2015 FSI Literature Review

Journal of Fluids and Structures 57 (2015) 277–297
Contents lists available at ScienceDirect
Journal of Fluids and Structures

journal homepage: www.elsevier.com/locate/jfs
FSI research in pipeline systems – A review of the literature

Shuaijun Li a,b,n, Bryan W. Karney c, Gongmin Liu a
a
College of Power and Energy Engineering, Harbin Engineering University, Harbin 150001, China
b
Laboratory on Steam Power System, Wuhan Second Ship Design and Research Institue, Wuhan 430200, China
c
Civil Engineering Department, University of Toronto, Toronto, Ontario, Canada M5S 1A4
a r t i c l e i n f o abstract
Article history: This paper provides a broad overview of the literature pertaining to the dynamic analysis
Received 28 October 2014 of fluid-filled pipe systems considering fluid–structure interaction (FSI). Various types of
Accepted 26 June 2015 models and simulation algorithms of different levels of sophistication are compared and
Available online 25 July 2015
their application range discussed. The effects of fluid parameters, structural properties,
Keywords: fluid–structure couplings and boundary conditions on the inherent and dynamic character
Fluid–structure interaction of pipes conveying fluid are comprehensively compared and contrasted.
Fluid-filled pipe & 2015 Elsevier Ltd. All rights reserved.
Dynamic analysis
Review
Contents
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
2. FSI analysis of pipes conveying fluid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
2.1. The importance of FSI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
2.2. The general development of FSI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
2.3. Vibration characteristics of pipes conveying fluid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
2.3.1. The effect of fluid parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
2.3.2. The effect of pipe parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
2.3.3. The effect of coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
2.3.4. The effect of boundary conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
3. Methods for predicting FSI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
3.1. Theoretical models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
3.1.1. Shell model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
3.1.2. Beam model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
3.1.3. Governing equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
3.2. Approximation methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
3.2.1. MOC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
3.2.2. FEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
3.2.3. MOC–FEM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
3.2.4. TMM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
3.2.5. Other methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
n
Corresponding author at: Laboratory on Steam Power System, Wuhan Second Ship Design and Research Institue, Wuhan 430200, China.
Tel.: þ 86 27 88043383, þ86 27 88044185.
E-mail addresses: lishuaijun006@163.com (S. Li), karney@ecf.utoronto.ca (B.W. Karney), liugongmin@hrbeu.edu.cn (G. Liu).
http://dx.doi.org/10.1016/j.jfluidstructs.2015.06.020
0889-9746/& 2015 Elsevier Ltd. All rights reserved.
278 S. Li et al. / Journal of Fluids and Structures 57 (2015) 277–297
3.3. Experimental work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

4. Calculated pipe shapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
4.1. Straight pipe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
4.2. Pipe bends . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
4.3. Branched pipe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
4.4. Complex combination pipe systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
5. Review and conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
1. Introduction
Pipe systems conveying fluid are prevalent in many fields including marine and civil engineering, nuclear and electric
power industries, petroleum and chemical process industries, ship and aircraft applications and even daily life. Because of
excitations arising both from inside and outside the pipe – whether caused by pumps, valves, or transmitted vibrations – the
fluid–structure interaction (FSI) responses of pipe systems are almost continually being induced and transmitted throughout
both the fluid and its system of confinement. Sometimes these responses are trivial, while at other times they can be large
enough to cause the conveying pipe and connected equipment to fail. FSI effects can also induce noise radiation from pipes
which can disturb working and living environments.
FSI mechanics is a comparatively new interdisciplinary branch dealing with hydromechanics and solid mechanics. Pipe
systems conveying fluid are the typical FSI systems. There are mainly three couplings between the fluid and the pipe:
Poisson, friction and junction coupling. Poisson coupling relates the fluidic pressure to structural axial stresses due to radial
contraction or expansion of the pipe wall, which is associated with the “breathing” mode of the pipe. Friction coupling is
induced by the frictional forces generated between the fluid and the pipe which results in pressure losses inside the fluid,
and thus associated changes in wall stress. These two couplings act along the entire pipe, whereas so-called junction
coupling only acts on the junction sections such as branched junctions, sections with bends, diameter changes and
boundary conditions. Together these couplings can influence the natural frequencies of the liquid-filled pipe. And there are
two kinds of FSI: one appears at the interface between the fluid and its connected structure; the other appears in two-phase
(fluid/solid) flow, i.e., when the fluid and solid is partially or completely interconnected. The emphasis of this paper is on the
history of former FSI research, including theoretical studies, the prediction of natural and dynamic characteristics of pipe
systems. A nice overview of the fundamental concepts and early development can be found in Tijsseling (1996). A few more
specialized topics are briefly discussed since they are well documented (Ibrahim, 2010, 2011; Païdoussis, 2014).
The purpose of this review article is to summarize the primary results reported in the more recent literature with an
emphasis on the theoretical models for pipes conveying fluid and the natural and dynamic characteristics in the published
results. Both two-way and one-way coupling are introduced to assist more general readers.
Following this brief introduction, Section 2 introduces the general development FSI for pipe system and summarizes the
inherent and dynamic characteristics of pipes with different fluidic and structural properties and boundary conditions. The
effects of coupling are also discussed in this section. Section 3 then overviews the theoretical models, with their associated
numerical and experimental methods that are used for predicting FSI characteristics. Then, various calculated pipes shapes
are investigated in Section 4. Some basic theoretical knowledge is provided along with some more advanced topics with the
goal of aiding both novice and seasoned researchers.
2. FSI analysis of pipes conveying fluid
2.1. The importance of FSI
Pipe vibrations induced by FSI have been with us since time immemorial (Païdoussis, 2014). A simultaneous treatment of
fluid fluctuations and pipe vibrations is necessary for accurately analyzing the structural vibrations, fluid transients and
anchor and support forces of a flexible pipe system (Lavooij and Tijsseling, 1991; Moussou et al., 2004; Rinaldi et al., 2010;
Sreejith et al., 2004; Tijsseling, 1996; Tijsseling and Lavooij, 1990; Tijsseling et al., 1996; Vardy et al., 1996; Wang and Tan,
1998), which are important for the optimized design of pipe systems (Hashemi and Abedini, 2007; Liu et al., 2010). The
calculations without FSI usually result in lower values for hydrodynamic pressures (Gorman et al., 2000) and higher values
for the structural quantities (Heinsbroek, 1997), which may lead to an unintended large safety margin and uneconomic
design. The importance of FSI in pipe systems conveying fluid has led to an extensive and constantly expanding literature
spanning eight decades (Ibrahim, 2010, 2011; Li et al., 2014; Liu et al., 2013b; Païdoussis, 2014; Zhang et al., 1999).
2.2. The general development of FSI
One of the sources of severe transient loads on structures in pipe systems conveying fluid is the waterhammer caused by
rapid valve opening or closing or by bursts in high-energy pipes. Waterhammer may also appear in the case of cold-water
S. Li et al. / Journal of Fluids and Structures 57 (2015) 277–297 279
injection into piping and other equipment filled with steam or steam–water mixtures (Moussou et al., 2004). The early
elastic liquid-filled pipe researches were attributed to Young (1808) with the pressure wave propagation associated with
Young's modulus E. Subsequently Korteweg (1878), Lamb (1898), Skalak (1956) and many other researchers continued
studying the propagation of pressure waves in pipe systems conveying fluids. Many important classical models and
preliminary conclusions were developed, which were summarized in the comprehensive reviews of Tijsseling and Anderson
(2004, 2008, 2012), Ghidaoui et al. (2005) and Tijsseling et al. (2008). Recently, Keramat et al. (2013) proposed a more
realistic waterhammer model which considers the time-dependency of the Poisson's ratio in plastic pipe. All the
aforementioned studies account for the effects of the pipe structure on the pressure wave. But this basic coupling does
not completely reflect the vibrational characterists of the pipe system. Besides the propagation of pressure waves, the
dynamic characterists of the structure are also important and are included in a full FSI analysis of pipe system design.
The dynamics and stability of pipes containing harmonically perturbed flowing fluid has been studied by Païdoussis and
Issid (1974). A general formulation of the dynamics of fluid conveying pipes was described and derived by Laithier and
Païdoussis (1981), including the effects of flow changes, Coriolis and centrifugal forces as well as rotary inertia. Ariaratnam
and Sri Namachchivaya (1986) presented an analytical method for stability analysis of pipes conveying fluid in pulsating
flow. Wiggert and Tijsseling (2001) described the classification of FSI and summarized their excitation mechanisms. A semi-
analytical finite element formulation to solve a coupled FSI problem with compressible fluid flow has been developed by
Kochupillai et al. (2002a, 2002b). Tijsseling et al. (1996) investigated the dynamic fluid pressures and pipe wall stresses in
emergency situations with the simultaneous occurrence of FSI and vaporous cavitation. Pittard et al. (2004) investigated the
relationship between pipe wall vibration and the physical characteristics of turbulent flow by a numerical approach. A new
velocity based finite element formulation for FSI was investigated by Kochupillai et al. (2005), in which both Poisson and
junction coupling are included. The early developments of FSI models can be found in published papers by Wiggert (1986),
Païdoussis and Li (1993) and Tijsseling (1996). Some advances in nonlinear dynamics of pipes conveying fluid are reviewed
by Huang et al. (1998). Ibrahim (2010, 2011) summarizes technology modeling in the nuclear plants and offshore industries.
2.3. Vibration characteristics of pipes conveying fluid
The investigation of inherent and dynamic characteristics of FSI of pipes is an essential step for fluidic and structural
optimization design of pipe systems (Hashemi and Abedini, 2007; Ibrahim, 2010, 2011; Liu et al., 2010). Various aspects of
the dynamic characteristics of pipes conveying fluid have been extensively studied. And Chang and Chiou (1995),
Heinsbroek (1997), Kochupillai et al. (2002b), Zou et al. (2005), Karagiozis et al. (2007), Shen et al. (2009a), Huang et al.
(2010) and Fonseca and de Melo (2010) gave some more detailed discussions and analyses in this aspect.
The following dimensionless quantities are always used for the dynamic characteristics of pipes conveying fluid:
1=2
mf L2 mf
Vv ¼ V 0 L; P p ¼ P 0 Af ; β ¼ ; ð1Þ
EI p EI p m
where mf the mass of fluid per unit length; m is the total mass per unit length of pipe and contained fluid; E is the elastic
modulus of the pipe; Ip is the pipe inertance; V0 is fluid flow velocity; and P0 is the fluid pressure. Af is inside cross-sectional
area of the pipe and L is the length of pipe between supports.
2.3.1. The effect of fluid parameters

