Understanding the nonlinear dynamics of liquid flow with surge tanks

International Journal of Mechanical Engineering Education Vol 29 No 1
Understanding the nonlinear

dynamics of liquid flow with
surge tanks
Greek letters
fluid density, kgm
3
viscosity, N.sm
2
specific volume, m
3
kg
NOMENCLATURE
W mass flow rate, kgs
H
s
surge tank liquid height, m
A
s
tank area, m
2
p pressure, Nm
2
F
F
frictional force, N
C
f
fanning coefficient of friction
L channel length, m
A channel area, m
2
P. RUBY MAWASHA, College of Engineering, The University of
Akron, Akron OH 44325-3901, and, RICHARD J. GROSS, Depart-
ment of Mechanical Engineering, The University of Akron, Akron
OH 44325-3903. mawasha@uakron.edu
Received 11th February 1999
The problem considered here is that of a pressurized surge tank with a constant inlet mass
flow rate and an outlet mass flow rate through a circular channel. The dynamic behaviour of
this system can be influenced by the liquid height inside the surge tank, the inlet and outlet
mass flow rates, the gas pressure in the surge tank, and the liquid kinetic energy that is often
neglected in textbooks and fluid dynamics literature. The model considers a constant density
liquid in laminar flow and investigates the nonlinear effects of liquid height in the
pressurized surge tank, mass flow rates, gas pressure, and kinetic energy on the system
behaviour. Also, the model is investigated for scenarios that manifest in oscillatory
behaviour.
Key words: surge tanks, liquid flow dynamics, flow oscillations
28 P. Ruby Mawasha and Richard J. Gross
Subscripts
so surge tank outlet
si surge tank inlet
g liquid surface or gas
a atmosphere
s surge tank
Fig. 1. A surge tank with constant inlet flow rate.
INTRODUCTION
The problem of understanding the dynamics of fluid behaviour in tanks has been studied
extensively in elementary fluid mechanics [1], [2]. In addition, the nonlinearities that
influence the dynamic behaviour of the fluid inside one tank have been investigated for
viscous effects [3], area of the tank [4], surface tension [5], and rotation [6]. This study
examines the dynamics of the pressurized surge tank shown in Fig. 1 and partially filled with
a liquid to allow isothermal expansion and compression of the pressurized gas. The gas
pressure varies with the liquid height inside the tank and nonlinearly with the mass flow
rates into and out of the tank. In addition, the model accounts for the viscous frictional
resistance between the liquid and the wall. Also, the modeling approach incorporates the
nonlinearities due to liquid kinetic energy at the liquid surface inside the tank and in the
channel.
The configuration of the model studied here is predicted from the continuity equation for
the liquid entering and leaving the tank, the pressure distribution derived from Eulers
equation, and the linear momentum equation for a control volume enclosing the liquid inside
the channel.
The equations describing the dynamic problem are reduced to a nonlinear differential
Understanding the nonlinear dynamic of liquid flow with surge tanks 29

V
t
V
V
s
p
s
g
z
s
1
0
(2)
where s is the path distance along a streamline from the surge tank inlet (at s = s
si
= 0) to the
liquid level surface (at s = s
g
). Multiplying equation (2) by ds, approximating s
g
s
si
H
s
and

V
t
V
t
1
2
d
d
g
,
and integrating from the surge tank inlet to the liquid surface gives
p p V V
gH
H
V
t
s
s
g si g sin
2
g
d
d
+

