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Nonlinear Dyn (2012) 67:15051514

DOI 10.1007/s11071-011-0084-5
ORI GI NAL PAPER
Internal resonance of pipes conveying uid
in the supercritical regime
Yan-Lei Zhang Li-Qun Chen
Received: 22 December 2010 / Accepted: 11 May 2011 / Published online: 11 June 2011
Springer Science+Business Media B.V. 2011
Abstract This paper treats nonlinear vibration of
pipes conveying uid in the supercritical regime. If
the ow speed is larger than the critical value, the
straight equilibrium conguration becomes unstable
and bifurcates into two possible curved equilibrium
congurations. The paper focuses on the nonlinear vi-
bration around each bifurcated equilibrium. The dis-
turbance equation is derived from the governing equa-
tion, a nonlinear integro-partial-differential equation,
via a coordinate transform. The Galerkin method is
applied to truncate the disturbance equation into a
two-degree-of-freedom gyroscopic systems with weak
nonlinear perturbations. The internal resonance may
occur under the certain condition of the supercritical
ow speed for the suitable ratio of mass per unit length
of pipe and that of uid. The method of multiple scales
is applied to obtain the relationship between the am-
plitudes in the two resonant modes. The time histories
predicted by the analytical method are compared with
Y.-L. Zhang L.-Q. Chen ()
Shanghai Institute of Applied Mathematics and Mechanics,
Shanghai University, Shanghai 200072, China
e-mail: lqchen@straff.shu.edu.cn
L.-Q. Chen
Department of Mechanics, Shanghai University,
Shanghai 200444, China
L.-Q. Chen
Shanghai Key Laboratory of Mechanics in Energy
Engineering, Shanghai 200072, China
the numerical ones and the comparisons validate the
analytical results when the nonlinear terms are small.
Keywords Nonlinearity Internal resonance
Supercritical motion Method of multiple scales
Pipes conveying uid
1 Introduction
Pipes conveying uid can be found in boilers, nuclear
reactors, heat exchangers, and steam generators. Un-
derstanding nonlinear vibrations of the pipes is signif-
icant for the design of the devices. Vibrations of pipes
conveying uid have been studied extensively for a
long time as comprehensively reviewed by Ibrahim
[1]. The monographs by Padoussis [2] and [3] pre-
sented a perspective on the whole eld of pipes con-
veying uid.
The early investigation on pipes conveying uid is
within the linear model, which was initiated by Pa-
doussis and Issid [4] in 1974. They applied Bolotins
method to present the stability diagrams of paramet-
ric instabilities, for pipes with pined, clamped or free
ends. More and more effort has been devoted to the
study of the nonlinear dynamics of the pipes convey-
ing uid, staring with Holmes [5] benchmark paper in
1977. They examined in detail the symmetric saddle-
node bifurcation that occurs at the critical speed via
the method of center manifold reduction.
1506 Y.-L. Zhang, L.-O. Chen
Nonlinear models can predict that, if the ow speed
is larger than the critical value that can be determined
by the linear models [4], the straight pipe equilibrium
conguration becomes unstable and bifurcates into
two possible curved equilibria. Yoshizawa et al. [6]
determined the critical velocity of the uid and a sta-
ble equilibrium solution with nite deection of an
inextensible clamped-hinged pipe, which could slide
axially at its hinged downstream end. Nikoli c and
Rajkovi c [7] studies stationary bifurcations in sev-
eral nonlinear models of uid-conveying clamped-
clamped pipes via the method of LyapunovSchmidt
reduction and singularity theory. Plaut [8] found that
uid-conveying pipes are conservative in the sub-
critical regime and nonconservative in the supercritical
regime. Modarres-Sadeghi and Padoussis [9] found
that an extensible uid-conveying pipe supported at
both ends is stable at its original equilibrium congu-
ration up to the ow velocity at which it loses stability
via static divergence via a supercritical pitchfork bi-
furcation. Ghayesh and Padoussis [10] observed 3-D
utter, divergence, quasiperiodic and chaotic motions,
with the increasing ow velocity, in three-dimensional
motions of a cantilever tube conveying uid and hav-
ing additionally supported by an intermediate spring
array. Ghayesh et al. [11] observe that the system loses
the stability at the ow speed large enough, bifurcates
into 3-D periodic, quasiperiodic motions and chaos in
three-dimensional dynamics of a uid-conveying can-
tilevered pipe tted with an end-mass and additional
intra-span spring-support.
Internal resonance is an exclusive phenomenon in
nonlinear vibration. Researchers found internal reso-
nance in vibration of pipes conveying uid. For uid-
conveying pipes, Xu and Yang [12] studies internal
resonances under external sinusoidal excitation at cer-
tain ow velocity via the method of multiple scales.
Panda and Kar [13, 14] applied the method of multi-
ple scales to the governing nonlinear integro-partial-
differential equations of a pipe conveying pulsating
uid with combination, principal parametric and inter-
nal resonances. However, the available works on inter-
nal resonances are all in the in the subcritical regime.
There are no investigations on internal resonances of
pipes conveying uid in the supercritical regime. To
address the lack of research in this aspect, the present
work treats internal resonance in free nonlinear vi-
bration of pipes conveying uid in the supercritical
regime.
2 Formulations
2.1 The governing equation of pipes conveying uid
Consider a uniform pipe hinged at both ends convey-
ing uid, as illustrated schematically in Fig. 1. It is
assumed that the motion is planar, the uniform cross-
section remains plane during the motion and the pipe
behaves like an EulerBernoulli beam in bending vi-
bration. The uid is assumed to be incompressible and
steady with mean velocity U. The material of the pipe
is elastic. The effect of internal and external dampings
are neglected here. The gravity effect is also neglected.
The governing equation of transverse motion of the
pipe including the nonlinearity due to midline stretch-
ing is a nonlinear partial-integro-differential equation
[2, 5]:
EI

