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Journal of Fluids Engineering Copyright © 2006 by ASME NOVEMBER 2006, Vol. 128 / 1351
According to the above assumptions, the following equations are
used for mathematical description of unsteady liquid flows in
closed conduits 关9兴:
• Continuity equation:
H a2 V
+ · =0 共1兲
t g x
• Momentum equation:
V H
+g· +g·J=0 共2兲
t x
4 Experimental Tests
Experiments were conducted at a test rig specially designed in
order to investigate the water hammer phenomenon with sche-
matic shown in Fig. 3. The rig was constructed at the laboratory of
IMP PAN in Gdansk. Its main component is the L = 98.11 m long
copper pipe with an internal diameter of D = 0.016 m and a wall
thickness of e = 0.001 m. The steel cylinder with diameter of about
1.6 m was used to spirally coil the pipe on it. The pipe is rigidly
mounted to the cylinder coating in order to minimize its vibra-
tions. The inclination angle of the pipe 共兲 is not larger than
0.5 deg. A quick-closing, spring driven ball valve is installed at
one end of the pipe. The valve design enables an almost stepwise
discharge variation up to a complete flow cut-off. This has been
confirmed by the records of valve closure with a duration not
exceeding 0.003 s, which is 2% of the half-period of pressure
Fig. 2 Rectangular grid of characteristics with notation used wave propagation along the pipe 共2L / a兲.
in the calculation method The test rig is equipped with appropriate measuring instrumen-
tation. Absolute pressure semiconductor transducers are mounted
on the main components of the hydraulic circuit of the test rig,
confirmed by many numerical tests published in the literature con- four of them positioned at equidistant 共every L / 4兲 sections along
cerning this issue 共in 关13,14兴 the numerical grid with 8, 16, and 32 the pipeline and the last one—measuring pressure in the high
computational reaches were tested兲. However, there are much pressure reservoir. The basic characteristics of these transducers
more differences between calculations obtained based on different are as follows:
grid structures, diamond and rectangular. It follows directly from
basic feature of the rectangular grid which, in fact, consists of two • measuring range: 共0 – 4兲 MPa
diamond grids shifted in relation to each other. These two dia- • transmitted frequency band: 共0 – 2兲 kHz
mond grids are coupled only through the partial velocity deriva- • precision class: 0.2%
tives in quantity J which are calculated using finite differences
共see Appendix A兲. In order to get a clear-cut proof that the density A turbine flowmeter with the range of 1.5 m3 / h
of the grid has no significant influence on the results of calcula- 共⬃4.2· 10−4 m3 / s兲 and precision class of 1% is used for indirect
1 2 3 4 5 6 7 8 9
Initial mean Vo 0.066 0.162 0.340 0.467 0.559 0.631 0.705 0.806 0.940
flow velocity 关m/s兴
Initial Reynolds Reo 1111 2737 5731 7871 9421 10634 11882 13590 15843
number 关-兴
共approx. value兲
measurement of average flow velocity in the pipeline. The flow- valve installed between the quick closing valve and flowmeter and
meter was checked using volumetric method before and after the also feed pump with adjustable rotational speed was used for this
measurements. purpose 共Fig. 3兲. After adjusting the initial conditions and after
It is worthwhile to stress that the test rig described enables us to some time needed for stabilization of the flow conditions 共not less
generate the water hammer without column separation phenom- than 180 s兲 the flow rate measurement was made. Recording of
enon at the initial conditions of the Reynolds numbers up to the pressure changes and the valve closure rate was started a few
Re⬵ 16,000. seconds before quickly cutting-off the flow 共water hammer phe-
Before starting the experiments, the hydraulic system was filled nomenon兲. Flow cut-off causing water hammer was executed by
with water and left for a few days to remove undissolved air from releasing the spring in the driving mechanism of the quick closing
the liquid in as much as possible. The intention was to minimize valve.2 After the recording was ended the test rig was prepared to
the influence of undissolved air bubbles on the analyzed phenom- execute the next experimental run—the quick closing valve was
enon courses. opened, the ball valve opening and/or pump rotational speed was
The tests consisted in several runs of unsteady flow after sud- appropriately adjusted in order to set another initial flow condition
den closure of the valve from different initial flow conditions— for the next run. Recording of the pressure changes and the valve
velocity Vo 共Reo兲—Table 1. During the tests the steady head water closure rate3 was carried out with a sampling frequency of
level was kept up in the high-pressure reservoir 共Ho ⬵ 1250 kPa兲, 2.5 kHz using a computerized data acquisition system.