+ +
2
2 2
0 (3)
V
H
t
s
g
d
d
. (5)
and the velocity of the liquid at the liquid level inside the surge tank is
equation of the liquid height inside the tank with respect to time. The system is characterized
by the nonlinear effects contributed by the liquid level inside the surge tank, the inlet and
outlet mass flow rates, the kinetic energy of the liquid, and the gas pressure inside the surge
tank.
The system is also investigated for limiting cases.
where W
sin
is the constant inlet mass flow rate into the surge tank for time t 0, W is the
mass flow rate leaving the surge tank at any time t, is the liquid density, A
s
is the surge
tank cross sectional area, and H
s
is the tank liquid level height above the channel centre-line.
We now assume an inviscid liquid from the surge tank inlet (si) to the tank liquid level
surface (g). Writing Eulers equation for a constant liquid density for a streamline from the
surge tank inlet to the liquid surface inside the surge tank gives
d
d
sin
H
t
W W
A
s
s
(1)
MODELLING DESCRIPTION
The problem considered here is that of a pressurized surge tank with isothermal expansion
and compression of gas such that the gas pressure varies with gas height inside the tank. We
begin the analysis by assuming a constant liquid density so that the mass flow rate leaving
the tank and the tank liquid surface oscillate in phase with respect to time. The constant
density assumption also means that the change in the mass flow rate, W, leaving the tank
(and entering the channel) is equal to the mass flow rate leaving the channel. At time t = 0,
the mass flow rate into the surge tank is reduced instantaneously from a constant value W
si
to
another constant value W
sin
. Applying the continuity equation to the surge tank gives
where p
si
and p
g
are the respective pressures at the surge tank inlet and the liquid level
surface. V
sin
and V
g
are the respective velocities at the surge tank inlet and the liquid level
surface. The velocity of the liquid at the surge tank inlet can also be described as
V
W
A
sin
sin
sin
(4)
Therefore,
d
d
d
d
g
2
V
t
H
t
s
2
. (6)
F p A p A F
mV
t
i F

so a
c.v.
d
d
( )
(14)
The linear momentum equation for a control volume (denoted by the c.v. subscript)
enclosing the liquid in the horizontal pipe from the surge tank outlet to the channel outlet is

H As
A
H
t
A
A
H
t
A W
A
H
t
gH p p
W
A
s s s s s s
s
2
1
2
1
2
0
2
2
2
2
2
2
+
|
.
`
,
+
]
]
]
]
|
.
`
,
+
+ +
d
d
d
d
d
d
2
sin
g so
sin
2
. (13)
where p
so
is the pressure and V
so
is the velocity, both at the surge tank outlet. Substituting
equations (1), (9), (10), and (3) into equation (12) yields
p p V V
gH
H H
t
A
W
t
s
s s
so g so
2
g
2
2
d
d
d
d
+

+ +
|
.
`
,

2 2
1
0
2
(12)
and s
so
s
g
H
s
, and integrating from the liquid surface to the surge tank outlet gives
+
|
.
`
,
+
|
.
`
,
V
t
V
t
V
t
H
t
A
W
t
s
1
2
1
2
1
2
d
d
d
d
d
d
d
d
g
so
2
(11)
approximating
V
W
A
so

, (10)
the velocity at the surge tank outlet is
V
H
t
s
g
d
d
, (9)
where s
s
is the path distance along a streamline from the liquid level surface (at s = s
g
= 0) to
the surge tank outlet (at s = s
so
). Multiplying equation (8) by ds, noting

V
t
V
V
s
p
s
g
z
s
1
0
(8)
A
si
is the surge tank inlet cross sectional area. Again assuming an inviscid fluid, we write
Eulers equation for a constant liquid density for a streamline from the surge tank liquid
surface to its outlet (channel inlet) to get
p
H H
t
H
t
gH p
W
A
s s s
s si
2
g
sin
2
si
2
d
d
d
d
+
|
.
`
,
+ +

2 2
2
2
. (7)
Substituting equations (4) to (6) into (3) yields
where F
F
is the frictional force or the resistance of the channel wall to the flow of the liquid,
A is the area of the channel, p
so
and p
a
are the respective pressures at the surge tank outlet
and the channel outlet. We note that for a constant density liquid,
d
d
d
d
c.v. so
( ) ( )
.
mV
t
ALV
t