4
y
x
4
+
_
MU
2
T
_

2
y
x
2

_
EA
2L
_
L
0
(y

)
2
dx
_

2
y
x
2
+(M +m)

2
y
t
2
+2MU

2
y
xt
=0 (1)
and the boundary conditions of a simply supported
pipe
y(0, t ) =y(L, t ) =

2
y
x
2
(0, t ) =

2
y
x
2
(L, t ) =0 (2)
where x is the longitudinal coordinate, y is the trans-
verse deection, U is the uid velocity, T is the ex-
ternally imposed axial tension, m and M are, respec-
tively, the mass per unit length of pipe and uid mate-
rials, A is the cross sectional area of the pipe, L is the
length, EI is the exural stiffness of the pipe.
Incorporation of the following dimensionless quan-
tities
Fig. 1 A horizontal pipe conveying uid
Internal resonance of pipes conveying uid in the supercritical regime 1507
=
y
L
, x =
x
L
, t
_
EI
M +m
_1
2
t
L
2
,
u =
_
M
EI
_1
2
LU, (3)
M
r
=
_
M
M +m
_1
2
, =
_
AL
2
I
,

T =
T L
2
EI
into (1) and (2) leads to the dimensionless governing
equation of transverse motion

,t t
+2M
r
u
,xt
+
_
u
2


T
_

,xx
+
,xxxx
=

2
2

,xx
_
1
0
(
,x
)
2
dx (4)
with the boundary conditions
(0, t ) =(1, t ) =0,

,xx
(0, t ) =
,xx
(1, t ) =0
(5)
where the comma-subscript notation denotes the par-
tial differentiation with respect to the dimensionless
time.
2.2 The equilibria of pipes conveying uid
Equilibrium solutions (x) satisfy