Generally speaking, when the pipe conveys a light fluid like air, the fluid loading effects on the pipe can be ignored for
the natural frequencies calculation and no coupled analysis is needed (Zhang, 2002). However, FSI should be considered in
analyzing dynamic response of pressure wave of pipes conveying light fluids, particular if the natural frequency of fluid is
close to the nature frequency of pipe (Liu et al., 2013b). If the Coriolis force was neglected, Huang et al. (2010) found the
effect of flow velocity on first natural frequency of simply supported–simply supported straight pipe is inappreciable when
the dimensionless flow velocity is not larger than 0.63. Liu et al. (2012) found that there is no need to consider the effects of
forces caused by fluid flow velocity in clamped–clamped straight pipe conveying 2.0 MPa saturated steam when the velocity
is lower than 100 m/s. If the fluid within the pipe is a dense fluid like water, which introduces significant mass loading
effects, a coupled fluid–structure calculation is needed (Zhang, 2002). Such coupling can affect pipe vibration even at low
frequencies (Pavić, 2003). As the mass ratio β increases, the natural frequencies decrease and the instability region grows
(Lee et al., 1995) as does the FSI influence (Erath et al., 1999).
Transient hydrodynamic pressure could induce pipe vibrations. And the axial vibration increases with increasing
pulsation frequencies (Gorman et al., 2000). Inside of flexible pipes, fluid flow and pressure could drastically alter the
vibration frequencies and transient response of the pipes (Olson and Jamison, 1997; Xu et al. 2010). In still fluid, the effect of
internal fluid is to lower the natural frequencies of vibration because of “added mass effect” (Chen and Ding, 1999; Guo and
Lou, 2008; Seo et al., 2005). The Coriolis force due to lower fluid velocities has a negligible effect on the dynamic response of
a piping system. When the mass ratio β is less than 0.5, Coriolis damping does not strongly influence the natural frequencies
of the system (Chen, 1972; Lee et al., 1996). And the first natural frequency of a clamped–clamped straight pipe changes by
1% or less when the dimensionless
velocity
is less than 0.8, see Fig. 1(a), and for the higher bending modes, the relative
change frequency f V v ¼ 0 f V v =f V v ¼ 0 caused by fluid pressure is relatively small, so that it can be neglected (Li et al.,

Fig. 1. The relative changes f V v ¼ 0 f V v =f V v ¼ 0 of the first three frequencies of a clamped–clamped straight pipe: (a) changing with respect to fluid
flow velocity and (b) changing with respect to fluid pressure (Li et al., 2014).
Fig. 2. Variation of deflection ratio ym =ynm : (a) deflection ratio versus dimensionless flow velocity Vv, at β ¼0.1 and (b) deflection ratio versus mass ratio β, at
Vv ¼ 4.5 (Gu et al., 2013).
2014). The effect of internal flow is more obvious with higher relative internal flow velocities (Guo and Lou, 2008). The
amplitude of the strain in the in-line vibration and the cross-flow vibration will both increase with increasing of the fluid
velocities (Guo and Lou, 2008), while the natural frequencies decrease until the critical flow velocity is reached where the
pipe becomes unstable (Chang and Chiou, 1995; Dodds and Runyan, 1965; Lee and Oh, 2003; Li et al., 2011, 2014; Nawras
et al., 2012; Païdoussis, 2014; Shaojie et al., 2010; Wu and Shih, 2001; Zhang et al., 2002). The analytical form of critical
velocity for simply supported pipe has been given by Païdoussis and Li (1993) as follows:
sffiffiffiffiffiffi
π EI
vc ¼ : ð2Þ
L mf
The critical velocity decreased with the increasing of the length to outer diameter ratio. For example, the critical velocity of
microfabricated elastomeric pipes will reduce to 10 m/s when the length to outer diameter ratio is 100 (Rinaldi et al., 2010). For semi-
circular pipe, the fluid flowing inside the pipe has a softening effect on the in-plane motion; however, it has a stiffening effect on the
out-of-plane motion. At a high fluid velocity, the natural frequencies of a semi-circular pipe of the nonlinear models do not decrease
to zero, but those of the linear model decrease to zero (Jung and Chung, 2008). And the critical velocity of a clamped-pinned semi-
circular pipe conveying fluid calculated by the extensible model with shear deformation (Zhai et al., 2013) is smaller than the one
calculated by the inextensible model without shear deformation (Misra et al., 1988b), but it is greater than that calculated using an
extensible model without shear deformation (Misra et al., 1988a). For the compressible flow model, the critical velocity is lower than
that of the incompressible flow model (Kochupillai et al., 2002b). In general, instability occurs at a critical fluid velocity corresponding
to the shell circumferential mode with the lowest natural frequency and this phenomenon is true for all types of structural boundary
conditions (Kochupillai et al., 2002b).
The effects of the fluid pressure on natural frequencies are quite similar to those of the flow velocity (Chen, 1972). It is
also known that the presence of an internal fluid pressure is to reduce natural frequencies of the fluid-filled pipes until the
critical pressure, where, the first nature frequency becomes zero and buckling would prevail (Li et al., 2014; Liu et al., 2012;
Païdoussis, 2014; Zou et al., 2005). As shown in Fig. 1, the frequency changing rate caused by fluid pressure is more
significant than that caused by fluid velocity (Li et al., 2014). In the higher frequency range, the frequency decrease by almost
a constant value which depend on the parameters of cross-section, but is independent of pipe length (Liu et al., 2012).
Pittard et al. (2004) found pressure fluctuations on the pipe wall have a near quadratic relationship with the fluid velocity
when turbulent flow prevails.
The maximum vibration deflection increases with the increasing of flow velocity, which is verified by experiment (Guo
and Lou, 2008). This variation of deflection versus flow velocity was not qualitatively and quantitatively evaluated by Gu
et al. (2013). Fig. 2 presents deflection ratio ym =ynm versus dimensionless flow velocity and mass ratio, where ym and ynm
denote maximum deflections when V v a0 and V v ¼ 0, respectively. It is found in Fig. 2 that the deflection ratio increases as
the flow velocity increases and decreases as the mass ratio β increases.
Beside the above factors, temperature also has an influence on FSI characteristics of piping system conveying hot liquid
(Peng and Wang, 2013; Koo and Yoo, 2000). This is because, when the operating temperature increases, the elastic modulus
of the pipe section and kinematic viscosity and the density of the liquid decrease. In addition, stresses due to expansion and
phase change etc. are also strong influenced by the temperature change, which could change the FSI characteristics of pipe
system. Moreover, Koo and Yoo (2000) found that the general trends of the frequency change due to fluid velocity are the
same for all temperatures, but that the natural frequency and the critical velocity decrease as the temperature increases.
2.3.2. The effect of pipe parameters

