2 /x23 .
The finite element formulation of equation (3.25) is derived by multiplying with a test
function, vf , and integrating over a volume f .
Z 2
p 2 2 2 qf
vf c 0 p c 0 dV = 0 (3.26)
f 2t t
and with Greens theorem the weak formulation is achieved

Z Z Z Z
2p qf
vf 2 dV + c20 vf pdV = c20 vf pnf dA + c20 vf dV (3.27)
f t f f f t
where the boundary normal vector nf points outward from the fluid domain. The finite
element method approximates the pressure field and the weight function by
p = Nf pf ; vf = Nf cf (3.28)
where pf contains the nodal pressures, cf the nodal weights and Nf contains the finite
element shape functions for the fluid domain. Inserting this into equation (3.27) and
noting that cf is arbitrary gives
Z Z
NTf Nf dV pf + c20 (Nf )T Nf dV pf =
f f
Z Z (3.29)
qf
= c20 NTf pnf dS + c20 NTf dV
f f t
The system of equations for an acoustic fluid domain becomes
Mf p + Kf p = fq + fs (3.30)
where Z Z
Mf = NTf Nf dV ; Kf = c20 (Nf )T Nf dV
f f
Z Z (3.31)
q
fs = c20 NTf nTf p dS ; fq = c20 NTf dV
f f t
11
Note that nTf p in the squared expression above is a scalar function multiplied on
each position of NTf . If part of the boundary is non-flexible, the condition is imposed by
setting p(r, t) = 0 (natural boundary condition). If the fluid volume has a free surface,
p = 0 at the corresponding nodes. Finally, if some part of the boundary, it might be an
interior boundary, is interacting with a flexible structure, that interaction is entered by
reformulating nTf p.
3.3 The coupled structure-acoustic system

At the boundary between the structural and fluid domains, denoted sf , the fluid
particles and the structure moves together in the normal direction of the boundary.
Introducing the normal vector n = nf = ns , the displacement boundary condition can
be written
us n|sf = uf n|sf (3.32)
and the continuity in pressure
s |n = p (3.33)
where p is the acoustic fluid pressure. The structural stress tensor at the boundary sf
thus becomes
1 0 0
Ss = p 0 1 0 (3.34)
0 0 1
and the structural force term providing the coupling to the fluid domain, ff (in equation
(3.18)), can be written

Z 1 0 0 Z Z
T T
ff = Ns (p) 0 1 0 ns dS =
Ns np dS = NTs nNf dSpf
sf 0 0 1 sf sf
(3.35)
Note that the structural boundary normal vector ns is replaced with the normal vector
n pointing in the opposite direction. The force acting on the structure is expressed in
the acoustic fluid pressure.
For the fluid partition the coupling is introduced in the force term fs (in equation
(3.30)). Using the relation between pressure and acceleration in the fluid domain
2 uf (t)
p = 0 (3.36)
t2
and the boundary condition in equation (3.32), the force acting on the fluid can be
described in terms of structural acceleration
2 uf 2 us
nT p|sf = 0 nT 2
|sf = 0 nT |sf = 0 nT Ns ds |sf (3.37)
t t2
and the boundary force term of the acoustic fluid domain, fs , can be expressed in struc-
tural acceleration
Z Z
fs = c20 NTf nT pdS = 0 c20 NTf nT Ns dS ds (3.38)
sf sf
12
The introduction of a spatial coupling matrix
Z
H= NTs nNf dS (3.39)
sf
allows the coupling forces to be written as

ff = Hpf (3.40)
and
fs = 0 c20 HT ds (3.41)
The structure-acoustic problem can then be described by an unsymmetrical system of
equations

Ms 0 ds Ks H ds fb
+ = (3.42)
0 c20 HT Mf pf 0 Kf pf fq
This system is the standard form, the most basic form, of FSI-formulation.
3.4 Two-dimensional structure

It is particularly illustrative to derive the finite element expression for a two-dimen-
sional fluid-structure interaction problem, e.g. a fluid-backed beam. This will be further
discussed in detail in 5.
The partial differential equation of motion for elementary beam flexure, in a local
coordinate system where the x-axis is directed along the axis of the beam, is

2 2 us 2 us
2
(EI 2
) + m 2
= p(r, t) . (3.43)
x x t
sf
u(x, t) is the transverse displacement of the beam, EI is the bending stiffness and m is
the mass per unit length. For simplicity, the only distributed load considered here is the
transverse load due to the acoustic pressure. By definition, the transverse displacement
is positive in the normal direction of the beam, corresponding to the local y-axis.
The finite element formulation for an undamped beam with length L, expressed in
the local coordinate system, is
+ K d = f + f ,
Ms d (3.44)
s f b
where Z L

Ms = NTs mNs dx,

0

Z
L

Ks

= BTs EIBs dx,
0
Z L
(3.45)

NTs

ff = p dx ,

0

L
dNTs

M NTs V

fb = ,
dx 0
13
and the definitions of Ns and Bs restricted to one element read
Nes = [Ns1
e e
(x) Ns2 e
(x) Ns3 e
(x) Ns4 (x)] , and Bes = d2 Ne s /dx2 . (3.46)
If the beam is arbitrarily rotated, the local coordinate system must be transformed
to the global coordinte system by a matrix G, d = Gd. For a two-dimension beam with
two translation degrees-of-freedom and one rotation degree-of-freedom at each node, the
matrix G is defined as

nxy nyy 0 0 0 0
0 0 1 0 0 0
G= 0
, (3.47)
0 0 nxy nyy 0
0 0 0 0 0 1
where nxx defines the direction cosine between the x axis and the x axis, and so on. Note
that the axial deformation of the beam is not present in the model. Premultiplying Eq.
(3.44) by GT and using d = Gd yields
Ms d + Ks d = ff + fb , (3.48)
where
Ms = GT Ms G,

Ks = GT Ks G,
(3.49)

ff = GT ff ,

fb = GT fb .
3.5 Boundary conditions and coupling

In the two previous sections we have put some expressions in boxes. The dynamic
coupling of the different domains, structure and fluid, is described by these expressions.
They need to be reformulated using the defined shape functions from either system.
Firstly, continuity of the fluid displacements and structural displacements is assumed in
the normal direction to the interface. Thus, the following kinematic boundary condition
applies, in global coordinates,
uf n|s = us n|s , (3.50)

where uf is the fluid displacements and X|s denotes the restriction of X to S. Secondly,
for the acoustic fluid the equations of motion give the following relation between acoustic
pressure p and fluid displacements uf
2 uf (r, t)
p(r, t) = , (3.51)
t2
where is the fluid density. At the structure-acoustic interface we get

2 uf (r, t) 2 us (r, t)
p(r, t) n|s = n =
n [nx ny nz ] Ns d, (3.52)
t2 s t 2
s
14
where Eq. (3.15) has been used to approximate us . This expression is substituted in fs
to get Z
Eq. (3.31)
fs = c2 NTf [nx ny nz ] Ns dS d = c2 HT d. (3.53)
s
The last part defines H. ff is discretized using the nodal quantities of p(r, t)

Z Z nx
Eq. (3.19)
ff = NTs p(r, t) n dS NTs ny Nf dS p = H p. (3.54)
Sf Sf nz
The expressions Eq. (3.53) and Eq. (3.54) are particularly simple for the two-dimensional
case because
= N Gd.
p(x, y, t) n|e = Ns d (3.55)
s
Hence
Z L Z L

sf = c2 NTf p(x, y, t) n dx = c2 NTf Ns dx Gus = c2 HT us ,
0 0
Z L Z L

ff = G
T
NTs p(x, y, t) dx = GT NTs Nf dx p = Hp,
0 0
(3.56)
where Z L
T
H=G NTs Nf dx. (3.57)
0
Eq. (3.18) alt. Eq. (3.44) can thus be written as
Ms d + Ks d = fb + Hp (3.58)
and similarly, Eq. (3.30), as
Mf p + Kf p = c2 HT d + fq (3.59)
and the coupled system of equations established as

Ms 0 d Ks H d fb
+ = . (3.60)
c2 HT Mf p 0 Kf p fq
This system of equations is the basis for the element routines described in Section 5.
3.6 Alternative formulations

def
Introduce a potential function, , associated with the fluid displacement, = uf .
It can be shown that the acoustic wave equation still holds for this new variable,
2 (r, t)
c2 2 (r, t) = c2 Q. (3.61)
t2
15
Consequently, we can recycle the weak form presented in Eq. (3.24) by just changing
the notation p . The boundary conditions have altered, however. From the fluid
equation we get
def
(r, t) n|S = uf (r, t) n|S = us (r, t) n|S [nx ny nz ] Ns d (3.62)
and thus Z
Eq. (3.31)
fs = c2 NTf ((r, t) n) dS = c2 HT d (3.63)
S
where H has been defined previously. The load on the structural system from the fluid
pressure, ff , is still p(r, t) n but it can be expressed in terms of the fluid displacement
potential as
2 (r, t)
p(r, t) = , (3.64)
t2
hence

Z Z nx
Eq. (3.19) T 2 (r, t) T
ff = Ns () n dS = Ns ny Nf dS = H .
Sf t2 Sf nz
(3.65)
The coupled system based on the fluid displacement potential can now be established:

Ms H d Ks 0 d fb
+ = . (3.66)
0 Mf c2 HT Kf fq
The fluid pressure p and fluid displacement potential can furthermore be combined in
the following manner
p + = 0,

1 1 (3.67)

2
p + 2 = Q.
c
Expand p and in the same set of shape functions Nf , and use Nf as weight functions
in the first equation in Eq. (3.67) and Nf in the second equation. Actually the shape
functions need not be the same, but for simplicity I have made that choice here. The
result is