+
_
u
2

T +

2
2
_
1
0
_

_
2
dx
__

=0 (6)
(0) = (1) =0,

(0) =

(1) =0 (7)
where the prime indicates the partial differentiation
with respect to x and the superscript indicates the
sense of the equilibrium displacement. The trivial con-
guration
0
=0 is always an equilibrium solution. In
addition, the pairs of non-trivial equilibrium solutions
[15]

k
(x) =
2
k
_
u
2
u
2
(k)
sin(kx),
k =1, 2, 3, . . . (8)
bifurcate from the straight conguration and exist for
u >u
(k)
=
_

T +(k)
2
, where u
(k)
is termed the crit-
ical speed for linear mode k. For sub-critical speeds,
only the straight conguration exists. In the supercrit-
ical range, u
(1)
<u <u
(2)
, there exists the three solu-
tions
0
,

1
and
+
1
.
2.3 The disturbance equation in the supercritical
regime
The substitution (x, t )

k
(x) + (x, t ) in (4)
yields the disturbance equation about the non-trivial
equilibria in the supercritical regime

,t t
+2M
r
u
,xt
+u
2

,xx
+
2

k
_
1
0

k
dx

T +

2
2
_
1
0
_

k
_
2
dx
_

,xx
+
,xxxx
=

2
2
_

_
1
0

2
,x
dx 2
,xx
_
1
0

k
dx
+
,xx
_
1
0

2
,x
dx
_
(9)
for small but nite-amplitude vibration about a speci-
ed non-trivial equilibrium. Substitution of (8) into (9)
for u > u
(k)
leads to a continuous gyroscopic system
with nonlinear disturbances
M
,t t
+G
,t
+K =N() (10)
where the mass, gyroscopic, and stiffness operators are
dened as
M =I, G=2M
r
u

x
(11)
K =(2k)
2
_
u
2
u
2
k
_
sin(kx)
_
1
0
sin(kx) dx
+(k)
2

2
x
2
+

4
x
4
(12)
and the disturbing term is
N() =k
_
u
2
u
2
k
_
2
,xx
_
1
0
sin(kx) dx
sin(kx)
_
1
0

2
,x
dx
_
+

2
2

,xx
_
1
0

2
,x
dx
(13)
3 Discretization and analyses
3.1 Discretization
The nonlinear partial-integro-differential (10) can be
discretized by the Galerkin technique based on the sta-
tionary beam eigenfunctions. Suppose (x, t ) can be
1508 Y.-L. Zhang, L.-O. Chen
approximated by
(x, t ) =
n

r=1

r
(x)q
r
(t ) (14)
where
r
(x) are eigenfunctions for the free undamped
vibrations of a beam satisfying the pined-pined bound-
ary conditions (5), namely
r
(x) =

2sin(rx), and
q
r
(t ) the rth generalized coordinate.
In the following, only the rst two terms in super-
position (14) is retained so that the discretized system
is of two degrees of freedom. In the case of k = 1,
substituting (14) (with r = 2) into (10), multiplying
the resulting equation by weighted function
r
(x) and
integrating the product from 0 to 1 yield
q
1
q
2
+q
1
=
11
_
3q
2
1
+4q
2
2
_
+
2

12
q
1
_
q
2
1
+4q
2
2
_
q
2
+ q
1
+q
2
=
11
q
2
q
1
+
2

12
q
2
_
q
2
1
+4q
2
2
_
(15)
where
=
16
3
M
r
u, =2
2
_
u
2
u
2
1
_
,

11
=
1

_
u
2
u
2
1
,
12
=

2
2

4
,
=12
4
,
11
=4

2
3

_
u
2
u
2
1
,

12
=2
2

4
(16)
The dot represents the differentiation with respect to
nondimensional time t . To express the smallness of
the amplitude of motion q
r
, it is scaled as q
r
q
r
where the small parameter is a book keeping de-
vice in the subsequent multi-scale analysis. Equation
(15) denes a two-degree-of-freedom gyroscopic sys-
tem with small nonlinear terms. For the whole super-
critical regime, the Galerkin discretization is
q
1