the temperature of water was 22.6° C, and the kinematic viscosity
coefficient for these conditions was = 9.493· 10−7 m2 / s. 2
Based on the comparison between many recorded courses of the quick closing
Every measurement, started by cutting-off the flow, was pre- valve closure, repeatability of these courses was affirmed so that repeatability of the
ceded by an adjustment of required stable initial conditions 共initial manner of flow cut-off was also affirmed.
velocity Vo and steady head water level Ho兲. The regulating ball- 3
For recording traces of closing the valve the potentiometer was used.
冑
Vardy and Brown, and Zarzycki兲 deserve special attention. In dis-
Kw tinction to all other methods applied, these models predict almost
1449 superbly the wave front shape. Moreover they preserve the fre-
冑
a= = 共9兲
Kw D 冑1.2457 = 1298.4 m/s quency. The model developed by Trikha 共as aforementioned,
1 + 共1 − 兲 2
Trikha has proposed expression 共A7兲, which in an efficient way
E e approximates the weighting function in the model of Zielke兲 re-
veals different wave front shape. The increase of pressure near the
4
Rec−u value in the turbulent case is about 30,000. It means that in this case 共with wave top is a bit steeper and symmetrically the same situation is
initial conditions of Reo = 15,800兲 calculations have to be carried out using the
weighting function in 共A9兲.
when the pressure decreases near the wave bottom. Additionally
5
It was assumed that the pipeline at the test rig is anchored against longitudinal pressure oscillations are slightly shifted in relation to other calcu-
movement. lated courses. This is not exactly the feature of this model but
rather the result of using the rectangular grid instead of the dia- ments than predicted by means of multi-layer models. The analy-
mond one used with other friction models. Besides these insignifi- sis shows a minor change in frequency of the pressure wave simu-
cant facts, the results obtained using the Trikha model are accept- lated by means of this model 共in lower values direction兲. The
able and, moreover, they need much lesser computing power and results attained using version 2 of this model 共with variable k3
time as it is in the case of using other multi-layer models with the coefficient兲 are featured by more effective damping and insignifi-
full convolution scheme for the weighting function W共兲. cantly lower frequency than those following from version 1 共with
For multi-layer models it is symptomatic that the rise of Reo constant k3 coefficient兲. In both versions, an effect similar to that
results in an increase of the differences between calculation and of the multi-layer models is observed—rising the Reynolds num-
measurement. In the case of runing with the highest Reo 共15,800兲,
ber results in rising differences between calculated and measured
the computational damping effect is substantially more intense
amplitudes of pressure head oscillations—see Figs. 5–8.
than in reality—Fig. 8. Much more detailed analysis is needed in
order to clarify this phenomenon. However, it does not change the The authors of this paper have compared in 关16兴 the experimen-
fact that the models developed by Zielke, Trikha, Vardy and tal data published by Holmboe and Rouleau 关17兴 with the compu-
Brown, and Zarzycki yield the closest results to the experimental tational results following from the unsteady friction models. Gen-
ones both in the laminar and turbulent cases. erally, the comparative analysis of Ref. 关16兴 confirms conclusions
The shape of the pressure wave front predicted basing on the quoted above. Both under laminar 共Reo ⬵ 82兲 and turbulent
Brunone et al. model shows poorer conformity with the measure- 共Reo ⬵ 7200兲 initial flow conditions, the multi-layer models reflect
first 20 pressure wave periods.6 It was assumed that amplitudes of better results than the quasi-steady friction model. In the case of
waves beyond the first 20 are relatively small and, therefore, in- the quasi-steady friction model 共curve “II” on Fig. 9共a兲兲 in the
significant for purposes of the analysis. Measured and calculated range of analyzed Reo 共initial Reynolds numbers兲 coefficient Ic−m
pressure traces at the pipe cross-section next to the quick-closing have a positive value and it decreases from 150% to 60% as Reo
valve have been applied for all runs presented in Table 1. The increases 共higher values of Ic−m confirm significant discrepancies
results of this analysis are shown in Fig. 9 as the relation between the experimental and calculated pressure wave traces兲.