(15)
The expression for the total frictional resistance as a function of the mass flow rate from the
surge tank outlet to the channel outlet is
F
W
AD
C z
F f
L
2
2
0
d (16)
where D is the pipe diameter, is the specific volume of the liquid, z is the location of the
liquid along the pipe, L is the channel length, and C
f
is the Fanning coefficient of friction.
Upon integrating equation (16) for constant specific volume and coefficient of friction we
obtain
F
C L
AD
W
C L
AD
W
F
f f

2 2
2 2
. (17)
If we note that V
so
A = W for constant and A, and then substituting equations (15) and (17)
into equation (14) gives
L
A
W
t
p p
C L
DA
W
f d
d
so a

2
2
2
(18)
The coefficient of friction C
f
for laminar flow can be written as a function of the mass flow
rate, W

A L
A
H A
A
H
t
A
A
H
t
A
A
W L
A
H
t
gH
p
H H
H H
p
s s s s s s
s s
s
st si
st s
a
+ +
|
.
`
,
]
]
]
+
]
]
]
]
|
.
`
,
+
+
|
.
`
,
+
+

|
.
`
,
+
2
1
2
1
8
2
2
2
2
d
d
d
d
d
d
2
sin
gi

11
2
8
2

A
W
LW
sin
2
sin
+
|
.
`
,
. (21)
C
D
W
f

4
. (19)
We next combine equations (1), (13), (18), and (19), and assume an isothermal ideal gas
expansion above the liquid in the surge tank. Defining H
si
as the initial height of the liquid
above the channel centre-line and p
si
as the initial and absolute gas pressure of the liquid,
both at time t = 0, we get
p p
H H
H H
st si
st s
g gi
|
.
`
,
(20)
and
NUMERICAL RESULTS AND DISCUSSION
In a case for which the length of the channel is much larger than the liquid height or L H
s
,
the tank area to pipe area ratio is one or A
s
= A, and the tank is opened to the atmosphere or
p
g
= p
a
, equation (21) reduces to
Equation (22) is analogous to a physical system with the characteristics of a spring, mass,
and damper with an excitation mechanism. A tank with constant inlet flow can have a
potential for an oscillatory nature similar to that of a spring, mass, and damper. This condi-
tion will be determined by the discriminant and the following condition must prevail,
W L
A
Lg
sin
+
|
.
`
,
<
8
4 0
2
2
. (23)
Next, we need a set of conditions that produce laminar flow. If we consider L = 1.0 m,
D = 4.4 10
3
m, H
si
= 0.1 m, and W
si
= 0.0070 kgs for the properties of water at room
temperature ( = 1.5 10
3
N sm
2
and = 1000 kgm
3
), this combination can be used as a
basis to demonstrate the oscillatory behaviour shown in Fig. 2 for a sudden 10% decrease
from W
si
to W
sin
. The exchange between kinetic energy of the mass inside the channel and
the potential energy of the mass inside the surge tank for the physical system described by
equation (22) can be viewed as analogous to the energy stored in a mass and spring respec-
tively in a spring, mass, and damper system. The contributing effect of the term with friction
is analogous to the amount of the work done against the system just like a damper.
We next cap off the top of the tank so that the air space above the water is enclosed and
assume L H
s
, the tank area to pipe area ratio is one or A
s
= A, and p
gi
= p
a
. Also, we
assume that the air behaves in an isothermal manner and is governed by the ideal gas law.
The differential equation (21) is then