16
3
M
r
u q
2
+(2k)
2
_
u u
2
k
_

2sin(k)
k
2

_
q
1

2sin(k)
k
2

+q
2
2

2sin(k)
(4 +k
2
)
_
k
2

4
q
1
+
4
q
1
=k
_
u
2
u
2
k
_
2
2
q
1

_
q
1

2sin(k)
k
2

+q
2
2

2sin(k)
(4 +k
2
)
_

2sin(k)
k
2

2
_
q
2
1
+4q
2
2
_
_


2
2

4
q
1
_
q
2
1
+4q
2
2
_
(17)
q
2
+
16
3
M
r
u q
1
+(2k)
2
_
u u
2
k
_
2

2sin(k)
(4 +k
2
)

_
q
1

2sin(k)
k
2

+q
2
2

2sin(k)
(4 +k
2
)
_
4k
2

4
q
2
+16
4
q
2
=k
_
u
2
u
2
k
_
8
2
q
2
_
q
1

2sin(k)
k
2

+q
2
2

2sin(k)
(4 +k
2
)
_

2sin(k)
(4 +k
2
)

_
q
2
1
+4q
2
2
_
_
2
2

4
q
2
_
q
2
1
+4q
2
2
_
(18)
It is interesting to notice that (15) can be derived
form (17) and (18) by letting k 1. In the supercrit-
ical regime, the pipes conveying uid vibrate about
non-trivial equilibria whose numbers and shape de-
pend on the ow speed. Here, only the speed range
u
(1)
<u <u
(2)
is investigated.
3.2 The multi-scale analysis
Nayfeh and Mook [16] proposed the method of mul-
tiple scales to analyze the internal resonance in the
two-degree-of-freedomgyroscopic systemwith distur-
bances. Here internal resonance will be investigated
for pipes conveying uid in the supercritical range,
u
(1)
< u < u
(2)
via the method of multi-scales. As-
sume an approximate expansion of the solution of (15)
in the form
q
1
=q
11
(T
0
, T
1
) +q
12
(T
0
, T
1
) +
q
2
=q
21
(T
0
, T
1
) +q
22
(T
0
, T
1
) +
(19)
where T
0
= t and T
1
= t are, respectively, the fast
and slow time scales. Denote D
0
= /T
0
and D
1
=
/T
1
. Substituting (19) into (15) and equating coef-
cients of like powers of , in resulting equation, one
Internal resonance of pipes conveying uid in the supercritical regime 1509
obtains at order
0
D
2
0
q
11
D
0
q
21
+q
11
=0
D
2
0
q
21
+D
0
q
11
+q
21
=0
(20)
and at order
1
D
2
0
q
12
D
0
q
22
+q
12
=2D
1
D
0
q
11
+D
1
q
21
+
11
_
3q
2
11
+4q
2
21
_
D
2
0
q
22
+D
0
q
12
+q
22
=2D
1
D
0
q
21
D
1
q
11
+
11
q
11
q
21
(21)
The solution of linear gyroscopic system (20) can
be expressed as
q
11
=A
1
(T
1
) exp(i
1
T
0
) +A
2
(T
1
) exp(i
2
T
0
) +cc
q
21
=
1
A
1
(T
1
) exp(i
1
T
0
) +
2
A
2
(T
1
)
exp(i
2
T
0
) +cc
(22)
where the
2
n
(n = 1, 2) are the two real roots of its
frequency equation

2
_
+ +
2
_
+ =0 (23)
and substitution of q
11
and q
21
into (20) yields
i
n

2
n
=0

n
+i
n

2
n
=0
(24)
Thus

n
=
i
n

2
n
=
i(
2
n
)

n
(25)
It should be remarked that
n
can be solved from
(23) as

1,2
=

2
2
_
_
+ +
2
_

_
_
+
2
_
2
+4
2
(26)
which are distinct for the parameter given in (16).
Substitution of (22) into (21) yields
D
2
0
q
12
D
0
q
22
+q
12
=(
1
2i
1
)A