The pipe parameters change the natural and dynamic characteristics of pipes conveying fluid, which could even
determine the type of theoretical model. For example, the shell model provides in accurate frequencies and larger relative
errors with thicker pipes. The classical shell theory cannot be applied when its thickness-to-mean radius ratio (h/a) is lower
than 0.05 and even for h/a of 0.01 with the uncoupled vibration and the coupled case respectively (Chen and Ding, 1999).
The natural frequencies of more circumferential deformation modes (larger n) are affected more by the pipe wall thickness.
However, the h/a has no effect on the dimensionless natural frequencies of flexural mode (n¼1, m¼1) (Chang and Chiou,
1995). Tijsseling (2007) added small correction terms and factors accounting for the wall thickness into the four-equation
model. He found these corrections are required only for very thick-walled pipes with a thickness/radius ratio larger than 0.5.
The h/a ratio can change all the dimensionless critical velocities (Chang and Chiou, 1995). For each given flow velocity, all
the dimensionless frequencies increase with h/a increase (Zhang, 2002). The frequencies of pipes with smaller h/a decrease
more with the fluid velocity than those with large h/a. This causes thinner pipes to have lower natural frequencies and more
quickly become unstable (Karagiozis et al., 2007). Besides, the effect of fluid velocity on the natural frequencies is more
obvious for the thinner thickness pipe, and there is an optimum pipe thickness that gives the best dynamic characteristics
for each fluid velocity (Nawras et al., 2012).
Compared with h/a, the length-to-radius ratio l/a has a complex effect on the natural frequencies and critical velocities
which depend on each individual mode (Chang and Chiou, 1995). But for the flexural mode, longer pipes (with larger l/a)
have smaller natural frequencies and critical flow velocities than the shorter pipes (Karagiozis et al., 2007). The critical flow
velocity could even reduce to about 10 m/s for slender pipes with l/a is 200 (Rinaldi et al., 2010).
With the development of composite materials, the vibration characteristics of periodic pipe using the idea of phononic
crystals (PCs) have attracted considerable attention and research activities, especially on the existence of phononic band
gaps in which both sound and vibration waves are forbidden (Kushwaha and Djafari-Rouhani, 1996; Shen et al., 2009b;
Sorokin and Ershova, 2006; Wen et al., 2010; Yu et al., 2008). The PCs consist of two or more kinds of materials (Kushwaha
et al., 1994). Compared with a uniform pipe conveying fluid, the hybrid pipe is capable of displaying more complex and
sometimes unexpected dynamical behaviors (Dai et al., 2013). The critical flow velocity of the hybrid pipe is sensitive to the
layout of the different segments (Dai et al., 2013). The introduction of PC materials provide new design options for
overcoming the shortcomings of stress concentration and reduce the vibration of pipe system (Shen et al., 2014, 2009a).
Keramat et al. (2012) found FSI is significant during the early moments of the transient event in pipes with viscoelastic
walls. But later on viscoelasticity becomes dominant and damps out the oscillations induced by FSI. And FSI effects in plastic
pipes are more significant than that in steel pipes because the former are more flexible.
Besides above mentioned inherent parameters, the structure layout is another factor that could change the dynamic
behavior of pipes conveying fluid. Lee et al. (1995) found the inclination angle and gravitational effect of the straight pipe of
RPV systems are not important for the stability of the pipe. The tapering of the tapered pipe leads to higher pressure
amplitudes and lower amplitudes of the associated flow wave and the wall distension (Giannopapa et al., 2005). Valentin
et al. (1979) found low frequency pressure waves in relatively thick-walled pipes are about 15% reflected at unrestrained
bends, virtually independent of frequency, radius of curvature and bend angle. Nawras et al. (2012) found the critical flow
velocity decrease with the increasing angle of angled pipelines from 901 to 1801. And there is an optimum diameters ratio
for each angle that gives the larger inlet critical velocity of fluid. Søe-Knudsen and Sorokin (2010) found that the “insertion
loss” is more sensitive to the discontinuities in the curvature than to the length of curved segments by the comparison of the
power flow in a U-shaped pipe and in a S-shaped pipe, see Fig. 3
If the pipe system was excited by the pressure impact, the failure can easily occur near the T-branch pipe, clamps and
elbow (Liu et al., 2011). In particular, near the T-branch pipe, the joint can be easily failed, and stress concentration of its
inner interface is higher. Therefore, greater attention should be paid to these parts (Liu et al., 2011). But for the Y-shaped
pipe, the principal natural frequencies of liquid waves with rigid pipe are not influenced by the variation of branch angles,
though the amplitude of some response may be modified by these changes (Liu et al., 2013b).
You and Inaba (2013) investigated the effects of elastic anisotropy in piping materials on FSI. They found for a carbon-
fiber reinforced plastic water-filled pipe with the symmetric winding angles, the primary wave (breathing mode) travels
Fig. 3. The bend pipes: (a) the U-shaped pipe and (b) the S-shaped pipe (Søe-Knudsen and Sorokin, 2010).
slowly at low winding angles. And the magnitude of hoop strain by the primary wave decreases with increasing winding
angle, while the magnitude of axial strain is small at the low and high winding angles where the coupling compliance is
small. Compared with primary wave, the precursor wave (longitudinal mode) has little effect on the deformation of pipe.
2.3.3. The effect of coupling

In the three couplings, friction coupling is the weakest FSI element, while junction coupling is regarded as the most important in
the transient behavior of the flexible pipe system (Ahmadi and Keramat, 2010; Heinsbroek, 1997; Tijsseling and Lavooij, 1990;
Tijsseling and Vardy, 2004). And the friction coupling plays an important role for the shape and amplitude of the wave, especially
within longer time (Adamkowski et al., 2010). Poisson coupling plays a predominant role when dominating motions for interaction
are axial (Lavooij and Tijsseling, 1991). The dynamic Poisson contraction causes pressure additional high frequency oscillations with
specific pressure peaks, which was in general discussed in Adamkowski et al. (2010).
The influence of FSI is stronger for relatively thin-walled pipes or more flexible pipes (Ahmadi and Keramat, 2010). The influence
becomes stronger when the gradient of the fluid excitation is steeper (Erath et al., 1999). The extreme pressures are larger and the
natural frequencies are lower than those of the waterhammer without FSI (Tijsseling, 2003). But the question that has concerned
researchers is when is FSI strong enough and should to be considered within the dynamic analysis of pipe systems. Lavooij and
Tijsseling (1991) formulated a provisional guideline which helps to judge when interaction is important. That is, FSI is important
when Tcef oTs oTw, where Tcef is the effective closure time of the valve; Ts is the eigenperiods of the structure; and Tw the time scale
of the water hammer waves. Heinsbroek and Tijsseling (1994) show that FSI has a high effect on fluid pressures and pipe stresses if
the axial stiffness of 1 m of pipe is greater than the rigidity of the supports. Riedelmeier et al. (2014) introduced a parameter which
helps to quantify the strength of the coupling between the fluid and the structure based on the geometrical and hydraulic properties
of the bend and the system. And they found the junction coupling caused by bend motion is obvious when the pipe system is in
resonance. If the pipe cross-section is oval at bend, the Bourdon coupling appears (Chen, 2012). And speed of pressure pulsations
propagating in pipes is lower than that in an infinite medium because FSI increases the effective compressibility of the medium
(Pavić, 2003; Vardy et al., 1996).
As the most obvious FSI occur at bends, branches, valves and other junctions (Vardy et al., 1996), the junction coupling
attracted a good deal of attention. It could cause the establishment of pressures a bit higher than those without coupling
(Ahmadi and Keramat, 2010). Tijsseling and Heinsbroek (1999) found the bend vibrations introduce higher-frequency
pressure oscillations. FSI at the pump location arising from pump failure is mainly contributed to extreme hydraulic forces
caused by the control valve closure (Ahmadi and Keramat, 2010). For the RPV system, its axial vibration provides a strong
mechanism for junction coupling if the valve is unrestrained. But if the valve is structurally fixed, the only FSI mechanism is
Poisson coupling (Tijsseling, 2003). The effects of these couplings show that FSI analysis is necessary for pipe system design,
especially for pipes with flexibly supported or sensitive pipe systems (Keramat et al., 2012).
2.3.4. The effect of boundary conditions

