Nonlinear Dynamics

, Volume 98, Issue 3, pp 2097–2114 | Cite as

Geometrically exact equation of motion for large-amplitude oscillation of cantilevered pipe conveying fluid

  • Wei Chen
  • Huliang Dai
  • Qingqing Jia
  • Lin WangEmail author
Original paper


Theoretical modeling and dynamic analysis of cantilevered pipes conveying fluid are presented with particular attention to geometric nonlinearities in the case of large-amplitude oscillations. To derive a new version of nonlinear equation of motion, the rotation angle of the centerline of the pipe is utilized as the generalized coordinate to describe the motion of the pipe. By using variational operations on energies of the pipe system with respect to either lateral displacement or rotation angle of the centerline, two kinds of new equations of motion of the cantilever are derived first based on Hamilton’s principle. It is interesting that these two governing equations are geometrically exact, different-looking but essentially equivalent. With the aid of Taylor expansion, one of the newly developed equations of motion can be degenerated into previous Taylor-expansion-based governing equation expressed in the form of lateral displacement. Then, the proposed new equation of motion is linearized to determine the stability of the cantilevered pipe system. Finally, nonlinear analyses are conducted based on the current geometrically exact model. It is shown that the cantilevered pipe would undergo limit-cycle oscillation after flutter instability is induced by the internal fluid flow. As expected, quantitative agreement between geometrically exact model and Taylor-expansion-based model can be achieved when the oscillation amplitude of the pipe is relatively small. However, remarkable difference between the results of oscillation amplitudes predicted using these two models would occur for large-amplitude oscillations. The main reason is that in the Taylor-expansion-based model, high-order geometric nonlinearities have been neglected when applying the Taylor expansion, thus yielding some deviation when large-amplitude oscillations are generated. Consequently, the proposed new geometrically exact equation of motion is more reliable for large-amplitude oscillations of cantilevered pipes conveying fluid.


Cantilevered pipe conveying fluid Geometric nonlinearity Large-amplitude oscillation Critical flow velocity Stability 



The authors would like to gratefully acknowledge the financial support of the National Natural Science Foundation of China (Nos. 11622216, 11672115) to this work.

Compliance with ethical standards

Conflict of interest

The authors have no conflict of interest.

Ethical standard

All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki Declaration and its later amendments or comparable ethical standards.

Human and animal rights

This article does not contain any studies with animals performed by any of the authors.

Informed consent

Informed consent was obtained from all individual participants included in the study.


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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  • Wei Chen
    • 1
    • 2
  • Huliang Dai
    • 1
    • 2
  • Qingqing Jia
    • 1
    • 2
  • Lin Wang
    • 1
    • 2
    Email author
  1. 1.Department of MechanicsHuazhong University of Science and TechnologyWuhanChina
  2. 2.Hubei Key Laboratory for Engineering Structural Analysis and Safety AssessmentWuhanChina

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