1
exp(i
1
T
0
)
(2i
2

2
)A

2
exp(i
2
T
0
)
+3
11
A
2
1
exp(i2
1
T
0
) +3
11
A
2
2
exp(i2
2
T
0
)
+6
11
A
1
A
2
exp
_
i(
1
+
2
)T
0
_
+6
11

A
1
A
2
exp
_
i(
2

1
)T
0
_
+3
11
A
1

A
1
+3
11
A
2

A
2
+4
11

2
1
A
2
1
exp(i2
1
T
0
)
+4
11

2
2
A
2
2
exp(i2
2
T
0
)
+8
11

2
A
1
A
2
exp
_
i(
1
+
2
)T
0
_
+8
11

2

A
1
A
2
exp
_
i(
2

1
)T
0
_
+4
11

1
A
1

A
1
+4
11

2
A
2

A
2
+cc (27)
D
2
0
q
22
+D
0
q
12
+q
22
=(2i
1

1
+)A

1
exp(i
1
T
0
)
(2i
2

2
+)A

2
exp(i
2
T
0
)
+
11

1
A
2
1
exp(i2
1
T
0
)
+
11

2
A
2
2
exp(i2
2
T
0
) +
11
(
1
+
2
)A
1
A
2
exp
_
i(
1
+
2
)T
0
_
+
11
_

1
+
2
_

A
1
A
2
exp
_
i(
2

1
)T
0
_
+
11

1
A
1

A
1
+
11

2
A
2

A
2
+cc (28)
Then in the case
2
= 2
1
, there is possible internal
resonant, which will be focused upon in the following
section.
4 Internal resonance in the supercritical regime
4.1 Possibility of internal resonance
Under certain conditions, internal resonances may oc-
cur if the two natural frequencies are commensurable
or nearly commensurable. For example, consider the
pipes conveying uid with

T = 5 and M
r
= 0.447.
Its natural frequencies depend on the uid speed as
shown in Fig. 2. When u 5.02655 in Fig. 2(b), the
natural frequency
1
=18.5197 and
2
=37.0424 so
that
2
2
1
. When u 3.48717 in Fig. 2(c), the
natural frequency
1
=11.6145 and
2
=35.3134 so
that
2
3
1
. However, 3 : 1 internal resonance will
not occur for the secular terms of (27) and (28). For
other system parameters with

T =5 and M
r
=0.78,
if u 3.89557 in Fig. 3(c), the natural frequency
1
=
1510 Y.-L. Zhang, L.-O. Chen
Fig. 2 The rst two natural
frequencies changing with
the uid speed
Fig. 3 The rst two natural
frequencies changing with
the uid speed
Internal resonance of pipes conveying uid in the supercritical regime 1511
12.7031 and
2
= 38.3874 so that
2
3
1
. Never-
theless internal resonance may not occur as shown in
Fig. 3.
4.2 Solvability condition
A detuning parameter is introduced to quantify the
deviation of
2
from 2
1
. Then
2
is described by

2
=2
1
+ (29)
and 2
1
T
0
and (
2

1
)T
0
are, respectively, ex-
pressed as
2
1
T
0
=
2
T
0
T
1
, (
2

1
)T
0
=
1
T
0
+T
1
(30)
To establish the solvability condition of (27), (28), as-
sume a particular solution in the form
q
12
=P
11
exp(i
1
T
0
) +P
12
exp(i
2
T
0
)
q
22
=P
21
exp(i
1
T
0
) +P
22
exp(i
2
T
0
)
(31)
Substituting (31) into (27), (28), using (30), and equat-
ing the coefcients of exp(i
1
T
0
) and exp(i
2
T
0
) on
both hands of the resulting equations, one obtains
_