In the design of piping systems, pipe supports play a crucial role in resisting system loads whether from pump pulsation,
thermal expansion, and water hammer or other sources. The supports depend on working conditions and individual
requirements. In general, the steam generator heat exchanger pipes and oil pipes are designed with periodic supports (Koo
and Park, 1998). Ahmadi and Keramat (2010) found water hammer effects due to valve closure can be reduced by an
adjustable support.
The effects of FSI are strongly dependent on the boundary conditions of pipe systems (Riedelmeier et al., 2014).
Significantly, if the impedance of the conveyed fluid significantly influences the impedance of the end, junction coupling can
arise at the end because of the unbalanced impedance (Li et al., 2012). The influence of FSI is stronger for pipes assembled
with few supports (Erath et al., 1999). But the influence of dynamic Poisson on fluid pressure wave exists even for relatively
rigidly mounted pipes (Adamkowski et al., 2010). The effect of common support conditions, such as open or closed end,
clamped or simple or free supports and their various combinations, is also examined by Sinha et al. (2001), Zhang et al.
(2002), Lee and Oh (2003), Zou et al. (2005) and Wang and Ni (2008a). Chen (1972) studied the critical loads for curved tube
with both ends clamped or hinged. Huang et al. (2010) investigated the natural frequency of pipe conveying fluid with
different boundary conditions. Liu and Li (2011) calculated elastically supported by using six elastic springs which can
simulate complex boundary conditions. Then Li et al. (2014) extended the application of this method in which the support
damping were taken into account. Li et al. (2012) presented a comprehensive model of fluid boundary condition by
introducing the fluidic impedance. Therefore many constraints can be calculated by simplifying as various fluidic
impedances and translational and rotational damping springs.
Heinsbroek and Tijsseling (1994) found that the maximum stresses of a specific RPV system are higher while the forces
on the supports are lower in the more flexible systems. For anchors with rigidity larger than the axial stiffness of one meter
of pipe, the influence on the transient behavior of the system is small; the classical waterhammer theory gives then reliable
predictions of the pressures in the system. Li et al. (2014) indicate that the variation of dimensionless stiffness of supports
does not significantly alter the higher dimensionless natural frequencies of transverse vibrations, but it is of great influence
on the higher dimensionless natural frequencies of torsional vibrations. When the dimensionless stiffness is large enough,
the variation of modal frequencies is relatively small and the effect of spring stiffness can be neglected. The total flexural
velocity level rises steeply with the increasing of supported dimensionless damping before it arrives at the peak value. Then
it sharply declines after the peak point. The drop rate becomes lower when dimensionless damping is larger than a constant
value. Therefore, a proper design of supports can reduce pipe systems vibration (Koo and Park, 1998; Li et al., 2014). Based
on the dynamical analysis results, Liu et al. (2011) optimized the number and location of supports.
3. Methods for predicting FSI
3.1. Theoretical models
3.1.1. Shell model

The deformations of pipe cross-sections can be decomposed into harmonic components of circumferential orders n ¼0, 1,
2…. The first four circumferential mode shapes are shown in Fig. 4. The order n ¼0 is called the “breathing mode”, and the
order n ¼1 is the “flexural mode”. These two lowest circumferential modes (n¼0 and n ¼l) determine the behavior of shells
below its ring frequency (Fuller and Fahy, 1982; Jong, 1994; Pavić, 2003). Higher order waves (n 41) can propagate only
above the cut-on frequency. Pavić (1992, 2003) presented a approximate formula for the cut-on frequency of the nth order
wave:

ωcn a βn n2 1 e ρf a
Ωcn ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 ; β ¼ pffiffiffi ; η¼ ; ð3Þ
cs1 2 3a ρp e
1 þ n2 1 þη=n þ β2 n2 1
where ωcn is the nth cut-on radian frequency; Ωcn is non-dimensional frequency that is formed by dividing ωcn by the pipe ring
frequency; cs1 is the speed of sound in the unbounded volume of pipe material; e is the thickness; a is the mean radius of
the shell; ρf and ρp represent the mass density of fluid and structure respectively.
From Eq. (3), we can see that the thinner the pipe and the heavier the fluid the lower will be the cut-on frequency. And
this frequency increases with wave order n. The motion of the pipe can be simplified by treating it as the beam-type motion
when n is 1 (Finnveden, 1997; Kornecki, 1971). Therefore, there are mainly two kinds of theoretical models for pipes: one is a
shell model (Mazuch et al., 1996; Pavić, 1990, 1992), which is used for pipes with high diameter–length ratio and thin walls;
the other is the beam model that is mainly used for low-frequency vibration of slender pipes (Li et al., 2014; Tentarelli, 1990;
Wiggert and Tijsseling, 2001; Xu and Yang, 2004).
The deformation occurs in the pipe cross-section with the shell model (Feng, 1994; Fuller and Fahy, 1982). Therefore, the
shell model could be used to couple radial vibration to the fluid motion of the structure (Chang and Chiou, 1995; Feng, 1994;
Firouz-Abadi et al., 2010; Fuller and Fahy, 1982; Hansson and Sandberg, 2001; Kochupillai et al., 2002a, 2002b). And it has
been widely used to predict the vibration characters of simple pipe forms such as straight pipe (Feng, 1994; Mazuch et al.,
1996) and single-elbow pipe system (Firouz-Abadi et al., 2010) et al. Chen and Ding (1999) found that the classical shell
theory can be used for shells when the thickness-to-mean radius ratio is smaller than 1/20 and smaller than 1/100 for the
uncoupled and coupled free vibration respectively. For the thicker shells, the relative errors, (shell theory – exact)/exact, are
significant and it is no longer possible to give exact frequencies.
n=0 n=1 n=2 n=3

Fig. 4. The first four circumferential mode shapes.
3.1.2. Beam model

Compared with the shell model, the motion of a beam-type pipe is described by the motion of its center line which
makes it possible to theoretically predict the behavior of even complex pipe systems (Liu et al., 2013b, 2001). The beam
model is more easily solved for complex pipe systems. Moreover, most smaller pipes have thickness-to-diameter ratios
above the thin-wall theory limit (Pavić, 2003). Only the high frequeny waves are influenced by the radial vibrations (Lamb,
1898). And at lower frequencies, well below the ring frequency of the pipe, pipe vibrations are similar to that of a beam
(Pavić, 2003). In engineered pipe systems, the length-to-diameter ratio is far greater than 1 (Liu et al., 2001), and most of the
smaller pipes will have thickness-to-diameter ratios above the thin-wall theory limit (Pavić, 2003). Thus, it is reasonable to
approximate pipe motion with beam models in the low-frequency domain (Finnveden, 1997; Jong, 1994). Besides, practical
pipes always have complex shapes and boundary conditions (Li et al., 2014; Liu et al., 2013b), which leads to beam models
being widely adopted (Li et al., 2011; Pramila et al., 1991). Note however that the beam models (n ¼1) inherit a cut-on
frequency which can be calculated by Eq. (3).
There are two beam models, Euler–Bernoulli beam model and Timoshenko beam model, and the latter could be used for
higher frequencies because of the shear distortion and second moment of inertia are taken into account (Chan et al., 2011;
Shen et al., 2009a; Timoshenko, 1922; Zhu and Deng, 2013). The theoretical models based on beam models mainly include
the four-equations model (Li et al., 2011; Tijsseling, 2003; You and Inaba, 2013; Zhang and Huang, 2002), the six-equations
model (Ruoff et al., 2014; Walker and Phillips, 1977), the eight-equations model (Gale and Tiselj, 2006; Gomes da Rocha and
Bastos de Freitas Rachid, 2012; Tijsseling et al., 1996; Valentin et al., 1979), twelve-equation model (Liu et al., 2012; Shen
et al., 2009a) and the fourteen-equation model (Chen, 2012; Lee et al., 1996; Li et al., 2014; Liu and Li, 2011; Tentarelli, 1990;
Wiggert et al., 1987, 1985; Xu et al., 2014). These models are only applicable for the low-frequency acoustic behavior of
linearly elastic, fluid-filled pipes of circular cross-section.
3.1.3. Governing equations