Ms 0 0 d Ks 0 H d fb
0 c2 Kf 0 + 0 0 c2 Kf = 0 .
T 2 2 1
0 0 0 p H c Kf (c ) Mf p fq
(3.68)
Note that this is a symmetric system but with some deficiences, like zero entries in the
diagonal.
Once the mass matrices and stiffness matrices, Mx , Kx (x = s and f ), and the
coupling matrix H have been established, any of these systems, Eq. (3.60), (3.66) or
(3.68), can readily be created.
The ambition above has not been to present all details, merely to outline some of the
mathematics of interacting fluid-structure systems. For a more thorough discussion of
the systems above and some others, see (54)(? ) to the references.
16
3.7 Modal decomposition
The symmetry property of the matrix blocks for each subdomain makes it possible
to diagonalize each block in Eq. (3.60) independently. This corresponds to solving the
structural problem in vacuo and the fluid domain with stiff boundaries. Assuming s
and f are matrices consisting of the eigenvectors in the structural domain and the fluid
domain respectively, we have
Ts Ms s = Is and Ts Ks s = Ds (3.69)
in the structural domain and
Tf Mf f = If and Tf Kf f = Df (3.70)
in the fluid domain, where Ds and Df are diagonal matrices. It can be shown, see (? ),
that by a similarity transformation Eq. (3.60) can be written as
" # p " #
s Ds c2 Ds Ts Hf s
+ p

f c2 Tf HT s Ds Df + c2 Tf HT s Ts Hf f
(3.71)
p
2 T
c Ds s Fs
=
Tf Ff c2 Tf HT s Ts Fs
Contrary to Eq. (3.60) the system matrix is symmetric and the corresponding eigen-
value problem is in standard form. The similarity transformation is
p
s 0 ( c2 Ds )1 0
T right = (3.72)
0 f 0 If
The eigenvectors extracted from Eq. (3.71) can be used to compute the right eigen-
vectors to Eq. (3.60) by simply multipling the extracted eigenvectors by the similarity
transformation given above, thus

d s
= Tright . (3.73)
p right eigenvector f right eigenvector
If the original system is to be diagonalized, the left eigenvectors of the system also need
to be computed. A system similar to Eq. (3.71) can be derived for the left eigenvectors
p p
Ds + c2 Ts Hf Tf HT s c2 Ts Hf Df s s
p p = (3.74)
c2 Df Tf HT s Df f f
The corresponding similarity transformation is written

s 0 Is p 0
Tleft = p (3.75)
0 f 0 ( c2 Df )1
17
and
d s
= Tleft . (3.76)
p left eigenvector f left eigenvector
In Calfem there are ready-built functions to generate the system matrices defined in
Eq. (3.71) and Eq. (3.74), once the eigenvalue problems corresponding to the subsystems
have been solved, and to transform the eigenvectors back to the original system, i.e. Eq.
(3.73) and Eq. (3.76).
The procedure outlined here can also be used on the -formulation, Eq. (3.66). The
corresponding routines are also available in Calfem (17).
18
4 Modal representation of Fluid-Structure Systems
The structural formulation is naturally based on the displacement field as independent
variable. In the fluid there exist multiple choices of independent variable, e.g. fluid dis-
placement and different scalar fields such as pressure, velocity potential, and displacement
potential and combinations thereof.
The use of fluid-displacement field needs special attention to assure that the irrota-
tional displacement field is maintained. This can be done by a proper introduction of
the displacement field, see Sandberg (54). The disadvantage, compared to a scalar field,
is the introduction of three nodal unknowns for a three dimensional problem.
Scalar fields can be used in various ways with different matrix block structures, al-
though they all describe the same physical problem. They all automatically enforce
irrotationality of fluid motions, however. A straightforward introduction of the pressure
or the fluid-displacement potential is used by e.g. Zienkiewicz and Bettess (64) and
Zienkiewicz et al (65). By means of the finite element method, the discretized differen-
tial equations then yield unsymmetrical system matrices. A short note on how coupled,
conservative mechanical systems interacting through conjugate variables produce unsym-
metrical systems is included in Felippa, (26).
The solution of the vibration eigenproblem for scalar formulation has been given a lot
of attention, with the ambition to overcome the deficiency of the unsymmetric matrices.
The standard procedure has been to combine, in various ways, the pressure and the fluid-
displacement potential, thus achieving symmetric systems, see Ohayon (45), Sandberg
(51) and Felippa and Ohayon (27). It is also possible to statically condense the two-field
fluid formulations, thus producing a one-field symmetric formulation, (54; 13; 27; 28).
The drawback is that the resulting systems yields either a full mass matrix or a full
stiffness matrix. Much of the confusion between the various formulations is removed in
Felippa and Ohayon (27).
The present paper returns to the unsymmetric formulations based on either pressure
or fluid-displacement potential. It suggests a procedure for handling vibration analysis
based on the eigenvectors of each subdomain, fluid and structure. Starting from the
eigenvectors in each domain, the coupled system is formed, and after some simple steps,
a standard eigenvalue problem is achieved. If the coupled system matrices need to be put
in diagonal form, e.g. if the goal is a transient analysis based on the original system, the
accompanying left eigenvalue problem is turned into a similar simple standard eigenvalue
problem.
One advantage of the proposed system is the possibility to select a limited set of
eigenmodes from the subdomains, thus only forming a limited final coupled system.
4.1 Fluid-structure interaction

The particular class of fluid-structure interaction problems treated here is based on
the linear acoustic approximation in the fluid, i.e. compressible, non-viscid and small
vibration fluid flow. Different formulations of the fluid domain using pressure, p, fluid
displacement potential, , or combination thereof as independent variables, are possible.
See further Sandberg (54) and Carlsson (13) for complete derivations of the coupled
problems utilizing different formulations.
19
The coupled system based on fluid pressure formulation reads

Ms 0 us Ks B us Fs
+ = (4.1)
c2 B T Mf p 0 c2 K f p Ff
and the fluid displacement potential formulation

Ms B us Ks 0 us Fs
+ = (4.2)
0 Mf c2 B T c2 Kf Ff
where, in both cases, Ms , Ks , are the structural mass and stiffness matrices, and (Mf )ij =
R i j
R i j j
V Nf Nf dV and (Kf )ij = V Nf Nf dV are the fluid system matrices. Nf are
the shape functions in the fluid domain. The coupling matrix B is defined as Bij =
R i j i
S Ns nNf dS. Ns are the shape functions in the structural domain and n is the
unit vector in the normal direction at the wet surface. If both p and are used as
independent variables in the fluid domain, symmetric formulations can be derived, see
for instance Sandberg and Goransson (51)

Ms 0 0 us Ks 0 B us Fs
0 Kf 0 + 0 0 Kf = Ff .
0 0 0 p B T Kf (c2 )1 Mf p Ffp
(4.3)
One advantage of Eq. 4.3, as compared to Eq. 4.1 and Eq. 4.2, is the possibility of using
symmetric eigenvalue solvers. The drawback is of course the doubling of fluid degrees of
freedom. In the next section, the properties of Eq. 4.1 are further investigated.
4.2 Modal representation, p-formulation

This section deals with some modal properties of the p-formulation stated in Eq. 4.1
above. Because the system is unsymmetric we need to distinguish between the right
and left eigenvector sets if at some step the system is to be diagonalized, for instance to
perform a transient analysis.
A useful property of unsymmetric matrices used both in this section and in Section
4.3 is
Remark: Suppose that C1 and C2 are n n and m m matrices respectively, and

that A is a n m matrix. Then
1
C1 A C11 C11 AC21
= (4.4)
0 C2 0 C21
This is easily verified by checking that the matrix on the right hand side actually is the
left and right inverse. In particular, it is easy to compute the inverse in the case of
diagonal matrices, C1 and C2 .
20
Right eigenvectors of the p-system The symmetry property of the matrix blocks
for each subdomain makes it possible to diagonalize each block independently. This
corresponds to solving the structural problem in vacuo and the fluid domain with stiff
boundaries. Assuming s and f are matrices consisting of the eigenvectors in the
structural domain and the fluid domain respectively, we have
in the fluid domain where Ds and Df are diagonal matrices. Changing to the base of
eigenvectors in each sub domain, i.e.

us s 0 s
= (4.7)
p 0 f f
and multiplying Eq. 4.1 from the left by

T
s 0
(4.8)
0 Tf
yields

Is 0 s Ds Ts Bf s Ts Fs
+ = . (4.9)
c2 Tf B T s If f 0 Df f Tf Ff
According to the Remark Eq. 4.4 in the previous section, matrix inversion applied to
the transformed mass matrix yields

s Is 0 Ds Ts Bf s
+ =
f c2 Tf B T s If 0 Df f
T (4.10)
Is 0 s Fs
c2 Tf B T s If Tf Ff
or

s Ds Ts Bf s
+ =
f c2 Tf B T s Ds Df + c Tf B T s Ts Bf
2
f
(4.11)
Ts Fs
Tf Ff c2 Tf B T s Ts Fs
The system matrix is almost symmetric. Scaling the system, using

p
s ( c2 Ds )1 0 s
= (4.12)
f 0 If f
21
and multiplying from the left by the inverse of the scaling matrix, gives
p !
s D c 2 D T B s
s s s f
+ p =
f c2 Tf B T s Ds Df + c2 Tf B T s Ts Bf f
(4.13)
p
c2 Ds Ts Fs
Tf Ff c2 Tf B T s Ts Fs
The transformation going from Eq. 4.1 to Eq. 4.13 is performed through a set of
similarity transformation; hence the eigenvalues are not affected by this procedure. In
fact, the eigenvalues of the corresponding eigenvalue problem of Eq. 4.2 and Eq. 4.3
are the same as those of Eq. 4.13. The diagonalization of the unsymmetrical matrices,
however, is achieved by different sets of right and left hand eigenvectors, contrary to the
standard eigenvalue problem corresponding to Eq. 4.13.
Relation between the right eigenvectors of the original form and the derived
standard form. Denote the eigenvectors of the -system in Eq. 4.13 by v , the system
matrix by K and the eigenvectors of the -system in Eq. 4.11 by v and the system
matrix by Ks . Then the following relation applies, S 1 Ks S = K where S is the scaling
matrix defined in Eq. 4.12. Because K v = v where is the corresponding eigenvalue,
we get
Ks Sv = Sv (4.14)
hence, the eigenvectors v of Ks are Sv . But Ks is actually M1 K where the two
latter matrices are defined by Eq. 4.9. This gives the simple relation between right
eigenvectors, vpr , of the original eigenproblem in Eq. 4.1 and the derived standard form,
Eq. 4.13, p
s 0 ( c2 Ds )1 0
vpr = v (4.15)
0 f 0 If
Left eigenvectors of the p-system The previous subsections dealt with the right
eigenvectors of the p-system. If the original system is to be diagonalized, the left eigen-
vectors of the system need to be known. The following statement is trivial, xT K =
xT M K T x = M T x hence the left eigenvalue problem of Eq. 4.1 reads

Ks 0 us Ms c2 B us
= (4.16)
B T c2 Kf p 0 Mf p
Note that the diagonal blocks are symmetric, as used in Eq. 4.16. Diagonalize each
subdomain following the procedure in Section 4.2 and we get

Ds 0 s Is c2 Ts Bf s
= (4.17)
Tf B T s Df f 0 If f
The inversion of the mass matrix yields