2
n
_
P
1n
+(i
n
)P
2n
=R
1n
(i
n
)P
1n
+
_

2
n
_
P
2n
=R
2n
(32)
where
R
11
=(2i
1

1
)A

1
+6
11

A
1
A
2
exp(iT
1
)
+8
11

2

A
1
A
2
exp(iT
1
) (33)
R
12
=(2i
2

2
)A

2
+3
11
A
2
1
exp(iT
1
)
+4
11

2
1
A
2
1
exp(iT
1
)
R
21
=(2i
1

1
+)A

1
+
11
_

1
+
2
_

A
1
A
2
exp(iT
1
) (34)
R
22
=(2i
2

2
+)A

2
+
11

1
A
2
1
exp(iT
1
)
Due to (23), the coefcient determinant of linear alge-
braic (32) respect to P
1n
and P
2n
vanishes. Therefore,
the existence of solutions to (32) implies

R
1n
i
n

R
2n

2
n

=0 (35)
or
R
1n
=

n
R
2n
(36)
which is the solvability condition.
4.3 Steady-state response
Substituting (33) and (34) into (36) and rearranging
the resulting equation yield
D
1
A
1
=
1

A
1
A
2
exp(iT
1
)
D
1
A
2
=
2
A
2
1
exp(iT
1
)
(37)
where

1
=
6
11
+8
11

2
+
11

1
(

1
+
2
)

1
(2i
1

1
+) +(2i
1

1
)
=Re(
1
) +i Im(
1
) (38)

2
=
3
11
+4
11

2
1
+
11

2
(2i
2

2
+) +(2i
2

2
)
=Re(
2
) +i Im(
2
) (39)
Substituting (25) into (38) and (40), one obtains
Re(
1
) =0
Im(
1
) =
_
(8
11
+
11
)
2

2
(8
11
+
11
)
2

3
1

2
+6
11

2
_

2
2
_
(40)

_
12
11
+
11

2
_

2
1
_

2
2
_
+6
11

4
1
_

2
2
__
/
_
2
1
_

_
+
2
_
2
2
1
+
4
1
__

2
2
__
Re(
2
) =0
Im(
2
) =
_

2
2
_
2
_
3
11
_

2
1
_
2
_

2
2
_
4
11

2
1
_

2
2
_
(41)
+
11

2
_

2
1
__
/2
2
_

_
+
2
_
2
2
2
+
4
2
__

2
1
_
2
_

2
2
_
Therefore
n
(n =1, 2) are pure imaginary numbers.
Express the solution to (37) in the polar form:
A
n
=
1
2
a
n
exp(i
n
) (42)
1512 Y.-L. Zhang, L.-O. Chen
Substituting (42) into (37), separating the resulting
equations into real and imaginary parts and eliminat-
ing
1
and
2
yield
D
1
a
1
=
1
2
a
1
a
2
Im(
1
) sin()
D
1
a
2
=
1
2
a
2
1
Im(
2
) sin() (43)
a
2
D
1
=a
2
+
1
2
a
2
1
Im(
2
) cos() a
2
2
Im(
1
) cos()
where =
2
2
1
+T
1
.
For the steady-state response, the amplitude a
n
(n = 1, 2) and the new phase angle in (43) should
be constants. Setting D
1
a
n
=0 and D
1
=0, one de-
rives the non-trivial periodic solution with amplitudes
given by
a
1
=
_
2[Im(
1
)a
2
2
a
2
]
Im(
2
)
(44)
Equation (44) reveals that the amplitude a
1
and a
2
are
associated with the detuning parameter in the inter-
nal resonance.
Choose the uid-pipe mass ratio M
r
= 0.447, ini-
tial tension parameter