When predicting propagation of basic pressure waves in fluids, the fluid pressure and velocity are the only two unknown
parameters. The two-equation model arising from the momentum and continuity equations works well if the motion of pipe
wall is not taken into account. Ghidaoui et al. (2005) helpfully review water hammer from both a theoretical and practical
perspective and summarize both the general history and motivation for studying waterhammer phenomena. The ranges of
applicability of various governing equations are discussed in detail in the review. FSI could change the classical
waterhammer frequency spectrum, primarily around the natural frequencies of the axial vibration (Zhang et al., 1999).
Therefore, by adding another two structural equations, the four-equation model is obtained by coupling these two equations
for axial motions of the structure to the former two equations for the fluid through terms proportional to the Poisson
contraction ratio, and through mutual boundary conditions. The early four-equation models were derived by Skalak (1956)
and Wiggert et al. (1985). Then, Lee et al. (1995) developed the four equations by the concept of a moving deformable
control volume and Newton's laws of motion. Tijsseling (2007) presented a four-equation model for the thick-walled pipes
and derived the exact solution of the four-equation model (Tijsseling, 2003). The four-equation model can be used for
vibration analysis of pipe conveying internal steady fluid (Lee and Oh, 2003; Tijsseling, 2003; Tijsseling and Lavooij, 1990;
You and Inaba, 2013) and unsteady fluid (Lee and Park, 2006; Wang and Tan, 1998). But it is the simplest FSI model because
it accounts only for the existence of axial stress waves in the pipe walls (Gomes da Rocha and Bastos de Freitas Rachid, 2012;
Stuckenbruck et al., 1985).
If two equations for radial inertia forces are modeled, the four-equation model becomes a six-equation model (Walker
and Phillips, 1977). The hoop stress and radial pipe-wall velocity can be solved by the six-equation model. The eight-
equation model is valid for in-plane vibration of planar pipe systems (Tijsseling et al., 1996), which is in fact a sub-product of
the fourteen-equation model. Besides axial efforts, lateral and flexural motions induced by shear forces and bending
moments are considered (Gomes da Rocha and Bastos de Freitas Rachid, 2012; Wei and Sun, 2011), while torsional and out-
of-plane lateral motion and radial inertia are ignored (Gale and Tiselj, 2006; Tijsseling et al., 1996). For instance, Tijsseling
et al. (1996) investigate the FSI and vaporous cavitation for a single-elbow system by using an eight-equation model.
In addition to the axial stress waves and flexural motions of in-plane vibration, Wiggert et al. (1987) and Lesmez et al.
(1990) added two torsional equations and four lateral equations into the previous eight equations. The result is now a
fourteen-equation model which allows the analysis of three-dimensional piping systems and represents the most complete
one-dimensional FSI model up to the present moment (Gomes da Rocha and Bastos de Freitas Rachid, 2012). The fourteen-
equation model is applicable to straight pipes (Li et al., 2014; Li and Liu, 2009), bent pipes (Lesmez et al., 1990; Li et al.,
2010), branched pipes (Li and Liu, 2010; Liu et al., 2013b) and combinations of these structures (Tentarelli, 1990). If the fluid
momentum and continuity equations of fluid are excluded, the fourteen-equation model becomes the twelve-equation
model (Liu et al., 2012; Shen et al., 2009a). The twelve-equation model dose not include FSI which can be used for the
vibration of the structure. For pipes with simple shapes, the four-equation model, six-equation model and eight-equation
model are efficient and accurate. But the prediction of complex configured pipes needs either the twelve-equation model or
the fourteen-equation model. In general structural dynamics, one obtains the structural natural frequencies of a fluid-filled
pipe with dead mass fluid. And the fluidic natural frequencies can be obtained based on the assumption of a rigid pipe
system. However, this approach fails when structural frequency is close to fluidic frequency because the FSI may separate
coinciding fluidic and structural frequencies (Moussou et al., 2004).
In the curved-shaped or 3D pipes, the effect of steady combined force due to fluid flowing and pressure on the vibration
characteristics is pronounced (Dai et al., 2012). Lee et al. (1996) and Li et al. (2014) improve the fourteen-equation model in
which the effects of internal pressure and fluid flow and both longitudinal and flexural vibrations are considered. The
following fourteen equations are the improved fourteen-equation model (Li et al., 2014).
Axial motion:
∂V f ∂V f 1 ∂P f Pe
þV0 þ þ g sin β ¼ ; ð4Þ
∂t ∂z ρf ∂z ρf Af
∂P f ∂V f ∂w_z
þ K0 2υK 0 ¼ 0; ð5Þ
∂t ∂z ∂z
∂w_z 1 ∂f z f
þ þ g sin β ¼ ez ; ð6Þ
∂t ρp Ap ∂z ρp Ap
∂f z ∂V f ∂w_z
C 1 þ C2 ¼ 0: ð7Þ
∂t ∂z ∂z
Flexure in the y–z plane:
∂w_ y 1 ∂f y ∂w_y 1
þ þ C3 þ C 4 mx ¼ f ey ; ð8Þ
∂t M ∂z ∂z M
∂f y ∂w_y
þ κAp G þκAp Gθ_ x ¼ 0; ð9Þ
∂t ∂z
∂θ_ x 1 ∂mx 1 mex

þ f ¼ ; ð10Þ
∂t B ∂z B y B
∂mx ∂θ_ x
þ EI p ¼ 0; ð11Þ
∂t ∂z
Flexure in the x–z plane:
∂w_ x 1 ∂f x ∂w_x 1
þ C 3 C 4 my þ g cos β ¼ f ex ; ð12Þ
∂t M ∂z ∂z M
∂f x ∂w_x
þ κAp G κAp Gθ_ y ¼ 0; ð13Þ
∂t ∂z
∂θ_ y 1 ∂my 1 mey