Ic−m = f共Reo兲 for Reo ⬵ 共1100– 15,800兲. Analyses of values of Ic−m and their relation with Reo for the
Comparison between Ic−m coefficients for analyzed friction unsteady friction models 共curves on Fig. 9共b兲兲 bring us to the
models reconfirms conclusions drown from the qualitative analy- following conclusions:
sis carried out based on charts presented in Figs. 5–8. Firstly, this
comparison shows that assuming frictionless processes is much – Results obtained based on the second version of the Brunone
simplified for simulating the water hammer 共curve “I” on Fig. et al. model with variable k3 coefficient 共depending on in-
9共a兲兲. Secondly, the unsteady friction models give significantly stantaneous Re according to 共A14兲—see Appendix A兲 are
better than in the case of ver. 1 of the Brunone et al. model
with constant k3 coefficient 共depending on the initial value of
6
The value of Ic−m depends on the number of wave periods taken into account. Re 共Reo兲 according to 共A14兲兲;
– the multi-layer friction models give better results than ver. 1 of the laminar Reynolds numbers 共applicability range of this
of the Brunone et al. model in the whole analyzed range of model兲 and low turbulent Reynolds numbers 共up to
Reo and also than ver. 2 of the Brunone et al. model with 5000兲—in this range the absolute value of Ic−m does not ex-
k3 = f共Re兲 for Reo values from laminar range and up to ceed 5%;
Reo ⬵ 10,000; – the Zarzycki and Vardy and Brown models 共curves “5” and
– in the case of high Reo numbers, where the damping effect in “6” on Fig. 9共b兲, respectively兲 gives comparable results. It is
the calculated pressure traces is greater than in the experi- worth paying attention to the Zarzycki model which gives the
mental ones, ver .2 of the Brunone et al. model gives better relation Ic−m = f共Reo兲 parallel to this obtained for the Zielke
results of Ic−m values—this is mainly because in the calcu-
model—it follows that in analyzed range of Re the weighting
lated pressure traces the top of the waves are much wider in
comparison to those from the experiment 共and also from the function in the Zarzycki model is independent from Re 共like-
multi-layer models兲 however, the amplitudes in the calcu- wise in the Zielke model兲. However, the Vardy and Brown
lated courses reveal a similar damping effect to the one ob- model slightly represents a better trend in relation
served for the multi-layer models; Ic−m = f共Reo兲 共flatter兲 and this is due to the relation of the
– the Zielke model 共curve “3” on Fig. 9共b兲兲 predict the realistic weighting function to the Re number 共for Re⬎ 2320—see
pressure variations with a high convergence rate in the case Appendix A兲;
– all multi-layer models worsen their conformity with the ex- according to this model still reveal a similar damping ef-
periment for Reo ⬎ 共6 – 10兲 · 103 — the value of Ic−m coeffi- fect to this observed for the multi-layer models.
cient in this range of Re falls beneath 共−10% 兲; 共v兲 It is required to broaden the assessment of the unsteady
– relatively good results obtained using the Trikha model are friction models for a wider range of the Reynolds numbers
worth mentioning. This undoubtedly shows that the approach 共higher than 16,000兲 and to include the cases of water
consisted in such an efficient approximation of the Zielke column separation.