T = 5, and the nondimen-
sional parameter =4. It is found that for nondimen-
sional mean ow velocity u = 5.02655, the natural
frequency of the second mode is approximately equal
to two times that of the rst mode (
2
2
1
+ )
indicating the presence of 2 : 1 internal resonance.
For different detuning parameters, the relations be-
tween the two amplitudes are shown in Fig. 4 ( =
0.01, 0.5, 1.0) by the solid lines. It should be pointed
out that only the negative sign in (44) is adopted be-
cause the numerical simulations indicate the instability
of (44) with the positive sign. The corresponding nu-
merical results by solving (43) are also shown in Fig. 4
by the dots. Both the analytical and numerical results
demonstrate that the amplitude of the rst mode in-
creases with the amplitude of the second mode. The
analytical and numerical results have good agreement
in the internal resonance.
5 Numerical results
To explore the validation of the multi-scale analysis,
the analytical results are compared with the numeri-
cal solution to (15) for different values of the small
Fig. 4 Comparison of the perturbation and numerical solutions
for the amplitude with different detuning parameters =0.01,
0.5, 1.0
parameter. The time histories of two generalized coor-
dinates can be analytically predicted by the (19) with
(22), (42) and (44). For exceptionally small , the an-
alytical results are in prefect agreement with the nu-
merical ones, as shown in Fig. 5 in which = 0.01
and initial conditions are q
1
(0) = 0.0891, q
2
(0) = 0,
q
1
(0) =0, q
2
(0) =0. For reasonably small , the ana-
lytical results are in good agreement with the numeri-
cal ones, as shown in Fig. 6 in which =0.1 and initial
conditions are q
1
(0) = 0.0896, q
2
(0) = 0, q
1
(0) = 0,
q
2
(0) =0. For rather large , the frequency predicted
by the analytical method is still in good agreement
with the numerical one while the amplitude has cer-
tain differences, as shown in Fig. 7 in which = 0.5
and initial conditions are q
1
(0) = 0.0937, q
2
(0) = 0,
q
1
(0) = 0, q
2
(0) = 0. For very large , the analyti-
cal results are totally different from the numerical re-
sults, as shown in Fig. 8 in which = 0.5 and initial
conditions are q
1
(0) = 0.1047, q
2
(0) = 0, q
1
(0) = 0,
q
2
(0) =0. The calculations conrm that the analytical
results are valid for small .
6 Conclusions
Previous work in the pipe conveying uid focused on
nonlinear vibration about the trivial equilibria. How-
ever, if the ow speed is larger than the critical value,
the straight pipe equilibrium conguration becomes
unstable and bifurcates into two possible curved equi-
libria. This paper is devoted to analyzing the internal
resonance of the pipe conveying uid in the supercrit-
ical regime. The disturbance equations about the non-
Internal resonance of pipes conveying uid in the supercritical regime 1513
Fig. 5 Comparisons
between the analytical and
numerical results for
exceptionally small
Fig. 6 Comparisons
between the analytical and
numerical results for
reasonably small
Fig. 7 Comparisons
between the analytical and
numerical results for rather
large
Fig. 8 Comparisons
between the analytical and
numerical results for very
large
1514 Y.-L. Zhang, L.-O. Chen
trivial equilibria are derived. It is found that two-to-
one internet resonance may occur under the certain
conditions. The method of multiple scales is applied
to establish the relationship between the amplitude of
steady-state response in the two modes in the internet
resonance. The amplitude in the rst mode increase
with the amplitude in the second mode. For explore
the validation of the multi-scale analysis, dynamic be-
haviors of the system are presented in the form of time
histories by the numerical method. The analytical re-
sults are numerically conrmed in case of weak non-
linearities.
Acknowledgements This work was supported by the Na-
tional Outstanding Young Scientists Foundation of China
(No. 10725209), the National Natural Science Foundation
of China (No. 10902064), Shanghai Subject Chief Scientist
Project (No. 09XD1401700), Shanghai Leading Talent Pro-
gram, Shanghai Leading Academic Discipline Project
(No. S30106), Innovation Foundation for Graduates of Shang-
hai University Project (No. SHUCX111011) and the program
for Changjiang Scholars and Innovative Research Team in Uni-
versity (No. IRT0844).
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