L
H
t
W L
A
H
t
gH
A
W
LW p
H H
H H
p
s s
s
st si
st s
d
d
d
d
2
sin
sin
2
sin gi a
2
2
8
1
2
8 0
+
+
|
.
`
,
+
+
|
.
`
,
|
.
`
,
. (24)
The numerical solution for the same set of values used previously gives Fig. 3. For the same
initial conditions, Figs 2 and 3 show that the oscillation frequency increases by enclosing the
air above the liquid. The increase in the frequency of the oscillation due to capping off the
tank can be explained as follows.
Consider two surge tanks with the same cross section area A
s
and equal initial liquid
heights H
si
when the inlet mass flow rate W
si
is instantaneously reduced 10% to
W
sin
= 0.9 W
si
. The first surge tank has an enclosed air volume V
gi
= 100V and the second
surge tank has an enclosed air volume of V
gi
= V. This first surge tank is more comparable to
the tank open to the atmosphere than the second surge tank. Now consider a short time
period t just after the inlet mass flow rate is changed and during which the new inlet mass

L
H
t
W L
A
H
t
gH
A
W
LW
s s
s
d
d
d
d
2
sin
sin
2
sin
2
2
8
1
2
8 0
+
+
|
.
`
,
+ +
|
.
`
,
.
(22)
Fig. 2. Time history of the liquid height for an open tank with As = A.
flow rate, 0.9W
si
, of each surge tank is less than the surge tank outlet mass flow rate W.
During this short time period, the liquid volume in each tank decreases by a comparable
volume denoted by V
m
and each air volume increases by the same comparable volume
V
m
. The time period t is taken to be so short that V
m
is much less than V
gi
for both surge
tanks. The percentage air volume change in the first surge tank is much less than the
percentage air volume change in the second surge tank. The pressure change p
g
in the air
pressure is
Assuming the air in each surge tank behaves in an isothermal manner, the corresponding air
pressure change p in either surge tank given by equation (25) shows the change in air
pressure in the first surge tank (with the larger initial air volume V
gi
) is much less than the
change in air pressure in the second surge tank (with the smaller initial air volume) for the
same time period t. Therefore, the air pressure changes slower in the first surge tank than in
the second surge tank. Since the air pressure is a significant driving force for the mass flow
rate out of the surge tank and this pressure changes slower in the first surge tank, the surge

+

+
p p p
H H
H H
p p
V
V
p p
V
V V
p
V
V V
gi gi
st si
s
gi gi
gi
g
gi gi
gi
gi m
gi
m
gi m
st
(25)
Fig. 3. Time history of liquid level height for closed tank with As = A.
tank outlet mass flow rate and the liquid height H
s
will also change slower in the first tank
and demonstrate a lower oscillation frequency.
Next, we consider the changing mass inside the surge tank included in the acceleration
term, i.e. the first term of equation (21) for A
s
= A, and p
gi
= p
a
. The differential equation
(21) becomes
(26)

( )
.
L H
H
t
W L
A
H
t
gH
A
W
LW p
H H
H H
p
s
s s
s
st si
st s
+ +
+
|
.
`
,
+
+
|
.
`
,
|
.
`
,

d
d
d
d
2
sin
sin
2
sin gi a
2
2
8
1
2
8 0
The numerical solution for equation (26) gives Fig. 4. For the same initial conditions, Figs 3
and 4 show that the change in the liquid height inside the tank is very small and therefore,
has a very small effect on the nature of the oscillatory behaviour of the system for A
s
= A.
We now increase the tank area A
s
to 10A with p
gi
= p
a
. The resulting equation from
equation (21) using equation (20) for p
g
is
Fig. 4. Time history of the liquid height for As = A with changing mass inside the tank.
The numerical solution for the same set of values used previously gives Fig. 5. Figs 4 and 5
show that increasing the area ratio A
s
A decreases the frequency of the oscillation. This is
equivalent to increasing the air volume above the liquid and increasing this volume de-
creases the oscillation frequency. To further show the area ratio effect, we continue to
increase the tank area to pipe area ratio to A
s
A = 100 with an enclosed air space above the
liquid level for p
gi
= p
a
and using equation (20) for p
g
. Equation (27) is still appropriate and
therefore, a numerical solution gives Fig. 6. The nature of the plot observed in Fig. 6
suggests that the effect of the friction term dampens out the oscillatory behaviour previously
observed in Figs 1 to 4. This is due to a large gas volume decreasing the oscillation fre-
quency or comparable to a smaller diameter pipe or more resistance in the pipe for a given
surge tank area A
s
.
To understand the effect of the kinetic energy terms in equation (21) is to assume that the
kinetic energy terms are very small; therefore, equation (21) reduces to equation (28).