þ þ f ¼ ; ð14Þ
∂t B ∂z B x B
∂my ∂θ_ y
þEI p ¼ 0: ð15Þ
∂t ∂z
Torsion about the z axis:
∂θ_ z 1 ∂mz mez
þ ¼ ; ð16Þ
∂t ρp J p ∂z ρp J p
∂mz ∂θ_ z
þ GJ p ¼ 0; ð17Þ
∂t ∂z
where
M ¼ ρp Ap þ ρf Af ; B ¼ ρp I p þρf I f
0
2υK 4υ2 K 0 2ρf Af V 0 P 0 Af þρf Af V 0 2
C 1 ¼ Ap ; C 2 ¼ EAp þAp ; C3 ¼ ; C4 ¼ ;
eR ð2 þ eR Þ eR ð2 þ eR Þ M MEI p
where A is cross section area; E is modulus of elasticity; e is thickness of pipe; f is force; G is shear modulus; g is gravity
acceleration; I is moment of inertia of pipe; Jp is polar moment of inertia of area; K 0 is the corrected bulk modulus; m is the
moment; Pf is the fluid fluctuating pressure; eR is the ratio of thickness to inner radius of pipe; t is time; V0 is fluid constant
flowing velocity; Vf is fluid pulsant velocity; w_ is pipe velocity; β is the angle between the pipe and the horizontal line; θ_ is
angular velocity; υ is Poisson's ratio; ρ is mass density; ω is circular frequency; κ is shear coefficient of the pipe wall material.
And the superscripts f and p denote fluid and pipe respectively; 0 denotes the constant value; e denotes exterior; x, y, z
denotes local coordinate direction.
In the above model, the steady combined forces due to the fluid flow and pressure are simultaneously taken into account.
The thickness of the pipe wall is also taken into account in the axial motion through the averaging of hoop and radial
stresses. But the frictional coupling is disregarded, because it is usually relatively unimportant (Tijsseling et al., 1996). One
advantage of the model is that it can be readily simplified for specific problems. Besides the beam and shell elements, there
is another model that is called beam-like shell element (Seo et al., 2005). In this formulation, the circumferential modes of
axial and radial displacements are assumed as cos nθ (n¼ 0, 1, 2, … ), and that of tangential mode is assumed as sin nθ
(n¼0, 1, 2, …). This assumption is reasonable for the circular cross-section pipe (Petyt, 1990). Based on this assumption, the
beam-like shell element does not generate meshes in circumferential direction, which leads to fewer elements than in the
conventional formulations.
3.2. Approximation methods
The theoretical computation takes place either in the time-domain or the frequency-domain. Where time-domain
solutions are best for transient events, and frequency-domain solutions describe free and forced vibrations (Wiggert and
Tijsseling, 2001). The common methods used for solving the FSI problems are the method of characteristics (MOC) and finite
element method (FEM), MOC–FEM, the transfer matrix method (TMM), as well as various specialized methods.
3.2.1. MOC
MOC is a powerful method, especially for water hammer calculations in the time-domain. Ouyang et al. (2011) use the
MOC to study the pressure fluctuation of one aircraft hydraulic pipe using a two-dimensional model. The MOC has also been
used to investigate many other different issues associated with the FSI models (Gomes da Rocha and Bastos de Freitas
Rachid, 2012), such as the four-equation model (Tijsseling, 2003; Wiggert et al., 1985) and the fourteen-equation model
(Wiggert et al., 1987). To investigate the FSI effects in the presence of cavitation, Fan and Tijsseling (1992) and Tijsseling et al.
(1996) have used the MOC to solve the four-equation and the eight-equation models respectively. Johnston (2006) has
proposed an improved method for modeling a frequency-dependent friction in laminar pipe flow by using the MOC.
Although the MOC has been widely and systematically used to solve the FSI problems, it is less well suited for structural
dynamics. The MOC introduces an interpolation error that decreases on fines grids, and the characteristic lines of multiple
pipes may intersect. These shortcomings become obvious in practical applications in complex pipe systems (Gomes da
Rocha and Bastos de Freitas Rachid, 2012), which is especially serious for the fourteen-equation model in which several
families of waves are present (Wiggert et al., 1987).
3.2.2. FEM
The FEM is a powerful and well-documented numerical method for solving problems in engineering mechanics. Pipe
systems with FSI can also be predicted using FEM, see for example Yeo and Schmid (1989), Olson and Jamison (1997),
Hansson and Sandberg (2001), Zhang et al. (2001), Kochupillai et al. (2002a, 2002b), Sreejith et al. (2004), Kochupillai et al.
(2005), Zhai et al. (2011), Lee and Jeong (2012) and Salman et al. (2013).
FEM is based on the idea of dividing a large and complicated system into small and manageable pieces. And it can be
used to calculated pipe systems with arbitrary complicated geometries and boundary conditions (Everstine, 1986; Firouz-
Abadi et al., 2010; Fonseca and de Melo, 2010; Hansson and Sandberg, 2001; Kochupillai et al., 2002b; Lee and Kim, 1999;
Olson and Jamison, 1997; Ruoff et al., 2014; Sreejith et al., 2004; Yeo and Schmid, 1989). Pipe systems with nonuniform
thickness (Zhang et al., 2002), pipes made of different materials (Dai et al., 2013; Wen et al., 2010) and three-dimensional
space pipe systems (Nawras et al., 2012) can be also analyzed by FEM. The formulation of finite element modeling for a
piping system conveying a harmonically pulsating fluid was presented by Lee and Jeong (2012). And the responses of fluid
filled pipelines to valve closure excitation have been studied (Sreejith et al., 2004). The influence of structural and fluidic
properties on the natural frequencies (Zhang et al., 2001) and dynamic behavior (Zhang et al., 2002) and the influence of
support conditions on the free vibration has also been discussed (Zhang et al., 2002) by FEM.
3.2.3. MOC–FEM
In order to improve the computational efficiency of pure FEM approaches, Lavooij and Tijsseling (1991) developed hybrid
MOC–FEM techniques. In the MOC–FEM, the fluidic equations are solved by MOC, while the structural equations are solved
by FEM in combination with a direct time integration scheme (Lavooij and Tijsseling, 1991; Wang and Tan, 1998). The MOC–
FEM approach makes the transient analysis relatively easy when other phenomena involved in pipe systems, such as
unsteady friction, column separation, viscoelasticity and plasticity. In this method, the fluidic equations are solved
separately from the structural equations, so that all existing knowledge on classical water-hammer and pipe vibrations
can be used (Keramat et al., 2012). Ahmadi and Keramat (2010) investigated various types of junction coupling by MOC–
FEM. Both MOC and MOC–FEM were selected and developed for transient analysis by Tijsseling and Lavooij (1990),
Heinsbroek (1997) and Keramat et al. (2012). The FEM–MOC improves the solution method, but requires coupling iterations
in each time step to arrive at converged values for the hydraulic and structural variables. Therefore it takes more time than
the pure MOC approach. Furthermore, standard FEM cannot accurately deal with traveling discontinuities, but this is of less
consequence since events like pump failure or gradual valve closure rarely cause instantaneous jumps in pressure and
velocity (Keramat et al., 2012).
3.2.4. TMM
The TMM is an old but effective analytical method which has been used to solve a variety of vibration problems and the
harmonic behavior of chain-type and topological systems. Pipe systems are typical of such systems (Jong, 1994). Compared
to FEM, the biggest advantage of TMM is that the dimensions of the overall property matrices for the whole systems do not
increase with the number of elements or the system's scale and complexity (Dupuis and Rousselet, 1985; Wu and Shih,
2001). Therefore TMM is a relatively simple and efficient calculation method (Huang et al., 2002). Studies of pipes conveying
fluid utilizing TMM have been widely published (Dupuis and Rousselet, 1985; Gale and Tiselj, 2006; Lesmez et al., 1990; Li
et al., 2002; Liu and Li, 2011; Tentarelli, 1990; Wei et al., 2000; Wu and Shih, 2001).
Zhang et al. (1999) present an easily programmed TMM in the frequency domain for the four-equation model, which is
later extended to the fourteen-equation model (Li et al., 2013), making it is easier to analyze frequency characteristics of a
complicated 3D pipeline by using this methodology. Shen et al. (2009a) studied the vibrational properties of a periodic
composite pipe and designed a 3D space pipe system by the TMM. For the branched pipe system, Tentarelli (1990) and Li
and Liu (2010) presented a method by assembling simple segment transmission matrices into a global transmission matrix.
In their method, the transfer matrices needed to be rebuilt each time the branch number changes. In order to simplify the
solution and improve its computational efficiency, Liu et al. (2013b) extended TMM to solve the fluid-filled pipe systems
with any number of branches (Liu et al., 2013a; Ni, 1989). In their method, the influence of many branches at one point on
the dominant pipeline can be modeled as a point matrix which is “absorbed” by the dominant chain; the dimensions of the
global transmission matrix no longer change with the branch numbers.
The applications of the TMM are broad and widely extended these years. However it suffers the round-off error and is
prone to instability when it is used for FSI analysis of long pipe or in the high frequency range. To some degree, one can
reduce these problems by using a direct solution (Li and Liu, 2009) and increasing the dimensions of the global transmission
matrix (Li and Liu, 2010; Tentarelli, 1990). Other methods could also improve the problems, like using dimensionless
parameters model, an improved algorithm for eigenvalue problem and Riccati TMM.
The existing mathematical TMM models used for pipes conveying fluid are mainly based on the beam model and simple
fluid conditions. It is easy to be used for complex pipe systems. However, the governing equations and boundary conditions
must be linear, and the beam model cannot be used in the high frequency range (nZ2) and fluid with turbulent flow or
Fig. 5. Layout of the waterhammer test rig (Adamkowski et al., 2010).
Fig. 6. Water hammer test facility in Erlangen: (a) flow diagram and (b) photograph (Riedelmeier et al., 2014).
Single pipe damper
support
L-shaped T-shaped
L+T
3D-system
Fig. 7. Schematic representation of laboratory pipe systems (Tijsseling and Vardy, 2005b).
wires
E
23
m .5
30 m
F
4.5 m
7.5 hose
D m air vessel valves G
C
3m
4.5 m A H
pump
3m
Fig. 8. A large scale 3D test facility by DELFT HYDRAULICS (Tijsseling and Heinsbroek, 1999).
X Y Notation: 24 A/B/V and 34 A/B/C ... Strain Gauges

at 24 A/B/C, 34 A/B/C ... Pressures Derived
at 24 C, 34 B and 34 C ... Moments Derived
B5 Z W1, W2, W3 ... Displacement Pickups
B1 -B6 ... Acceleration Gauges
Fixed Point
Duct Fixed Point
B6 RDB
24B
24A Fixed Point
Duct B4 34C
34A
Fixed Point 34B
W3 24C
High Pressure B3
pump Fixed Point
Duct B2 B1
W1
W2
Fig. 9. Structural calculation model TH24: 34 with measuring points (Erath et al., 1999).
Fig. 10. Pressure time histories comparison at measuring points 34C (Erath et al., 1999).
two-phase flow. They could be expanded to include other modes of motion simply by adding another pair of state variables
for each mode. In this way it would be possible to relax some of these high frequency limitations.
3.2.5. Other methods