weighting functions is successful 共it enables us to save time
and computer storage nevertheless it gives comparable re- Acknowledgment
sults to those obtained using the multi-layer models兲. Some results of investigations published in this paper were pre-
sented on the 9th International Conference on Pressure Surges
6 Conclusions “The Practical Application of Surge Analysis for Design and Op-
共i兲 Basing on the presented results of the theoretical and ex- eration,” 24–26 March 2004, Chester, UK.
perimental investigations it was proved that predictions of
the water hammer courses can be significantly improved Nomenclature
using the unsteady friction models in comparison to the a ⫽ 关m/s兴 pressure wave celerity
quasi-steady friction models, commonly used in practical A i, B i ⫽ 关-兴 coefficients in 共A6兲
analyses of this phenomenon so far. A *, C *, ⫽ 关-兴 coefficients in 共A10兲
共i兲 High conformity between the results of experiments and C 1, C 2, m ⫽ 关-兴 coefficients in 共A11兲
the results of calculations obtained using the Zielke model C, n ⫽ 关-兴 coefficients in 共A12兲
for unsteady laminar flows 共Re⬍ ⬃ 2320兲, revealed also in D ⫽ 关m兴 internal pipe diameter
other investigations, is confirmed. e ⫽ 关m兴 pipe wall thickness
共iii兲 From all analyzed unsteady friction models for turbulent fq ⫽ 关-兴 steady flow friction coefficient
flows the Trikha model and the multi-layer models 共Vardy g ⫽ 关m / s2兴 acceleration of gravity
and Brown, Zarzycki兲 have to be singled out. These mod-
H ⫽ 关m兴 piezometric head
els predict almost superbly the wave front shape and pre-
serve the frequency. However, it is symptomatic that for ⌬H ⫽ 关m兴 pressure head rise
higher Reo 共over approx. 10,000兲 the damping effect ob- I ⫽ 关-兴 rate of pressure trace convergence
served in the calculated courses is greater than in the ex- J ⫽ 关-兴 head loss per pipe length unit
perimental ones. Eliminating this disadvantage requires an K ⫽ 关m兴 equivalent sand roughness height
improvement of the analyzed models or working out alter- k3 ⫽ 关-兴 coefficient in 共A14兲
native friction models. L ⫽ 关m兴 penstock length
共iv兲 In general, prediction of the pressure wave according to m i, n i ⫽ 关-兴 coefficients in 共A8兲
the Brunone et al. models 共versions 1 and 2兲 gives slightly Re ⫽ 关-兴 Reynolds number VD /
worse results than the multi-layer friction models. How- t ⫽ 关s兴 time
ever, as it can be seen from the values of the rate of pres- V ⫽ 关m/s兴 average flow velocity in a pipe
sure traces convergence 共Fig. 9兲, version 2 of the Brunone W ⫽ 关-兴 weighting function
et al. model gives better results for high Reynolds num- x ⫽ 关m兴 distance along pipe axis
bers. This is mainly because the top of the calculated yi ⫽ 关m/s兴 variables in 共A7兲
waves are much wider in comparison to those from the ⫽ 关m2 / s兴 kinematic or eddy viscosity 共distin-
experiment but the amplitudes in the courses calculated guished by subscript兲
冕
t
app ⫽ approximation 16 V
c ⫽ calculated value Ju = 共u兲 · W共t − u兲du 共A5兲
gD2 t
m ⫽ measured value 0
Ai = 兵26.3744;70.8493;135.0198;218.9216;322.5544其
A.1 Quasi-Steady Friction Model
It is commonly assumed that the velocity profile during an un- Bi = 兵0.282095;− 1.25;1.057855;0.9375;0.396696;− 0.351563其
steady flow is not deformed in comparison with the velocity pro-
Equation 共A5兲 is based on solid theoretical fundamentals and re-
file during a steady flow with the same mean velocity. In this
mains valid in case of any law of mean velocity versus time varia-
connection, the hydraulic losses for an unsteady flow are calcu-
tion. It is worthwhile to pay special attention to the weighting
lated using formulas correct for steady flows.