Is c2 Ts Bf Ds 0 s s
= (4.18)
0 If Tf B T s Df f f
22
or

Ds + c2 Ts B T f Tf Bs c2 Ts Bf Df s s
= (4.19)
Tf B T s Df f f
and we have an almost symmetric system. Applying a scaling matrix

s Is p 0 s
= p (4.20)
f 0 ( c2 Df )1 f
to perform a change of base, and multiplying from the left by the inverse of the scaling
matrix, similar to Subsection 4.2, we finally get
p p !
2 T
Ds +pc s Bf Tf B T s c2 Ts Bf Df s s
p = (4.21)
c2 Df Tf B T s Df f f
We have the following relation between the eigenvectors of Eq. 4.21 and the left eigen-
vectors of the original p-system, vpl

s 0 Is p 0
vpl = p v (4.22)
0 f 0 ( c2 Df )1
(note that the scaling matrix is different from the scaling matrices in Subsection 4.2)
4.3 Modal representation, -formulation

This section deals with the modal properties of Eq. 4.2. Because the procedure is
similar to that of Section 3 only some of the intermediate results are stated.
Right eigenvectors of the -system Using the same notation as in Subsection 4.2,
we have s and f , matrices consisting of the eigenvectors in the structural domain and
the fluid domain respectively, i.e.
in the fluid domain, where Ds and Df are diagonal matrices. Changing to the base of
eigenvectors in each sub domain,
T
Is Ts Bf s Ds 0 s s Fs
+ = . (4.25)
0 If f c2 Tf B T s Df f Tf Ff
Taking the inverse of the mass matrix according to Remark 4.4 and apply a scaling
matrix !
s Is q 0 s
= c2 1/2 (4.26)
f 0 Df
f
23
gives
p p !
s Ds + c2 Ts Bf Tf B T s c2 Ts Bf Df s
+ p p =
f c2 Df Tf B T s Df f
(4.27)

Ts Fp T T
s s Bf f Ff
p
c2 Df Tf Ff
which yields a corresponding eigenvalue problem of standard type .

The relation between the eigenvectors of the derived standard form and the right
eigenvectors, vr of the original problem reads
I !
s 0 s 0
vr = q
c2
p 1 v (4.28)
0 f 0 ( Df )
The eigenvalue problem in Eq. 4.27 is the same as the left eigenvalue problem of the
p-system derived in Subsection 4.2. The relation to the original form differs, however.
Left eigenvectors of the -system The procedure in Subsection 4.2 applied to the
-form stated in Eq. 4.2 yields a standard eigenvalue problem of the form
p !
Ds c2 Ds Ts Bf s s
p = (4.29)
c2 Tf B T s Ds Df + c2 Tf B T s Ts Bf f f
This is exactly the same as the right eigenvalue problem of the p-system, derived in
Subsection 4.2.
The relation between the eigenvectors of the derived standard form and the left eigen-
vectors, vl of the original -form is
q c2 1
!
l s 0 ( D s ) 0
v = v (4.30)
0 f 0 If
4.4 Summary of eigenproblems and eigenvectors

To summarize the result, we have two standard eigenvalue systems, originating from
the p-system and the -system.
The right p-system and the left -system:
p !
Ds c2 Ds Ts Bf s s
p
T T
= (4.31)
2
c f B s Ds Df + c2 Tf B T s Ts Bf f f
The left p-system and the right -system:
24
p p !
2 T
Ds +
pc Bf Tf B T s c2 Ts Bf Df s s
ps = (4.32)
c Df Tf B T s
2 Df f f
We have the following set of eigenvectors where the superscript denotes the corre-
sponding left or right eigenvector problem,
p
r s 0 ( c2 Ds )1 0
vp = v (v from on Eq. 4.31) (4.33)
0 f 0 If

s 0 Is 0
vpl = p p v (v from on Eq. 4.32) (4.34)
0 f 0 ( c2 Df )1
!
s 0 Is 0
vr = q
c2
p 1 v (v from on Eq. 4.32) (4.35)
0 f 0 ( Df )
q
c2
!
s 0 ( Ds )1 0
vl = v (v from on Eq. 4.31) (4.36)
0 f 0 If
4.5 Computational effort

The numerical labor of going from Eq. 4.1 down to Eq. 4.13 lies in the formation
of eigenvectors of the subsystems, Eq. 4.5 and Eq. 4.6. From there on, only cheap
matrix multiplications are performed. In most cases only a limited set of eigenvectors
participate in a solution, or only a limited interval in the frequency domain is of interest.
Therefore, only a few of the eigenvectors need to be extracted from the structural and
fluid subdomains. Although the matrix in Eq. 4.27 is full, the limited size and the
symmetry yield but minor numerical work during eigenvalue extraction.
4.6 Numerical examples

To illustrate the capabilities of the proposed scheme, two simple problems are given.
The first is a simple tube i.e. a one dimensional problem. The second is a two dimen-
sional fluid rectangular domain with only one flexible wall.
One dimensional tube The tube example is a one dimensional fluid with a spring
mounted piston at one end and a fixed end at the other side. See further Fig. 2.
The resonance frequencies f (Hz) can be found as the solution to F (f ) = 0 where the
function F is defined as

2 f l
2 c f cos
2 f l c
F (f ) = sin + , (4.37)
c k 4 mf 2 2
25
Figure 2. Simple one dimensional problem; tube locked at one end and a spring-mass
system at the other.
k and m are the spring stiffness and the piston mass respectively. is the fluid density
and c the speed of sound. Finally l is the tube length. In the table below analytical
refers to values of f where Eq. 4.37 equates zero. The pressure eigenmodes are

2 2
2 f x 1 2 2 2 f x
2 k 4 mf cos f c 4 f sin
c c
p(x) = p (4.38)
k 2 8 kmf 2 2 + 16 m2 f 4 4 + 4 c2 2 f 2 2
For a more elaborate discussion of this example see Carlsson and Sandberg10 . The first
five of these eigenmodes are shown in Fig. 3, using data from case I, see below.
1
0.5
0
0 0.5 1 1.5 2 2.5 3
x
-0.5
-1
Figure 3. Analytical eigenmodes; plots of the pressure p(x) for the first five values of
the eigenfrequency according to Eq. 7.2. The zero mode is excluded.
The fluid is divided into 50 simple linear elements, adding up to 51 degrees-of-freedom,

and of course the structure is just a one degree-of-freedom system. The physical data
chosen in the fluid are rho = 1000 kg/m, c = 1500 m/s and l = 3 m. Two sets of
runs were performed with different structural data, case I with k = 4.9348 108 N/m,
26
m = 200 kg and case II with k = 4.9348 105 N/m, m = 0.2 kg. The fluid resonance
occurs at even 250 Hz steps, if both ends are regarded as fixed. The structural data are
chosen in order to get structure resonance at 250 Hz, if vibrating in vacuo.
The analysis is based on an eigenvalue analysis of the fluid domain based on the
p-formulation, Eq. 4.1. Different numbers of eigenmodes from this first non-coupled
analyses are utilized to form a coupled system according to Eq. 4.13 or equivalently Eq.
4.31. Each such non-coupled eigenmode will be multiples of half cosin functions because
the ends are rigid. In Fig. 4 the first five computed non-coupled fluid eigenmodes are
shown. Finally the eigenmodes of the original system are computed according to Eq.
4.15 or Eq. 4.33.
-1
0 1 2 3
Figure 4. The first five non-coupled fluid modes, i.e. computed with rigid boundaries.
The vertical axis shows the fluid pressure. The horizontal axis shows the distance from
the piston in meters.
The result for case I is shown in Table 1 and Fig. 5; the zero frequency mode is
excluded in the figure. Using only 5 non-coupled fluid eigenmodes, the behavior of the
system is very well captured. Using all existing fluid modes, 51 in all, gives exactly
the same result as the result based on the unsymmetric system, Eq. 4.1, using an
unsymmetric eigenvalue solver. This is of course to be expected because the steps passing
from the original unsymmetric system to the derived symmetric standard eigenvalue
problem are similarity transformations.
Table 1. First six eigenfrequencies for case I, using 5, 10 and 15 fluid modes.
analytical no. of fluid modes used
5 10 15 51
0.0 0.0 0.0 0.0 0.0
144.0 149.0 146.2 145.4 144.0
362.4 378.4 369.5 366.8 362.6
594.1 622.0 605.4 601.1 594.6
830.1 874.6 845.2 839.6 831.6
1069.1 1219.1 1088.0 1081.2 1072.3
27
At x = 0 the fluid pressure is less then 1, due to the flexible end. It is noteworthy how
just a limited set catches the overall behaviour, and especially the pressure maximum.
The limited set of eigenmodes cannot completely capture the high frequency content at
the piston end, i.e. the slope at x = 0, compare Fig. 5 a) - c) to Fig. 5 d) and to the
analytical result presented in Fig. 3
a) b)
1 1
0 0
-1 -1
0 1 2 3 0 1 2 3
c)
d)
1 1
0 0
-1 -1
0 1 2 3 0 1 2 3
Figure 5. Coupled fluid eigenmodes for case I. a) using 5, b) using 10, c) using 15,
d) using all non-coupled fluid modes. The vertical axis shows the fluid pressure. The
horizontal axis shows the distance from the piston in meters.
The result for case II is shown in Table 2 and Fig. 6. Data given to the piston yields
practically a free end. Even for this case the limited set of eigenmodes captures the
behaviour, in particular keeping the pressure at x = 0 to zero.
28
Table 2. First six eigenfrequencies for case II, using 5, 10 and 15 fluid modes.
analytical no. of fluid modes used