LA
A
H A
A
H
t
A
A
H
t
A
A
W L
A
H
t
gH
A
W
LW
p
s s s s s s
s s
s
+ +
|
.
`
,
]
]
]
+
]
]
]
]
|
.
`
,
+
+
|
.
`
,
+ +
|
.
`
,
+
2
1
2
1
8 1
2
8
2
2
2
2
2
d
d
d
d
d
d
2
sin sin
2
sin
gi

HH H
H H
p
st si
st s
|
.
`
,

a
0.
(27)
Fig. 5. Time history of the liquid height for As = 10A.
LA
A
H A
A
H
t
A
A
L
A
H
t
gH
LW
A
p
H H
H H
p
s s s s s s
s
st si
st s
+ +
|
.
`
,
]
]
]
+
|
.
`
,
+ +

|
.
`
,

2
1
8
8
0
2
2
d
d
d
d
2
sin
gi a

(28)
We compare numerical solutions to equation (21) and (28) for A
s
= 10A for the same set of
values used in Fig. 4 to obtain Fig. 7. The trends of the oscillatory behaviour for the system
with and without kinetic energy terms are similar, but suggests that the kinetic energy may
be important in some cases.
CONCLUSIONS
The contributing effect of the term with friction in laminar flow is analogous to the amount
of the work done against the system just like a damper in a vibrational system with a spring,
mass, and damper. Also, air pressure is the main driving force for the mass flow rate out of
the surge tank and this pressure changes slower in a larger surge tank. The surge tank outlet
mass flow rate and the tank liquid height will also change slower in the larger tank and
demonstrate a lower oscillation frequency. The change in the liquid height in the inertia term
is very small and therefore, has very little effect on the nature of the oscillatory behaviour of
the system. Increasing the area ratio A
s
A decreases the frequency of the oscillation. This is
Fig. 6. Time history of the liquid height for As = 100A.
Fig. 7. Time history of the liquid for models with and without the effects of kinetic
energy for As = 10A.
equivalent to increasing the air volume above the liquid, as increasing this volume decreases
the oscillation frequency. Also, it has been observed that the effect of the friction term
dampens out the oscillatory behaviour. This is comparable to a larger gas volume decreasing
the oscillation frequency or comparable to a smaller diameter pipe or more resistance in the
pipe for a given surge tank area A
s
. The trends of the oscillatory behaviour for the system
with and without kinetic energy are similar, this suggests that the kinetic energy terms may
be important in some cases.
REFERENCES
[1] Gerhart, P. M., Gross, R. J. and Hochstein, J. I., Fundamentals of Fluid Mechanics, Addison-
Wesley, 1992.
[2] Fox, A. T. and McDonald, A. T., Introduction to Fluid Mechanics, John Wiley, New York, 1985.
[3] Murray, J. D., On the effect of drainage on free surface oscillations, Appl. Sci. Res., 19, July
(1968).
[4] Sommerfeld, J. T., Non-linear gasoline tank and gauges, Int. J. Mech. Engineering Education,
26(1), 6570 (1998).
[5] Saad, M. A., and Oliver, D. A., Linearized time dependent free surface flow in rectangular and
cylindrical tanks, Proc. Heat and Mass Transfer and Fluid Mech. Inst., Stanford University Press,
California, 1964.
[6] Kelly, S. G., Nonlinear phenomena in a column of liquid in a rotating manometer, Siam Review,
Vol. 32, No. 4, December 1990.

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International Journal of Mechanical Engineering Education Vol 29 No 1

Understanding the nonlinear

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