Besides above mentioned methods, many other approximation methods have been proposed for the vibration analysis of
piping systems conveying fluid, such as the modal decoupling methods (Antoniadis and Kanarachos, 1988), the wave
propagation approach (Zhang, 2002), spectral element method (Lee and Oh, 2003; Lee and Park, 2006) the Ritz method (Zou
et al., 2005), incremental differential quadrature method (Hashemi and Abedini, 2007), a characteristic upwind numerical
scheme (Gale and Tiselj, 2008), the eliminated element-Galerkin method (Huang et al., 2010), the dynamic stiffness method
(Li et al., 2011), the finite volume method (Wei and Sun, 2011), the eigenfunction expansion method (Tang et al., 2012), the
generalized differential quadrature rule (Wang and Ni, 2008a, b), the differential transformation method (Ni et al., 2011),
Glimm's method (Gomes da Rocha and Bastos de Freitas Rachid, 2012) etc.
Recently, the differential quadrature method was used for both linear (Ni and Huang, 2000) and nonlinear (Ni et al.,
2014b; Wang and Ni, 2008b) vibration analysis of pipes conveying fluid. Zhai et al. (2013) investigated in-plane vibrations of
curved pipes by using the complex mode superposition method. Gu et al. (2013) calculate the dynamic response of a pipe
conveying fluid by the generalized integral transform technique. The development of an enormous variety of methods
shows the vibration analysis of pipes conveying fluid is a vital and challenging problem.
3.3. Experimental work
With the development of theoretical models and methods, limited experimental researches and validations of fluid-filled
pipe system have been conducted. Adamkowski et al. (2010) investigated the waterhammer phenomenon at a specially
constructed test rig (see Fig. 5). Riedelmeier et al. (2014) presented measurements of junction coupling during water
hammer in the pipe system which is shown in Fig. 6. Tentarelli (1990) studied the FSI behavior by a straight pipe, J-shaped
pipe, L-shaped pipe and a complicated three-dimensional pipe system composed of two bends, a 901 elbow fitting and a tee.
The test systems shown in Fig. 7 are schematic representations carried out at the University of Dundee from 1985. The
detail information of these experimental works can be found in an overview summarized by Tijsseling and Vardy (2005b).
In order to minimize the uncertainties associated with cavitation, structural support and pre-existing pressure gradients,
Vardy et al. (1996) did several new experimental measurement of liquid-filled pipe and obtained highly reproducible data.
In their experiment, the pipes were initially stationary and waves are generated by impact of a long steel rod. Tijsseling and
Vaugrante (2001) obtained experimental data for a freely suspended single-elbow pipe which does not suffer from
unknown support conditions.
The experimental set-up shown in Fig. 8 can be found in many references (Heinsbroek, 1997; Heinsbroek and Tijsseling, 1994;
Kruisbrink and Heinsbroek, 1992; Tijsseling, 1996; Tijsseling and Heinsbroek, 1999; Wiggert and Tijsseling, 2001) and its movie is
included in Tijsseling's website. It is a large scale 3D test facility, allowing axial, flexural and torsional motion. A flexible hose closes
the loop between the control valve and the pump. It also was used to validate the computer code (Heinsbroek, 1997; Kruisbrink and
Heinsbroek, 1992). Based on this test facility, the influences of support rigidity (Heinsbroek and Tijsseling, 1994) and bend motion
(Tijsseling and Heinsbroek, 1999) on pressure waves and pipe stresses are analyzed.
Measurements of a complex testing pipe system in the nuclear power plant have been performed by Erath et al. (1999).
In this complex pipe system, the fluid pressure wave is caused by pump shutdown and valve closing. The structural model
and pressure time histories comparison of the testing pipe are shown in Figs. 9 and 10.
Guo and Lou (2008) designed an experiment simultaneously involving external current and internal fluid flow to
investigate the vortex-induced vibration of marine risers. In practical pipe systems many of fluidic and structural waves are
coupled strongly at bends, branches and other discontinuities, so that each transducer may simultaneously detect multiple
waves. Jong (1994) describes the wave decomposition method and the characterization method for the determination of
quantities like vibroacoustic energy flow, terminating and transfer impedances or source strengths in fluid-filled pipe
systems. The application of wave decomposition techniques has been studied in relation to waves in fluid-filled pipes by
Pavić (1992) and Jong (1994). An experimental determination of wave propagation characteristics, including both wave
speed and wave attenuation, in plastic pipes was carried out by Prek (2007).
4. Calculated pipe shapes
4.1. Straight pipe
Straight pipes, including RPV system, are a simple and easy control model for FSI analysis of pipes conveying fluid. Not
surprisingly, many researchers have discussed the dynamic characteristics of straight pipes (Finnveden, 1997; Koo and Park, 1998; Lee
et al., 1995; Li et al., 2014; Païdoussis, 2014; Rinaldi et al., 2010; Zhang, 2002; Zhou et al., 2013). For example, various aspects of the
dynamic characteristics of cantilevered pipe conveying fluid have been extensively studied by Zhou et al. (2013), Dai et al. (2013),
Païdoussis et al. (2007), Wadham-Gagnon et al. (2007), Yoon and Son (2007), Modarres-Sadeghi et al. (2007), Lopes et al. (2002),
Semler et al. (2002), Sinha et al. (2001), Païdoussis et al. (2002), Olson and Jamison (1997) and many other researchers. More
interestingly, Seo et al. (2005) estimated the frequency response function of the straight pipe using a beam-like shell element.
As a result of the relatively simple geometry of a straight pipe, it is possible to analyze its dynamic characteristics in many
complex fluidic and structural cases. Jin and Song (2005) analyzed numerically the parametric resonances of the straight
pipes conveying pulsating fluid. Lee and Park (2006) developed a spectral element model for the uniform straight pipelines
conveying internal unsteady fluid. Zhai et al. (2011) calculated the dynamic response of a cantilever pipe under random
excitation by the pseudo excitation algorithm. Taking into account the Coriolis force, Huang et al. (2010), Ni et al. (2011) and
Li et al. (2014) studied the natural frequencies and stability of straight pipe conveying fluid with various boundary
conditions. The three-dimensional analytical solution for transient guided wave propagation in finite pipes was extended to
infinite straight pipes by Tang et al. (2012). Bochkarev et al. (2013) discussed the dynamic behavior of elastic shells with
arbitrary cross sections containing a flowing fluid. A straight tube with the wall thickness variation and the geometric
tapering was studied by Giannopapa et al. (2005), while Thomsen and Dahl (2010) investigated resonant vibrations of a
fluid-conveying pipe with special consideration to axial shifts in vibration phase accompanying fluid flow and various
imperfections. Recently, Papadakis (2014) theoretically studied the effect of vessel tapering on the propagation of pressure
and velocity wave forms in which the effect of weak fluid compressibility was taken into account.
4.2. Pipe bends
Pipe bends are one of the best known sources of significant FSI effects. Yet the analysis of the curved pipes is more
difficult because of the unbalanced pressure forces and Bourdon coupling.
Fig. 11. Discrete model of uniformly curved pipe (Jong, 1994).
Fluid out
Fluid in
Fig. 12. The sketch map of a 3D-shaped pipes conveying fluid: (a) arbitrary 3D pipes (Dai et al., 2012) and (b) the periodic 3D pipes (Shen et al., 2009a).
For a bent pipe, its in-plane motions and out-of-plane motions can be decoupled (Dai et al., 2012; Wiggert and Tijsseling,
2001). And the in-plane vibration includes axial and lateral modes, while out-of-plane vibration includes torsional mode in
addition to in-plane modes (Lee et al., 1996). Wei and Sun (2011) found that the pressure response curve is complex because
of the junction coupling at elbows. If the elbows vibration is restricted, the pressure response curve is similar to that of a
straight pipe, due to the suppression effect of the elbow conjunction coupling. Tijsseling et al. (1996) do a detailed analysis
of combined FSI-cavitation phenomena in a single-elbow pipe system.
Based on the early theoretical inextensible model, Chen (1972) found that the mechanism of instability is essentially the
same as that of a straight tube conveying fluid. Irie et al. (1979, 1980) studied the in-plane vibrations of curved beams with
variable cross-section and internal damping. Dupuis and Rousselet (1985) found the out-of-plane motions are less stable
than in-plane motions.
Then, Misra et al. (1988a, 1988b) studied the differences of the dynamic characteristics between the curved pipes with
inextensible theory, extensible theory and a modified inextensible theory in which the centerline is the same as inextensible
theory but the steady-state forces are taken into account. They concluded that the extensible model is more reasonable than
the inextensible one. Therefore, the curved pipe is always modeled as a Euler–Bernoulli beam (Jung and Chung, 2008; Jung
et al., 2007) or Timoshenko beam (Zhai et al., 2013) with an extensible centerline. And Wang and Ni (2008a) discussed the
effect of fluid velocity, mass ratio and bend angle on the natural frequency by the ‘modified inextensible’ model.
25
26 24
27 Nodal Points
28 21 Flow Direction
23
20
22
19
18
17
13.4 m 16
13 12
15 11
10 6 5
14
C2 Z
9 C1
8
7
3
X 4
2
C1
11.5 m 1
Fig. 13. Analysis model of the IHTS hot leg piping system (Koo and Yoo, 2000).
3
4 5
1 2 4
2 3
1
6
Fig. 14. Complex pipes in reference: (a) junction with pipe segments added and (b) closed loop pipe system (Tentarelli and Brown, 1998).
y
Pump or Valve
a
x C
1 y F
Mo O90
kt
k
Fig. 15. The accessory and excitation source of pipe: (a) sketch of lumped mass and (b) joint of excitation source and pipe (Li, 2011).
The liquid pressure mode shapes at several structural frequencies of a piping system having a U-bend were calculated by
Lesmez et al. (1990). Considering the internal damping, Aithal and Gipson (1990) obtained natural frequencies and critical
velocities of curved pipes conveying fluid. Taking into account the effect of shear deformation, Zhai et al. (2013) gained the
dynamic response of the curved pipe under random excitation. The structure- and fluid-borne vibro-acoustic power spectra
induced by turbulent fluid flow over the walls of a continuous 901 piping elbow were computed by CFD and structural-
acoustic models (Hambric et al., 2010).
Huang et al. (2002) calculated the critical velocity of curved pipes by a sixth order ordinary differential equation, which
have arbitrary centerline shape and spring supports. Modeling curved pipes through appropriate differential equation is
theoretically elegant. But when the elbow length is small compared to the shortest straight pipe bending wavelength of
interest, the simple and practical approach of using a series of short straight sections connected by miter bends (see Fig. 11)
is valid (Dai et al., 2012; Jong, 1994; Liu et al., 2014; Wiggert and Tijsseling, 2001).
Recently, the forced vibration of a curved pipe conveying fluid resting on a nonlinear elastic foundation was investigated
by Ni et al. (2014a). Yamashita et al. (2014) studied the nonlinear and nonplanar lateral vibration of a self-excited vertical
cantilevered pipe under periodically excitation in the horizontal direction at the upper end of the pipe.
4.3. Branched pipe
Branched sections are other primary sources of FSI in liquid-filled pipe systems (Tijsseling and Vaugrante, 2001).
Tentarelli and Brown (1998) present the matrix form for the three-port junction with parallel legs. Vardy et al. (1996),
Tijsseling and Vaugrante (2001) and Tijsseling and Vardy (2005a) look in detail into the FSI of a T-piece using both
theoretical methods and experimental method. Lee and Kim (1999) study the dynamics of branched pipes conveying
internal unsteady flow, in which the effect of circumferential strains caused by fluid pressure was taken into account.
By contrast, Xu et al. (2014), Liu and Li (2012) and Li and Liu (2010) compute the dynamics response of structures with
multi-branched pipes conveying fluid. In their method, the dimension of system matrix increases with the number of
branches, which reduces the computational efficiency. In order to avoid this problem, Liu et al. (2013b) calculated the modes
and frequency responses of more branched pipes by improved absorbing transfer matrix method, in which the overall
transfer matrix is independent of the number of branches.
4.4. Complex combination pipe systems
Practical pipe systems are inevitably complex and consist of various pipe sections and the accessories. The vibration
analysis of 3D pipes (see Figs. 12 and 13) is performed by using the TMM (Dai et al., 2012; Shen et al., 2009a) and by the
wave approach (Koo and Yoo, 2000). Based on the global transmission matrices, the frequency response for the vibration in
complex fluid-filled tubing systems (see Fig. 14) were investigated by Brown and Tentarelli (1998) and Tentarelli and Brown
(1998). A software package has been developed by Tentarelli (1990) to predict the frequency response of complex hydraulic
pipe systems. It allows a realistic representation of pipe systems which include a variety of bends, branches, resilient clamps,
valves, accumulators, and boundary conditions. Li (2011) established the theoretical models for lumped mass, valves and
pumps, in which the excitations of these accessories were considered (see Fig. 15). Liu et al. (2010) studied the dynamic
reliability of a complex 3D aircraft hydraulic pipe system.
5. Review and conclusion
This review is intended to inform researchers concerning the dynamic analysis of fluid-filled pipes with FSI, primarily
over the last fifteen years, and to summarize the state of the models and methods. Besides, the pipe layouts and the
influences of fluidic and structural parameters on the dynamic characteristics of pipes were summarized in this review
which may be useful for both researchers and practitioners.
FSI is an inherently complex problem which is highly dependent on the fluidic parameters, structural properties and the
pipe layout. Of the 187 references in this review, 16 of them are themselves reviews, doctoral theses or books. Of the
remaining 171 references, 162 relate to theoretical research under ideal conditions. Only 32 literatures contain labs studies.
Significantly only seven literatures present the theoretical or experimental researches that take the practical application of
pipe systems into consideration. Although theoretical models and methods were highly developed for the dynamic analysis
of pipe systems conveying fluid, more efforts are needed to bridge the gap between theoretical research and practice. The
challenging tasks include the realistic prediction of fast transient two-phase flows, reducing the computational cost of
analyses for large three-dimensional pipes, establishment of more precise model and algorithm for actual pipes and a
rational and practical model of supports or boundary conditions.
In order to simplify the characteristic analysis of pipe systems, all the existing calculations are treated on a case-by-case
basis. But in reality, the factors of pipes do not exist independent of one another. The natural frequency is the result of
superposing the influence of all these factors, including span length, mass of pipe and fluid, stiffness of the pipe, fluid
velocity, internal pressure, and residual tension. Therefore it is essential to build an evaluation method for pipes with a
combination of fluidic and structural parameters and even the boundary conditions at the same time, and to confirm such
models with field measurements of real systems.
Acknowledgments
The first author is grateful to the China Scholarship Council (CSC) for financial support.
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2015 FSI Literature Review