5 10 15 51
0.0 0.0 0.0 0.0 0.0
125.0 130.9 127.7 126.7 125.0
375.0 393.1 383.1 380.1 375.1
625.0 657.3 639.1 633.9 625.6
874.9 926.7 895.9 888.5 876.7
1124.9 2931.1 1154.1 1144.0 1128.7
a) b)
1 1
0 0
-1 -1
0 1 2 3 0 1 2 3
c) d)
1 1
0 0
-1 -1
0 1 2 3 0 1 2 3
Figure 6. Coupled fluid eigenmodes for case II. a) using 5, b) using 10, c) using 15,
d) using all non-coupled fluid modes. The vertical axis shows the fluid pressure. The
horizontal axis shows the distance from the piston in meters.
29
Fluid backed panel The next example is a two-dimensional box, 1.5 0.45 m2 , with
one flexible side, shown in Fig. 7. The finite element model consists of 30 beam elements
and 270 8-node fluid elements. The beam has fixed supports at each end. In total there
are 93 structural degrees-of-freedom and 889 fluid degrees-of-freedom. The following data
were used in the fluid, = 1000 kg/m3 and c = 1500 m/s. The beam were given the
following data, E = 2.11 1011 N/m2 , I = 8.33 107 m4 , cross section area A = 0.001
m2 and mass per unit length ms = 2 kg/m.
Flexibel side, 30 beam elements
0.451.5 m2
930 fluid elements
Figure 7. A two-dimensional box with one flexible side filled with water, length 1.5 m,
height 0.45 m.
Table 3 show the resonance frequencies for the structure vibrating in vacuo and the
fluid using rigid boundaries.
One test run has been performed using 30 structural modes and 100 fluid modes.
The result indicates a very good agreement between the full unsymmetric system and
the reduced proposed scheme, see Table 4. The mode numbering in Table 4 are given
according to the full unsymmetric system. Some modes in the proposed scheme have
been altered e.g. mode 5 and 6. Even higher modes are correctly represented, e.g. mode
24. The first 25 modes are computed according to the proposed scheme with less than
5% error compared to the full system. The shape of the eigenmodes from the proposed
standard eigenvalueproblem also agree very well with those from the complete system,
see Fig. 8 and 9.
30
Table 3. Resonance frequencies in Hz for structure in vacuo and fluid with rigid bound-
aries.
Structure Fluid
468 0
1290 500
2530 1000
3417 1500
4182 1667
6247 1740
6844 1944
8726 2000
1029 2242
1162 2500
1376 2603
1493 3000
1727 3005
1865 3333
Table 4. Coupled resonance frequencies in Hz. Left column represents results using
the complete unsymmetric system, Eq. 2.1. Right column using Eq. 3.10 based on 30
structural modes and 100 fluid modes.
Mode Unsymmetric Proposed

no system system
1 87 88
2 228 233
3 447 465
4 688 720
5 900 941
6 904 936
7 1241 1303
8 1275 1301
9 1672 1758
10 1707 1729
11 2106 2207
12 2169 2187
13 2416 2539

18 2925 3008

24 3675 3747

31
87 Hz 88 Hz
228 Hz 233 Hz
447 Hz 465 Hz
688 Hz 720 Hz
Figure 8. Fluid mode shapes for the first 4 coupled modes. The surface indicates fluid
pressure. Left column shows result based on the complete unsymmetric system. Right
column shows result based on the proposed scheme.
4.7 Concluding remarks

This paper proposes a new scheme for solving a class of unsymmetrical coupled fluid-
structure problems. The eigenvalues and eigenvectors of the structural and fluid subsys-
tems may be extracted by using symmetric procedures. The coupled system is formed
from the eigenvalues and eigenvectors of the subsystems, and turned into a standard
symmetric eigenvalue problem by some very simple steps.
The left eigenvalue problem is easily created using the same information that produced
the right eigenvaluproblem; thus transient analysis can readily be performed.
It is also shown how a limited set of eigenvectors from each subdomain give a very
32
900 Hz 941 Hz
1241 Hz 1303 Hz
2416 Hz 2539 Hz
3675 Hz 3747 Hz
Figure 9. Coupled fluid mode shapes no. 5, 7, 13 and 24. The surface indicates fluid
pressure. Left column shows result based on the complete unsymmetric system. Right
column shows result based on the proposed scheme.
good representation of the coupled problem.

A central role of the coupled problem addressed is played by the coupling matrix, B in
this paper. The information concerning the coupled transformed system is represented by
Ts BTf . It seems reasonable that the participating modes of a specific coupled analysis
may be selected on the basis of the content of Ts BTf . This is a matter for further
investigation.
33
5 Acoustic and Structure-Acoustic Implementations
5.1 Introduction
This Section is an excerpt from the educational software Calfem (17). The acoustic
routines has been developed primarily by Goran Sandberg, Per-Anders Wernberg, Peter
Davidsson and Hakan Carlsson.
Calfem is an interactive computer program for teaching the finite element method
(FEM). The name Calfem is an abbreviation of Computer Aided Learning of the Finite
Element Method. The program can be used for different types of structural mechanics
problems and field problems.
Calfem, the program and its built-in philosophy have been developed at the Division
of Structural Mechanics starting in the late 70s. Many co-workers, former and present,
have been engaged in the development at different stages.
The software is distributed under license conditions free of charge.

See http://www.byggmek.lth.se/Calfem/index.htm for more information.
Figure 10. Calfem logo
34
5.2 Element routines in Calfem
5.3 Acoustic elements
Acoustic elements
p3 p4 p3

p2
p1

p1
p2

aco2td aco2i4d
p7 p3 p4
p8 p3

p4 p7

p6
p8

p1
p2

p1 p5 p5

p2 p6
aco2i8d aco3i8d
2D acoustic elements
aco2td Compute element matrices for a triangular element
aco2i4d Compute element matrices, four-node isoparametric element
aco2i8d Compute element matrices, eight-node isoparametric element
3D acoustic elements
aco3i8d Compute element matrices, eight-node isoparametric element
35
Purpose:
Compute the element stiffness and consistent mass matrices for a triangular acous-
tic element. See also Appendix A.1
p3
(x3,y3 )
y p2

p1 (x2,y2 )

(x1,y1 )
Syntax:
[Ke,Me]=aco2td(ex,ey,ep)
[Ke,Me,fe]=aco2td(ex,ey,ep,eq)
Description:
aco2td provides the element stiffness matrix Ke, the element mass matrix Me, and
the element load vector fe for a triangular acoustic element.
The element nodal coordinates x1 , y1 , x2 etc, are supplied to the function by ex
and ey. The element thickness t and speed of sound c are supplied by ep.
ex = [ x1 x2 x3 ]
ep = [ t c ]
ey = [ y1 y2 y3 ]
If the scalar variable eq is given in the function, the vector fe is computed, using

eq = 2 Q/t2
where Q is the the mass inflow per unit volume.
Theory:
The element stiffness matrix Ke , the element mass matrix Me , and the element
load vector fle , stored in Ke, Me, and fe, respectively, are computed according to
Z
Ke = c2 t (C1 )T BT B dA C1
A
Z
Me = t (C1 )T NT N dA C1
A
Z
fqe = 2
c t (C 1 T
) NT Q dA
A
36
if an evenly distributed mass inflow per unit volume Q is present. The evaluation
of the integrals for the triangular element is based on the linear approximation
p(x, y) of the acoustic pressure and is expressed in terms of the nodal variables p1 ,
p2 and p3 as
p(x, y) = Ne ae = N C1 ae
where

1 x1 y1 p1
N = [ 1 x y ] C= 1 x2 y2 ae = p2
1 x3 y3 p3
and hence it follows that

0 1 0 x
B = N = =
.

0 0 1
y
Evaluation of the integral for the triangular element yields
Ke = c2 t (C1 )T BT B C1 A
Me = t (C1 )T NT N C1 A
c2 t QA T
fqe = [1 1 1]
3
where the element area A is determined by
1
A= det C
2
37
Purpose:
Compute element stiffness matrix and consistent mass matrix for a four-node
isoparametric acoustic element.
p4 p3

(x4,y4 ) (x3,y3 )
y
p1

(x1,y1 ) p2

(x2,y2 )
x
Syntax:
[Ke,Me]=aco2i4d(ex,ey,ep)
[Ke,Me,fe]=aco2i4d(ex,ey,ep,eq)
Description:
aco2i4d provides the element stiffness matrix Ke, the element mass matrix Me, and
the element load vector fe for a four-node isoparametric acoustic element.
and ey. The element thickness t, the speed of sound c and the Gauss point number
n are supplied to the function by ep. The number of integration points available
are (n n) with n = 1, 2, 3.
ex = [ x1 x2 x3 x4 ]
ep = [ t c n ]
ey = [ y1 y2 y3 y4 ]
If the scalar variable eq is given in the function, the element load vector fe is
computed, using

eq = 2 Q/t2

Theory:
38
Z
e 2
K = c t BeT Be dA,
A
Z
e
M = t NeT Ne dA,
A
Z
fle = c t 2
NeT Q dA.
A
The evaluation of the integrals for the isoparametric four-node element is based on
an approximation p(, ) of the acoustic pressure, expressed in a local coordinates
system in terms of the nodal variables p1 , p2 , p3 , and p4 as
p(, ) = Ne ae
where
T
Ne = [ N1e N2e N3e N4e ] ae = [ p1 p2 p3 p4 ]
The element shape functions are given by
1 1
N1e = (1 )(1 ) N2e = (1 + )(1 )
4 4
1 1
N3e = (1 + )(1 + ) N4e = (1 )(1 + )
4 4
The Be -matrix is given by

x e
Be = Ne = T 1
N = (J )
Ne

y
where J is the Jacobian matrix

x x

J=
y

y

Evaluation of the integrals is done by Gauss integration.
39
Purpose:
Compute element stiffness matrix and consistent mass matrix for an eight-node
p7 p3

p4

p6
y p8

p1 p5
p2
x
Syntax:
Description:
the element load vector fe for an eight-node isoparametric acoustic element.
and ey. The element thickness t, the speed of sound c, and the Gauss point number
n are supplied to the function by ep. The number of integration points available
are (n n) with n = 1, 2, 3.
ex = [ x1 x2 x3 . . . x8 ]
ep = [ t c n ]
ey = [ y1 y2 y3 . . . y8 ]
If the scalar variable eq is given in the function, the vector fe is computed, using

eq = 2 Q/t2
Theory:
Z
Ke = c2 t BeT Be dA,
A
Z
Me = t NeT Ne dA,
A
Z
fle = c t 2
NeT Q dA.
A
40
The evaluation of the integrals for the 2D isoparametric eight-node element is
based on an approximation p(, ) of the acoustic pressure, expressed in a local
coordinates system in terms of the nodal variables p1 to p8 as
p(, ) = Ne ae
where
T
Ne = [ N1e N2e N3e . . . N8e ] ae = [ p1 p2 p3 . . . p8 ]
1 1
N1e = (1 )(1 )(1 + + ) N5e = (1 2 )(1 )
4 2
1 1
N2e = (1 + )(1 )(1 + ) N6e = (1 + )(1 2 )
4 2
1 1
N3e = (1 + )(1 + )(1 ) N7e = (1 2 )(1 + )
4 2
1 1
N4e = (1 )(1 + )(1 + ) N8e = (1 )(1 2 )
4 2

x e
Be = Ne = T 1
N = (J )
Ne

y

x x

J=
y

y

41
Purpose:
Compute element stiffness matrix and consistent mass matrix for an eight-node
p4
p8 p3

p7

y

p1
p2
p5
p6
x
z
Syntax:
Description:
the element load vector fe for an eight-node isoparametric acoustic element.
The element nodal coordinates x1 , y1 , z1 x2 etc, are supplied to the function by
ex, ey and ez. The speed of sound c and the Gauss point number n are supplied
to the function by ep. The number of integration points available are (n n n)
with n = 1, 2, 3.
ex = [ x1 x2 x3 . . . x8 ]
ey = [ y1 y2 y3 . . . y8 ] ep = [ c n ]
ez = [ z1 z2 z3 . . . z8 ]
If the scalar variable eq is given in the function, the element load vector fe is
computed, using