Friction modeling according to the quasi-steady flow hypoth- function W, in 共A6兲, that should be interpreted as a function,
which relates inertance at pipe cross-section to past flow velocity
esis assumes that pipeline inertance Ju equals zero. The pipeline
changes in this cross-section.
resistance Jq is usually described basing on the Darcy-Weisbach
The simplified inertance expression in the Trikha model takes
equation
the following form 关10兴:
f q V兩V兩
Jq = · 共A1兲 16
gD 2 Ju = 共y 1 + y 2 + y 3兲 共A7兲
gD2
Calculation of the quasi-steady friction coefficient 共Darcy friction
coefficient兲: where
• For laminar flows 共Re艋 Rec−s where Rec−s = 2320兲 depends y it+⌬t = y it · e−ni 冉 D4 冊⌬t + mi共Vt+⌬t − Vt兲
2
冉 冊
Numerical codes based on this model, because of approximation
1 2.51 K/D of weighting function used, allow saving a lot of computing
共A3兲
冑 f q−t = − 2 lg Re冑 f q−t
+
3.71 power and time needed for making the calculations. Such a solu-
tion initiated the development of models with efficient approxima-
tions of weighting functions 关18–20兴. However, the most impor-
A.2 Unsteady Friction Models tant is that Trikha for the first time proposed to apply this
The models of the unsteady friction reject the assumptions of approach to calculate turbulent unsteady flows.
the quasi-steady hypothesis. They respect complexity of the un- One of the main groups of unsteady friction models for turbu-
steady flow which manifest in the deformed velocity profiles in lent unsteady flows 共the multi-layer models兲 bases mathematical
comparison with the velocity profile during the steady flow with description on the Reynolds-averaged Navier-Stokes equations
the same mean velocity. The intension of such an approach is to applied to axisymmetric flow. In these equations the Reynolds
obtain the correct description of inertial and friction forces which averaging procedure is used for averaging the flow parameters
are responsible for the velocity profile deformation in the pipe 关2,3兴. Adoption of the Boussinesq hypothesis which relates to the
cross section. turbulent Reynolds stress and averaged velocity field Vx, as in
Zielke 共1968兲 关1兴 has developed the model of unsteady friction 共A9兲, the eddy viscosity coefficient is introduced into the math-
for laminar flows. For this purpose he used Laplace transform to ematical description of the analyzed phenomenon t
the equation of motion for laminar axisymmetric flow of an in-
Vx
compressible fluid · V⬘x Vr⬘ = − t 共A9兲
r
2V 1 V 1 V 1 H
+ − =g 共A4兲 In models based on such an approach, experimental data concern-
r2 r r t x
ing cross-sectional eddy viscosity distribution are used. The axi-
共It was assumed that the pressure p and the density are constant symmetric flow is divided into two, three, or even four regions as
in the pipe cross section and the velocity V is related to time t and regards phenomena occurring in the flow.
the distance from the pipe axis r兲. This method allowed him to The velocity profile analyses for turbulent unsteady flows allow
achieve functional dependency between the transform of the wall Vardy et al. to state that the relation 共A5兲 proposed by Zielke is
shear stress and the acceleration of fluid. The inverse transforma- correct for turbulent unsteady flows if only a weighting function
冉 冊
function W
k3 V V
Ju = −a 共A14兲
*
A ·e −/C* g t x
Wapp = 共A10兲
冑 Originally 关8,11兴, the k3 coefficient was established so as to match
computational and experimental results on a sufficient level of
冉 冊
conformity. Vardy and Brown proposed the following empirical
1 12.86 15.29 relationship to derive this coefficient analytically 关2,13兴:
with A* = = 0.2821, C* = ; = log10
2冑 Re Re0.0567 冑C*
k3 = 共A15兲
In the case of laminar flow 共Re艋 Rec−s兲 the value of the Reynolds 2
number in 共A10兲 is replaced by the critical value of Re 共Rec−s The k3 coefficient can be assumed constant 共with the value de-
= 2320兲 that separates laminar and turbulent flows 共the critical pending on the initial value of Re兲 or as variable 共depending on
value of Re for transient flows in this model remain the same as in the instantaneous Re value in the hydraulic transient considered兲
the case of steady flows兲. According to the authors this model is 关14兴.
valid for the initial Reynolds numbers Re⬍ 108 and for smooth
pipes only.