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Contents lists available at ScienceDirect

Journal of Fluids and Structures

FSI research in pipeline systems – A review of the literature

3.3. Experimental work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

2. FSI analysis of pipes conveying ﬂuid

2.1. The importance of FSI

2.2. The general development of FSI

2.3. Vibration characteristics of pipes conveying fluid

2.3.1. The effect of fluid parameters

2.3.2. The effect of pipe parameters

2.3.3. The effect of coupling

2.3.4. The effect of boundary conditions

3. Methods for predicting FSI

3.1. Theoretical models

3.1.1. Shell model

n=0 n=1 n=2 n=3

3.1.2. Beam model

3.1.3. Governing equations

∂θ_ x 1 ∂mx 1 mex

∂θ_ y 1 ∂my 1 mey

3.2. Approximation methods

Fig. 5. Layout of the waterhammer test rig (Adamkowski et al., 2010).

Single pipe damper

X Y Notation: 24 A/B/V and 34 A/B/C ... Strain Gauges

3.2.5. Other methods

3.3. Experimental work

4. Calculated pipe shapes

4.1. Straight pipe

4.2. Pipe bends

Fig. 11. Discrete model of uniformly curved pipe (Jong, 1994).

4.3. Branched pipe

4.4. Complex combination pipe systems

5. Review and conclusion

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