eq = 2 Q/t2

Theory:
42
Z
e 2
K = c BeT Be dV
V
Z
e
M = NeT Ne dV
V
Z
fqe = c 2
NeT Q dV
V
The evaluation of the integrals for the 3D isoparametric eight-node element is

based on an approximation p(, , ) of the acoustic pressure, expressed in a local
coordinates system in terms of the nodal variables p1 to p8 as
p(, , ) = Ne ae
T
where Ne = [ N1e N2e N3e . . . N8e ] and ae = [ p1 p2 p3 . . . p8 ] . The
element shape functions are given by
1 1
N1e = 8 (1 )(1 )(1 ) N2e = 8 (1 + )(1 )(1 )
1 1
N3e = 8 (1 + )(1 + )(1 ) N4e = 8 (1 )(1 + )(1 )
1 1
N5e = 8 (1 )(1 )(1 + ) N6e = 8 (1 + )(1 )(1 + )
1 1
N7e = 8 (1 + )(1 + )(1 + ) N8e = 8 (1 )(1 + )(1 + )

x

e
Be = Ne = T 1
N = (J ) e
N
y

z

x x x

y y y

J=

z z z

43
5.4 Structure-acoustic interface elements
Structure-acoustic elements
u2
u2 u3 u1
p1
u3 u1
p1 u5
u6 u4
u5
u6 u4 p2
p2
cp2s2f
u2
u3 u1
(u10,u11,u12 ) (u7,u8,u9 )

p1 u3 u2
u5 u1
p4 (u4,u5,u6 )
u6 u4 p
p2 3
p1

p3 p2
cp2s3f cp4s4f
2D structure-acoustic interface elements

cp2s2f Interface between linear acoustic element and two-node beam element
cp2s3f Interface between quadratic acoustic element and two-node beam ele-
ment
3D structure-acoustic interface elements

cp4s4f Interface between linear acoustic element and linear solid element
44
Purpose:
Compute element matrix for coupling between a linear acoustic element and a
two-node beam element. See also Appendix A.2
u2
(x1,y1 ) u3 u1
p1
u5
u6 u4
p2 (x2,y2 )
u2
u3 u1 n
(x1,y1 )
p1
u5
u6 u4
y
p2 (x2,y2 )
Syntax:
[He]=cp2s2f(ex,ey,ep)
Description:
cp2s2f provides the element coupling matrix He between a two-node beam element
and a four-node acoustic element.
and ey, and the element thickness t by ep.
ex = [ x1 x2 ]
ep = [ t ]
ey = [ y1 y2 ]
Theory:
The element coupling matrix He , stored in He, is computed according to
45
Z L
He = t GT NTs Nf dx
0
where G is the transformation matrix defined in beam2d, see (? ).

The evaluation of the integral is based on the local displacement of the beam u(x, t)
and the linear approximation p(x, t) of the acoustic pressure along the interface, in
local coordinates.
The displacement of the beam is expressed in terms of the nodal variables
u1 , u2 , . . . u6 as
u(x, t) = Nes ae
where
e T
Nes = Ns,1 e
Ns,2 e
. . . Ns,6 ae = [ u1 (t) u2 (t) . . . u6 (t) ]
e e
Ns,1 (x) = 0 Ns,4 (x) = 0
2 3
e x x e x2 x
Ns,2 (x) = 13 + 2 N s,5 (x) = (3 2 )
L2 L3 L2 L
e x x2 e x2 x
Ns,3 (x) = x(1 2 + 2 ) Ns,6 (x) = ( 1)
L L L L
Note that no interaction is accounted for in the direction tangential to the beam,
e e
hence Ns,1 (x) = 0 and Ns,4 (x) = 0.
The acoustic pressure along the interface is expressed in terms of the nodal variables
p1 and p2 as
p(x, t) = Nef ae
where
T
Nf = [Nf,1 Nf,2 ] ae = [p1 (t) p2 (t)]
x
Nf,1 = 1
L
x
Nf,2 =
L
The element coupling matrix He is thus a (6 2)-matrix, coupling six structural
degrees-of-freedom to two fluid degrees-of-freedom. After assembling the complete
set of element coupling matrices into the global coupling matrix H, it can be used
to form the coupled structure-fluid system according to
46

Ms 0 d Ks H d fs
+ =
The usage of He is further discussed in the examples.
See also:
assem ns
47
Purpose:
Compute element matrix for coupling between a quadratic acoustic element and a
two-node beam element.
u2
u3 u1 n
(x1,y1 )

p1
u5

u6 u4
p2

(x2,y2 ) (x3,y3 )
y p3
Syntax:
[He]=cp2s3f(ex,ey,ep)
Description:
cp2s3f provides the element coupling matrix He between a two-node beam element
and an eight-node acoustic element.
and ey, and the element thickness t by ep.
ex = [ x1 x2 x3 ]
ep = [ t ]
ey = [ y1 y2 y3 ]
Theory:
Z L
He = t GT NTs Nf dx
0

The evaluation of the integral is based on the local displacement of the beam u(x, t)
and a quadratic approximation p(x, t) of the acoustic pressure along the interface,
in local coordinates.
The displacement of the beam is expressed in terms of the nodal variables
u1 , u2 , . . . u6 as
u(x, t) = Nes ae
48
where
e T
Nes = Ns,1 e
Ns,2 e
. . . Ns,6 ae = [ u1 (t) u2 (t) . . . u6 (t) ]
e e
Ns,1 (x) = 0 Ns,4 (x) = 0
2 3
e x x e x2 x
Ns,2 (x) = 13 2
+2 3 Ns,5 (x) = (3 2 )
L L L2 L
e x x2 e x2 x
Ns,3 (x) = x(1 2 + 2 ) Ns,6 (x) = ( 1)
L L L L
Note that no interaction is accounted for in the direction tangential to the beam,
e e
hence Ns,1 (x) = 0 and Ns,4 (x) = 0.
The acoustic pressure along the interface is expressed in terms of the nodal variables
p1 , p2 and p3 as
p(x, t) = Nef ae
where
T
Nf = [Nf,1 Nf,2 Nf,3 ] ae = [p1 (t) p2 (t) p3 (t)]
1
Nf,1 = x(x 1)
2
Nf,2 = 1 x2
1
Nf,3 = x(x + 1)
2
The element coupling matrix He is thus a (6 3)-matrix, coupling six structural

degrees-of-freedom to two fluid degrees-of-freedom. After assembling the complete

Ms 0 d Ks H d fs
+ =
See also:
assem ns
49
Purpose:
Compute element matrix for coupling between a linear acoustic element and a
linear solid element.
(u10,u11,u12 ) (u7,u8,u9 )
n
u3 u2
u1
p4 (u4,u5,u6 )
(x1,y1 ) p
3
p1
y p2
x
z
Syntax:
[He]=cp4s4f(ex,ey)
Description:
cp4s4f provides the element coupling matrix He between a four-node linear solid
element and a four-node linear acoustic element.
and ey, and the Gauss point number n is supplied to the function by ep. The
number of integration points available are (n n) with n = 1, 2, 3.
ex = [ x1 x2 x3 x4 ]
ep = [ n ]
ey = [ y1 y2 y3 y4 ]
Theory:
Z
e T
H =G NTs Nf dA
A

The evaluation of the integral is based on the local transverse displacement of the
solid surface u(, , t) and a linear approximation p(, , t) of the acoustic pressure
along the interface, in local coordinates.
The transverse displacement of the solid surface is expressed in terms of the nodal
variables u1 , u2 , . . . u12 as
u(, ) = Nes u
50
where
e T
Nes = Ns,1 e
Ns,2 e
. . . Ns,12 ae = [ u1 (t) u2 (t) . . . u12 (t) ]
e 1 e 1
Ns,3 = 4 (1 )(1 ) Ns,6 = 4 (1 + )(1 )
e 1 e 1
Ns,9 = 4 (1 + )(1 + ) Ns,12 = 4 (1 )(1 + )
e e
Because no interaction transverse to the beam is accounted for Ns,1 = Ns,2 =
e e e e e e
Ns,4 = Ns,5 = Ns,7 = Ns,8 = Ns,10 = Ns,11 = 0
The acoustic pressure p(, ) along the interface is expressed in terms of the nodal
variables p1 , p2 , p3 and p4 as
p(, ) = Nef ae
where
e T
Nef = Nf,1 e
Nf,2 e
Nf,3 e
Nf,4 ae = [p1 (t) p2 (t) p3 (t) p4 (t)]
e 1 e 1
Nf,1 = 4 (1 )(1 ) Nf,2 = 4 (1 + )(1 )
e 1 e 1
Nf,3 = 4 (1 + )(1 + ) Nf,4 = 4 (1 )(1 + )
The element coupling matrix He is thus a (124)-matrix, coupling twelve structural
degrees-of-freedom to four fluid degrees-of-freedom. After assembling the complete

Ms 0 d Ks H d fs
+ =
See also:
assem ns
51
5.5 System functions for structure-acoustic analysis
This section contains a set of general commands and commands for modal analysis
performed on decomposed fluid-structure domains. Before using the modal analysis
commands the eigenvalue analysis on each subdomain, fluid and structure, must have
been performed.
There are two commands that form the interacting modal structure-fluid system,
depending on the desired basic formulation. They form a single symmetric matrix for
standard eigenvalue analysis. After the eigenvalue analysis is performed, the eigenvectors
in the original system can be computed. There are four commands depending on basic
formulation and left/right eigenvectors.
System functions
assem ns Non-symmetric assembly of element matrices
fsi mod Modal structurefluid pressure formulation or modal displacement po-
tential formulation
fsi egv Transforms computed coupled eigenvectors from the modal coordinates
back to the FE-coordinate system
52
Purpose:
Non-symmetric assembly of element matrices.
Syntax:
H=assem ns(edof a,edof b,H,He)
Description:
assem ns adds the matrix He , stored in He, to the matrix H, stored in H, according
to the topology matrices edof a and edof b.
The topology matrices edof a and edof b are defined as
edof a = [el dof . . . dofned ] edof b = [el dof1 . . . dofned ]

| 1 {z } | {z }
global row index global column index
where the first column contains the element number, and the columns 2 to (ned + 1)
contain the corresponding global degrees of freedom (ned = number of element
degrees of freedom).
He is added to H using the row index from edof a and the column index from edof b.
In the case where the matrix He is identical for several elements, assembling of
these can be carried out simultaneously. Each row in edof x, (x=a or b), then
represents one element, i.e. nel is the total number of considered elements.