The analysis of axisymmetric flow similar to this presented by APPENDIX B: Analysis of Grid Density Influence on
Vardy and Brown but using a four-region t distribution enabled Computational Results
us to define the weighting function in the Zarzycki model 关4,5兴 by Additional numerical tests were carried out in order to check
means of the following equations: how the grid density influences the results of calculations. The
共a兲 For laminar flows 共Re艋 Rec−u兲 diamond grids 共Fig. 1兲 with m = 12, 24, and 36 computational
reaches along the pipe length were used. Calculations were made
Wapp = C1−0.5 + C2 · e−m 共A11兲 using the quasi-steady model and the Zielke model. The initial
conditions of the pipe flow for this numerical test were the same
with C1 = 0.2812; C2 = − 1.5821; m = 8.8553 as in the run with Reo ⬵ 10,600 共Table 1兲.
Pressure courses calculated at different m are stable and char-
共b兲 for turbulent flows 共Re⬎ Rec−u兲 acterized by the same pressure wave period 共therefore, different
dimensions of the grid cells do not change the pressure wave
1 frequency兲. All calculations derived using considered unsteady
Wapp = C n
共A12兲
冑 · Re friction models at a different number of computational reaches m
gave the same amplitudes of pressure changes, what proves that
different density of the grid does not influence the pressure wave
4 · t damping. In order to definitely confirm these observations, the
with C = 0.299635; n = − 0.005535; =
D2 comparison between calculated pressure courses were conducted
using the coefficient defined in 共10兲 and the results are presented
Zarzycki, after Ohmi et al., assumed similarity between transient in Table 2. Pressure courses calculated using 12 共index c12兲 and
and oscillating flows. Therefore, for transient flows, he adopted 36 共index c36兲 computational reaches was compared with one
the Re critical value separating laminar and turbulent oscillating obtained using 24 reaches 共index c24兲 and the analysis has in-
flows. The Rec−u, so-called unsteady critical value of Reynolds cluded the first 20 pressure wave periods.
number, is given as follows: As it follows from Table 2 presented above, the differences
between calculated results of I are at insignificant level—areas
Rec−u = 800冑⍀ 共A13兲 enclosed in the pressure line and the center line of pressure oscil-
lations differ a bit more for courses calculated using the quasi-
· D2 2 4L steady friction model than for those obtained using the unsteady
with: ⍀= ; = ; T= friction model.7 The sign of I coefficient for different grid density
4 T a is worth mentioning. Negative values of Ic12−c24 show that areas
The Brunone et al. model is related to the second trend in hydrau- limited by the pressure line and center line of oscillations calcu-
lic resistance modeling. lated for m = 12 are smaller than for courses calculated for
The authors of this model had carefully analyzed the influence m = 24. A completely different situation for calculations with
of the quasi-steady hypothesis on the results of calculations. On m = 36 compared to calculations with m = 24—the value of Ic36−c24
this basis they stated that observed discrepancies between calcu- is positive. Presented analysis proved that it does not follows from
lations and experimental data are caused mainly by the inappro- intensity of the pressure wave damping but from differences be-
priate mathematical description of inertial forces and wall friction tween the shapes of pressure waves—as the grid density grows the
stress. It results directly from assuming the uniform velocity pro- wave front is filled more and the wave at the top is slightly wider
file in calculations. Analyses based on experimental data concern- 共analyzed areas are then slightly bigger兲.
ing velocity profiles in different pipe cross sections and at a wide
range of Re revealed clear correlation between the pipeline iner- 7
The values of I for quasi-steady model are greater then for the Zielke model
tance and the acceleration 共local and convective velocity deriva- because of much lesser damping effect of pressure wave oscillations which cause that
tive兲 defined as 关8兴 areas enclosed in pressure lines are bigger.