el1 dof1 dof2 . . . dofned
el2
dof1 dof2 . . . dofned

edof x = . . . . one row f or each element
.. .. .. ..

elnel dof1 dof2 . . . dofned
Examples:
The following set of commands
H=zeros(5,8); edof_a=[1 1 3]; edof_b=[1 3 5 7]; He=[10 20 30;
40 50 60]
H=assem_ns(edof_a,edof_b,H,He)
yields
H =
0 0 10 0 20 0 30 0
0 0 0 0 0 0 0 0
0 0 40 0 50 0 60 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
53
Purpose:
Form the modal coupled system matrices for fluid-structure interaction problems,
based on either fluid pressure or fluid displacement potential.
Syntax:
Amodc = fsi mod(laS,fiS,listS,laF,fiF,listF,H,fp,string)
Description:
The function forms the coupled modal matrices based on fluid pressure p, or fluid
displacement potential .
laS and fiS contain the structural eigenvalues and eigenvectors in vacuo as computed
be the eigen-command. laF and fiF contain the fluid eigenvalues and eigenvectors
computed with stiff boundaries. The eigenvectors shall be normalized, i.e.
ti m j = ij ti k j = ij j
listS and listF are lists of eigenvectors to by used in the formation of the coupled
system. Normally these lists contain fewer eigenvectors than computed. H is the
coupling matrix in the original coordinate system and fp is a vector that contains
the fluid properties and c. In summary we have
laX = [1 2 ... n ] fiX = [1 2 ... n ]

listX = [m1 m2 ...mr ] (r n) fp = [ c]
The output, Amodc, is a system matrix for standard eigenvalue analysis. For
string=right the output is the right modal p-system or the left modal -system:
p
Ds c2 Ds Ts Hf
p

c2 Tf HT s Ds Df + c2 Tf HT s Ts Hf
For string=left the output is the left modal p-system or the right modal -system:
p p
Ds + c2 Ts Hf Tf HT s c2 Ts Hf Df
p p
2 T T
c Df f H s Df
54
Purpose:
Compute the eigenvectors in the original coordinate system.
Syntax:
V = fsi egv(v,laS,fiS,listS,laF,fiF,listF,fp,string1,string2)
Description:
The eigenvalue analysis of the standard system generated by fsi mod gives a set of
eigenvectors in modal coordinates. This command computes the eigenvectors in
the original coordinate system.
v contains the computed eigenvectors from Amodc. All other input fields are de-
scribed in fsip egv. V contains the eigenvectors in the original coordinate system,
both the structural part and the fluid part.
The transformation depends on the formulation, p or , and whether the left or
right eigenvectors is desired. The following multiplications are performed, depend-
ing on string1 and string2,
string1 string1
" p 1 #
s 0 c2 Ds 0
right pr Vpr = v
0 f 0 If
" I 0
#
s 0 s
left pr Vpl = p p 1 v
0 f 0 2
c Df

Is s 0
s 0
right di Vr = c2 p 1
v
0 f 0 Df

s
c2 1
s 0 Ds 0 v
Vl =

left di
0 f
0 If
The superscript denotes the corresponding left or right eigenvector system. The
first and the last choice above shall be used in combination with the eigenvectors
computed from Amodc from fsi mod with string=left and the second and third
choice in combination with the eigenvectors computed from Amodc from fsi mod
with string=right.
55
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-
59
A Finite element routines
A.1 Routine aco2td.m
function [Ke,Me,fe]=aco2td(ex,ey,ep,eq)
% [Ke,Me]=aco2td(ex,ey,ep)
% [Ke,Me,fe]=aco2td(ex,ey,ep,eq)
%----------------------------------------------------------
% PURPOSE
% Compute element stiffness and consistent element
% mass matrices for the triangular acoustic element.
%
% INPUT: ex = [x1 x2 x3]
% ey = [y1 y2 y3] element coordinates
%
% ep = [t c raa] thickness,speed of sound and
% density
%
% eq mass inflow per unit volume and time
% (second derivative)
%
% OUTPUT: Ke : element stiffness matrix (3 x 3)
% Me : element mass matrix (3 x 3)
% fe : element load vector (3 x 1)
%----------------------------------------------------------
% LAST MODIFIED: G Sandberg 1996-03-09

% Copyright (c) Division of Structural Mechanics and
% Department of Solid Mechanics.
% Lund Institute of Technology
%----------------------------------------------------------
t=ep(1); c=ep(2); raa=ep(3);
if nargin==3; qe=0; end
%
C=[ones(3,1) ex ey]; B=[0 1 0;
0 0 1 ]*inv(C); A=1/2*det(C);
Ke1=t*c*c*B*B*A;
%
Me1=t*A/12*[2 1 1;
1 2 1;
1 1 2];
%
fe1=t*c*c*qe*A/3*[1 1 1];
Ke=Ke1; Me=Me1; fe=fe1;

%------------------------- end -----------------------------
60
A.2 Routine cp2s2f.m
function [he]=cp2s2f(ex,ey,ep)
% [he]=cp2s2f(ex,ey,ep)
%-----------------------------------------------------------
% PURPOSE
% Compute element coupling matrix between a 4 node
% isoparametric acoustic element and a 2 node beam element.
%
% 1-------------2 Beam
% *-------------*
% 1-------------2 Fluid
% | |
% | |
%
%
% INPUT: ex = [x1 x2] element coordinates
% ey = [y1 y2]
%
% ep = [t] thickness
%
% OUTPUT: he : element coupling matrix (6 x 2)
%-----------------------------------------------------------
% LAST MODIFIED: G Sandberg 1996-03-08

% Copyright (c) Division of Structural Mechanics and
% Department of Solid Mechanics.
% Lund Institute of Technology
%-------------------------------------------------------------
t=ep(1);
b=[ex(2)-ex(1);
ey(2)-ey(1)];
L=sqrt(b*b);
% Form local coupling matrix according, exact integration.

% detJ = L because integration is performed for the interval [0,1].
Cle = L*[ 0 0 ;
7/20 3/20 ;
L/20 L/30 ;
0 0 ;
61
3/20 7/20 ;
-L/30 -L/20] ;
% Local to global transformation matrix G
n=b/L;
G=[n(1) n(2) 0 0 0 0;
-n(2) n(1) 0 0 0 0;
0 0 1 0 0 0;
0 0 0 n(1) n(2) 0;
0 0 0 -n(2) n(1) 0;
0 0 0 0 0 1];
Ce=G*Cle;
he=t*Ce;
%-------------------------- end -------------------------------
62
B Calfem Examples
To illustrate the different choices of computational strategies possible in Calfem, we
consider a two-dimensional problem consisting of a rectangular fluid box, 8 m 20 m,
and, on the upper fluid boundary, a flexible structure. All other sides are rigid. The
structure is simply supported at both ends. The problem is indicated in the figure below.
8.0 m
20.0 m
Figure 11. Two-dimensional box with a flexible top.
Assume the following data
Fluid: = 1000 kg/m2

c = 1500 m/s2
Structure: E = 2.11011 N/m2
I = 1.59104 m4
m = 50 kg/m
Below we shall go through the following steps

define the fluid domain and solve the eigenvalue problem for the fluid domain
define the structure domain; and solve the eigenvalue problem for the structure
domain;
generate and solve the coupled eigenvalue problem corresponding to Eq. (3.60);
generate and solve the reduced modal coupled system, according to Eq. (3.71) and
Eq. (3.73).
All necessary Matlab commands and Calfem commands are listed in the Appendix.
In this section we refer to command blocks, indicated by e.g. CB1. They can be found
in the Appendix at the corresponding marginal mark, e.g. CB1 on page 71.
63
B.1 Fluid
To establish the fluid part of the coupled model we need to define the following
matrices: dof fl, coord fl, and edof fl. The fluid finite elements are all 0.5 0.5 m.
169 170 188 189
141 160
148 149 167 168
8.0 m
43 44
21 22
22 23 41 42
1 2 3 20
20.0 m 1 2 3 4 20 21
Figure 12. The finite element mesh of the fluid domain incl. numbering.
Based on the numbering indicated in Fig. 12, the contents of these matrices are shown
below. They are created by standard Matlab commands. See CB1 on page 71.
dof fl coord fl edof fl
1 0 0 1 1 2 23 22
2 0.5000 0 2 2 3 24 23
3 1.0000 0 3 3 4 25 24
4 1.5000 0 4 4 5 26 25
5 2.0000 0 5 5 6 27 26
6 2.5000 0 6 6 7 28 27
7 3.0000 0 7 7 8 29 28
8 3.5000 0 8 8 9 30 29
.. .. .. .. .. .. .. ..
. . . . . . . .
19 9.0000 0 19 19 20 41 40
20 9.5000 0 20 20 21 42 41
21 10.0000 0 21 22 23 44 43
22 0 0.5000 22 23 24 45 44
23 0.5000 0.5000 .. .. .. .. ..
.. .. .. . . . . .
. . . 158 165 166 187 186
188 9.5000 4.0000 159 166 167 188 187
189 10.0000 4.0000 160 167 168 189 188
Table 5. Geometry and topology matrices for the fluid domain.
The finite element mesh can readily be plotted, see CB2 on page 71 and Fig. 13.
64
141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160
121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140
101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120
81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100
61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80
41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Figure 13. Finite element fluid mesh.
Finally, the fluid system matrices are created and the corresponding eigenvalue prob-
lem is solved. The first nine eigenmodes are plotted below, Fig. 14. See further CB3
and CB4.
75.08 150.6 188.7
203.1 227.1 241.4
295.3 305 358.6
Figure 14. The first nine fluid eigenmodes and eigenvalues (Hz). The colors indicate
the normalized pressure level.
65
B.2 Structure
To establish the structural part of the coupled model we need to define the following
matrices: dof st, coord st, and edof st.
2 5 8 59 62
3 1 6 4 9 7 60 58 63 61
1 2 20
Figure 15. Finite element of the structural domain incl. numbering.
The numbering is shown in Fig. 15. The contents of these matrices are shown below.
They are created by standard Matlab commands. See CB5 and CB6 on page 73.
dof st coord st edof st
1 2 3 0 4.0000 1 1 2 3 4 5 6
4 5 6 0.5000 4.0000 2 4 5 6 7 8 9
7 8 9 1.0000 4.0000 3 7 8 9 10 11 12
10 11 12 1.5000 4.0000 4 10 11 12 13 14 15
13 14 15 2.0000 4.0000 5 13 14 15 16 17 18
16 17 18 2.5000 4.0000 6 16 17 18 19 20 21
19 20 21 3.0000 4.0000 7 19 20 21 22 23 24
22 23 24 3.5000 4.0000 8 22 23 24 25 26 27
25 26 27 4.0000 4.0000 9 25 26 27 28 29 30
28 29 30 4.5000 4.0000 10 28 29 30 31 32 33
31 32 33 5.0000 4.0000 11 31 32 33 34 35 36
34 35 36 5.5000 4.0000 12 34 35 36 37 38 39
37 38 39 6.0000 4.0000 13 37 38 39 40 41 42
40 41 42 6.5000 4.0000 14 40 41 42 43 44 45
43 44 45 7.0000 4.0000 15 43 44 45 46 47 48
46 47 48 7.5000 4.0000 16 46 47 48 49 50 51
49 50 51 8.0000 4.0000 17 49 50 51 52 53 54
52 53 54 8.5000 4.0000 18 52 53 54 55 56 57
55 56 57 9.0000 4.0000 19 55 56 57 58 59 60
58 59 60 9.5000 4.0000 20 58 59 60 61 62 63
61 62 63 10.0000 4.0000
Table 6. Geometry and topology matrices for the structural domain.
A plot of the structural finite element mesh is shown below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Figure 16. Finite element structural mesh.
66
B.3 Coupling
In all the different coupled fluid-structure systems, according to Eqs. (3.60), (3.66),
and (3.68), there is a coupling matrix present, denoted H. The topology of the coupling
is shown in Fig. 17.
2 1 5 2 8 59 20 62
3 1 6 4 9 7 60 58 63 61
n
169 170 171 188 189

141 142 160
148 149
Figure 17. Structurefluid coupling topology.
The coupling topology is defined by two matrices, edof coup st, edof coup fl,
shown below. In this particular case all structural elements are in contact with the
fluid; hence edof coup st=edof st. See also CB7 on page 74.
edof coup st edof coup fl
1 1 2 3 4 5 6 141 169 170

2 4 5 6 7 8 9 142 170 171
3 7 8 9 10 11 12 143 171 172
4 10 11 12 13 14 15 144 172 173
5 13 14 15 16 17 18 145 173 174
6 16 17 18 19 20 21 146 174 175
7 19 20 21 22 23 24 147 175 176
8 22 23 24 25 26 27 148 176 177
9 25 26 27 28 29 30 149 177 178
10 28 29 30 31 32 33 150 178 179
11 31 32 33 34 35 36 151 179 180
12 34 35 36 37 38 39 152 180 181
13 37 38 39 40 41 42 153 181 182
14 40 41 42 43 44 45 154 182 183
15 43 44 45 46 47 48 155 183 184
16 46 47 48 49 50 51 156 184 185
17 49 50 51 52 53 54 157 185 186
18 52 53 54 55 56 57 158 186 187
19 55 56 57 58 59 60 159 187 188
20 58 59 60 61 62 63 160 188 189
Table 7. Topology matrices for the structure-fluid coupling.
67
Note that the element numbers and the degree-of-freedom numbers are separate for
the structural mesh and the fluid mesh, i.e. the same number occurs in both meshes.
Further, the degree-of-freedom shall be given so that the outward normal in the fluid
domain is positive in a right system. The coupling matrix H is assembled by the command
assem ns from the coupling elements he, see CB8 on page 74.
B.4 The complete system

There are three means of establishing the coupled fluid-structure system described
in this report, see Eqs. (3.60), (3.66), and (3.68). The corresponding coupled system
matrices are readily generated in Calfem and the corresponding eigenvalue problem
solved, see CB9, CB10, and CB11 starting on page 74.
The table below lists the eigenvalues from the different formulations. For comparison,
the structural eigenvalues in vacuo and the fluid eigenvalues with all sides rigid are listed
as well.
freq p freq psi freq sym freq fl freq st
Eq. (3.60) Eq. (3.66) Eq. (3.68)
6.5755 6.5755 6.5755 75.077 51.346

20.3112 20.3112 20.3112 150.618 115.531
43.8516 43.8516 43.8516 188.707 205.404
75.9558 75.9558 75.9558 203.093 320.993
94.6997 94.6997 94.6997 227.087 458.729
113.0973 113.0973 113.0973 241.446 462.357
130.9446 130.9446 130.9446 295.261 629.601
172.6340 172.6340 172.6340 304.956 822.890
187.8503 187.8503 187.8503 358.620 920.289
241.9371 241.9371 241.9371 384.697 1042.476
254.0351 254.0351 254.0350 384.697 1288.706
280.0823 280.0823 280.0823 391.955 1387.526
Table 8. Comparison between the first twelve eigenvalues from different fluid-structure
systems (Hz). The eigenvalues from the fluid and structure are given to the right.
Because the three systems for fluid-structure interaction are mathematically equiva-
lent, the eigenvalues are the same and, from that standpoint, either can be used. The
p-system has the advantage of the fluid pressure being a more natural physical variable.
For large systems and when 6= 1, the -system is more numerically stable, however.
The eigenmodes from the p-system are shown below, Fig. 18.
68
6.576 20.31 43.85
75.96 94.7 113.1
130.9 172.6 187.9

Figure 18. The first nine eigenmodes and eigenvalues (Hz) from the interacting fluid-
structure system. The colors indicate the normalized pressure level.
The corresponding commands for generating Fig. 18 are found in CB12, page 76.
B.5 A reduced modal form

In Sec. 3.7, the theory for the reduced modal form of the interacting fluid-structure
system is outlined. The benefit of this procedure is the possibility to pick a limited set of
eigenmodes from the structure domain and the fluid domain, and the fact that it results
in standard symmetric eigenvalue problems.
In this example 15 structural eigenvectors and 50 fluid eigenvectors are used. See
CB13, and CB14, page 76. The eigenvalues are listed in Table 9. Note that the
right and left eigenvalue system yields the same eigenvalues. The eigenmodes from the
reduced system can be transformed back to the original coordinate system, see CB15.
The eigenmodes are shown in Fig. 19, see also CB16.
69
freq pr mod freq pl mod freq p
Eq. (3.71) Eq. (3.74) Eq. (3.60)
6.7176 6.7176 6.5755

21.2584 21.2584 20.3112
46.7860 46.7860 43.8516
81.9979 81.9979 75.9558
98.6791 98.6791 94.6997
118.0772 118.0772 113.0973
143.2662 143.2662 130.9446
177.4479 177.4479 172.6340
213.2568 213.2568 187.8503
246.1991 246.1991 241.9371
Table 9. Comparison between first ten eigenvalues (Hz) from the right and left reduced
fluid-structure systems. The eigenvalues from the complete system are also listed.
70
6.718 21.26 46.79
82 98.68 118.1
143.3 177.4 213.3

Figure 19. The first nine eigenmodes and eigenvalues (Hz) from the reduced interacting
fluid-structure system. The colors indicate the normalized pressure level.
71
C Calfem input files
C.1 Fluid
The following set of commands generate coordinate information and the topology in-
formation for the fluid. Matlab commands are used for generating the different matricies
that are necessary to build the system matrices.
The first command block creates the following matrices: dof fl, coord fl, and
edof fl.
CB1
% ----------------------------------------------------------------------
dof_fl=[1:1:189];
el_no_fl=[1:1:160];
first_el=[1 2 23 22];
first_el_row=[];
for i=1:20
first_el_row=[first_el_row; first_el+(i-1)];
end
all_el_fl=[];
for i=1:21:160
all_el_fl=[all_el_fl; first_el_row+(i-1)];
end
edof_fl=[el_no_fl,all_el_fl];
x_coord_first_node_row=[0.0:0.5:10];
y_coord_first_node_row=zeros(21,1);
coord_first_node_row=[x_coord_first_node_row, y_coord_first_node_row];
coord_fl=[];
add=[zeros(21,1), zeros(21,1)+0.5];
for i=1:1:9,
coord_fl=[coord_fl; coord_first_node_row+(i-1)*add];
end
% ----------------------------------------------------------------------
To plot the finite element mesh:
CB2
% ----------------------------------------------------------------------
plotpar=[1,1,0];
[ex_fl,ey_fl]=coordxtr(edof_fl,coord_fl,dof_fl,4);
eldraw2(ex_fl,ey_fl,plotpar,edof_fl(:,1));
72
% ----------------------------------------------------------------------
To generate the fluid mass matrix and the fluid stiffness matrix, and solve the corre-
sponding eigenvalue problem:
CB3
% ----------------------------------------------------------------------
c=1500; rho=1000;
ep_fl=[1 c rho 3];
ndof_fl=max(max(dof_fl));
K_fl=zeros(ndof_fl,ndof_fl);
M_fl=K_fl;
for i=1:length(ex_fl)
[ke_fl,me_fl]=aco2i4d(ex_fl(i,:),ey_fl(i,:),ep_fl);
K_fl=assem(edof_fl(i,:),K_fl,ke_fl);
M_fl=assem(edof_fl(i,:),M_fl,me_fl);
end
[La_fl,Egv_fl]=eigen(K_fl,M_fl);
freq_fl=sqrt(La_fl)/2/pi;
% ----------------------------------------------------------------------
To plot the first nine fluid eigenmodes, excluding the zero eigenmode:
CB4
% ----------------------------------------------------------------------
clf; modnr=1;
for j=1:3, for i=1:3
modnr=modnr+1;
Ed=extract(edof_fl,Egv_fl(:,modnr));
Edabs=abs(Ed);
const=max(max(Edabs)); Ed=Ed/const;
h=fill(ex_fl+10*1.1*(i-1),ey_fl-4*1.6*(j-1),Ed);
MOD= num2str(freq_fl(modnr));
text(10*1.1*(i-1)+4,-4*1.6*(j-1)-1, MOD)
set(h,edgecolor,none)
hold on,
end, end
axis equal, axis off
% ----------------------------------------------------------------------
73
C.2 Structure
To generate the coordinate information and topology information and to plot the
finite element mesh:
CB5
% ----------------------------------------------------------------------
el_no_st=[1:1:20];
coord_st=[[0:0.5:10],4*ones(21,1)];
first_dof_st=[1:3:61];
dof_st=[first_dof_st, first_dof_st+1, first_dof_st+2];
first_edof_st=[1 2 3 4 5 6];
all_el_st=[];
for i=1:1:20, all_el_st=[all_el_st; first_edof_st+3*(i-1)]; end
edof_st=[el_no_st, all_el_st];
plotpar=[1,1,0];
[ex_st,ey_st]=coordxtr(edof_st,coord_st,dof_st,2);
eldraw2(ex_st,ey_st,plotpar,edof_st(:,1));
% ----------------------------------------------------------------------
To generate the structural mass matrix and stiffness matrix and solve the corre-
sponding eigenvalue problem (Note that the structure has fixed x-displacement and y-
displacement at both ends; hence the boundary condition b=[1 2 61 62]):
CB6
% ----------------------------------------------------------------------
ndof_st=max(max(dof_st));
E=2.1e11; A=0.02; I=1.59e-4; m=A*2500;
ep_st=[E A I m];
K_st=zeros(ndof_st,ndof_st); M_st=K_st;
for i=1:length(ex_st)
[ke_st,me_st]=beam2d(ex_st(i,:),ey_st(i,:),ep_st);
K_st=assem(edof_st(i,:),K_st,ke_st);
M_st=assem(edof_st(i,:),M_st,me_st);
end
b=[1 2 61 62];
[La_st,Egv_st]=eigen(K_st,M_st,b);
freq_st=sqrt(La_st)/2/pi;
% ----------------------------------------------------------------------
74
C.3 Coupling
In all the different coupled fluid-structure systems, according to Eqs. (3.60), (3.66),
and (3.68), there is a coupling matrix present, denoted H.
The coupling topology is described by two matrices, here denoted edof coup fl and
edof coup st. In this particular case all structural elements are in contact with the fluid,
hence edof coup st=edof st.
CB7
% ----------------------------------------------------------------------
edof_coup_st=edof_st;
el_no_coup_fl=[141:1:160];
first_edof_coup_fl=[169 170];
all_el_coup_fl=[];
for i=1:1:20
all_el_coup_fl=[all_el_coup_fl; first_edof_coup_fl+(i-1)];
end
edof_coup_fl=[el_no_coup_fl, all_el_coup_fl];
% ----------------------------------------------------------------------
To generate the element coupling matricies, he, and assemble into a global coupling
matrix H:
CB8
% ----------------------------------------------------------------------
H=zeros(ndof_st,ndof_fl);
for i=1:length(ex_st)
he=cp2s2f(ex_st(i,:),ey_st(i,:),[1]);
H=assem_ns(edof_coup_st(i,:),edof_coup_fl(i,:),H,he);
end
% ----------------------------------------------------------------------
C.4 The complete system

There are three means of establishing the coupled fluid-structure system described
in this report, see Eqs. (3.60), (3.66), and (3.68). The straightforward commands to
generate the coupled system and solve the corresponding eigenvalue problem are listed
below.
The p-system:
CB9
75
% ----------------------------------------------------------------------
zeroH=0*H;
M=[M_st zeroH;
rho*c^2*H M_fl];
K=[K_st -H;
zeroH K_fl];
[La_p,Egv_p]=eigen(K,M,b);
freq_p=sqrt(real(La_p))/2/pi;
% ----------------------------------------------------------------------
The -system:
CB10
% ----------------------------------------------------------------------
M=[M_st rho*H;
zeroH M_fl];
K=[K_st zeroH;
-c^2*H K_fl];
[La_psi,Egv_psi]=eigen(K,M,b);
freq_psi=sqrt(real(La_psi))/2/pi;
% ----------------------------------------------------------------------
The -p-system:
CB11
% ----------------------------------------------------------------------
zeroK=0*K_fl;
M=[M_st zeroH zeroH;

zeroH rho*c^(-2)*K_fl zeroK;
zeroH zeroK zeroK];
K=[K_st zeroH -H;

zeroH zeroK c^(-2)*K_fl;
-H c^(-2)*K_fl -(rho*c^2)^(-1)*M_fl];
[La_sym,Egv_sym]=eigen(K,M,b);
freq_sym=sqrt(La_sym)/2/pi;
% ----------------------------------------------------------------------
76
To generate a color plot of the coupled eigenmodes. (The first two lines extract the
eigenvector parts belonging to the structural domain and the fluid domain, respectively):
CB12
% ----------------------------------------------------------------------
Egv_p_st=Egv_p(1:ndof_st,:);
Egv_p_fl=Egv_p(ndof_st+1:ndof_st+ndof_fl,:);
clf; modnr=1;
hold on;
modnr=modnr+1;
Ed_st=real(extract(edof_st,Egv_p_st(:,modnr)));
Edabs_st=abs(Ed_st);
const_st=max(max(Edabs_st)); Ed_st=Ed_st/const_st;
eldisp2(ex_st+10*1.1*(i-1),ey_st-4*2.5*(j-1)+2.0,Ed_st,[1,1,0],2);
eldraw2(ex_st+10*1.1*(i-1),ey_st-4*2.5*(j-1)+2.0,[3,1,0]);
hold on;
Ed_fl=real(extract(edof_fl,Egv_p_fl(:,modnr)));
Edabs_fl=abs(Ed_fl);
const_fl=max(max(Edabs_fl)); Ed_fl=Ed_fl/const_fl;
h=fill(ex_fl+10*1.1*(i-1),ey_fl-4*2.5*(j-1),Ed_fl);
MOD= num2str(freq_p(modnr));
text(10*1.1*(i-1)+4,-4*2.5*(j-1)-1, MOD)
end, end
% ----------------------------------------------------------------------
C.5 A reduced modal form

To establish the modal form of the coupled system, right eigensystem:
CB13
% ----------------------------------------------------------------------
fp=[rho c]
list_st=[1:1:15];
list_fl=[1:1:50];
[Amodc_pr] = ...
fsi_mod(La_st,Egv_st,list_st,La_fl,Egv_fl,list_fl,H,fp,right);
[La_pr_mod,Egv_pr_mod] = ...
eigen(Amodc_pr,eye(length(list_fl)+length(list_st)));
freq_pr_mod=sqrt(real(La_pr_mod))/2/pi;
77
% ----------------------------------------------------------------------
To establish the modal form of the coupled system, left eigensystem:
CB14
% ----------------------------------------------------------------------
[Amodc_pl] = ...
fsi_mod(La_st,Egv_st,list_st,La_fl,Egv_fl,list_fl,H,fp,left);
[La_pl_mod,Egv_pl_mod] = ...
eigen(Amodc_pl,eye(length(list_fl)+length(list_st)));
freq_pl_mod=sqrt(real(La_pl_mod))/2/pi;
% ----------------------------------------------------------------------
To transform the eigenvectors back to the original coordinate system:
CB15
% ----------------------------------------------------------------------
[Egv_pr_red] = ...
fsi_egv(Egv_pr_mod,La_st,Egv_st,list_st,La_fl,Egv_fl,list_fl, ...
fp,right,pr);
% ----------------------------------------------------------------------
To generate a color plot of the reduced coupled eigenmodes (this is the same routine
as CB12 apart from the first two lines):
CB16
% ----------------------------------------------------------------------
Egv_p_st=Egv_p_red(1:ndof_st,:);
Egv_p_fl=Egv_p_red(ndof_st+1:ndof_st+ndof_fl,:);
clf; modnr=1;
hold on;
modnr=modnr+1;
Ed_st=real(extract(edof_st,Egv_p_st(:,modnr)));
Edabs_st=abs(Ed_st);
const_st=max(max(Edabs_st)); Ed_st=Ed_st/const_st;
eldisp2(ex_st+10*1.1*(i-1),ey_st-4*2.5*(j-1)+2.0,Ed_st,[1,1,0],2);
eldraw2(ex_st+10*1.1*(i-1),ey_st-4*2.5*(j-1)+2.0,[3,1,0]);
hold on;
Ed_fl=real(extract(edof_fl,Egv_p_fl(:,modnr)));
Edabs_fl=abs(Ed_fl);
const_fl=max(max(Edabs_fl)); Ed_fl=Ed_fl/const_fl;
78
h=fill(ex_fl+10*1.1*(i-1),ey_fl-4*2.5*(j-1),Ed_fl);
MOD= num2str(freq_p(modnr));
text(10*1.1*(i-1)+4,-4*2.5*(j-1)-1, MOD)
end, end
% ----------------------------------------------------------------------
79

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Fundamentals of Fluid-Structure Interaction

Chapter June 2009

Gran Einar Sandberg Per-Anders Wernberg

SEE PROFILE SEE PROFILE

Urban Tranquility View project

Goran Sandberg* , Per-Anders Wernberg* , Peter Davidsson

Abstract Acoustic and structure-acoustic analysis is of great importance are found

2 Structure-acoustic analysis - Governing equations 6

3 Finite element formulation 7

4 Modal representation of Fluid-Structure Systems 18

5 Acoustic and Structure-Acoustic Implementations 33

A Finite element routines 59

1.1 Organization of the paper

The structure-acoustic problem schematically sketched in Figure 1. It consists of a

Figure 1. A principal sketch of the problems discussed in this report

3 Finite element formulation

Using Green-Gauss theorem on the first term in equation (3.11) gives

The surface traction vector ts related to the Cauchy stress tensor, Ss , by

3.2 Acoustic fluid domain

and with Greens theorem the weak formulation is achieved

The system of equations for an acoustic fluid domain becomes

3.3 The coupled structure-acoustic system

allows the coupling forces to be written as

3.4 Two-dimensional structure

3.5 Boundary conditions and coupling

uf n|s = us n|s , (3.50)

Eq. (3.18) alt. Eq. (3.44) can thus be written as

and similarly, Eq. (3.30), as

and the coupled system of equations established as

3.6 Alternative formulations

in the structural domain and

The corresponding similarity transformation is written

4.1 Fluid-structure interaction

4.2 Modal representation, p-formulation

Remark: Suppose that C1 and C2 are n n and m m matrices respectively, and

in the structural domain and

and multiplying Eq. 4.1 from the left by

The system matrix is almost symmetric. Scaling the system, using

and we have an almost symmetric system. Applying a scaling matrix

4.3 Modal representation, -formulation

in the structural domain and

which yields a corresponding eigenvalue problem of standard type .

4.4 Summary of eigenproblems and eigenvectors

The right p-system and the left -system:

The left p-system and the right -system:

4.5 Computational effort

4.6 Numerical examples

The fluid is divided into 50 simple linear elements, adding up to 51 degrees-of-freedom,

analytical no. of fluid modes used

Flexibel side, 30 beam elements

Mode Unsymmetric Proposed

4.7 Concluding remarks

good representation of the coupled problem.

The software is distributed under license conditions free of charge.

Figure 10. Calfem logo

and hence it follows that

where Q is the the mass inflow per unit volume.

The element shape functions are given by

The Be -matrix is given by

where Q is the the mass inflow per unit volume.

The evaluation of the integrals for the 3D isoparametric eight-node element is

The Be -matrix is given by

2D structure-acoustic interface elements