World Academy of Science, Engineering and Technology

International Journal of Civil and Environmental Engineering

Vol:3, No:10, 2009

A closed form solution for hydrodynamic

pressure of gravity dams reservoir with effect of
viscosity under dynamic loading
B. Navayineya, J. Vaseghi Amiri and M. Alijani Ardeshir

Werner and Sundquist[5] also showed that pressure

Abstract—Hydrodynamic pressures acting on upstream of response is independent of the reservoir length.
concrete dams during an earthquake are an important factor in Bustamante et all. [6] then in 1961 inspected the effect of
designing and assessing the safety of these structures in Earthquake reservoir length on spans of wider excitation periods than
Open Science Index, Civil and Environmental Engineering Vol:3, No:10, 2009 publications.waset.org/13291/pdf

regions. Due to inherent complexities, assessing exact hydrodynamic

previously studied spans and concluded that for excitation
pressure is only feasible for problems with simple geometry. In this
research, the governing equation of concrete gravity dam reservoirs periods larger than the reservoir’s natural period, the effect of
with effect of fluid viscosity in frequency domain is solved and then reservoir’s length is inconsiderable, but for shorter periods
compared with that in which viscosity is assumed zero. The results length has an important role in harmonic loading.
show that viscosity influences the reservoir’s natural frequency. In However Kotsubo[7] put forward the hydrodynamic
excitation frequencies near the reservoir's natural frequencies, response of a reservoir and cylindrical arch dam for harmonic
hydrodynamic pressure has a considerable difference in compare to
loading. By applying polar coordinate, he suggested a very
the results of non-viscose fluid.
simple analysis. Bustamante et all. [6] then studied the effect
of reservoir’s length on span of wider excitation periods than
Keywords—Closed form solution, Concrete dams reservoir,
previously studied spans and concluded that for excitation
viscosity, Dynamic loads, Hydrodynamic pressure.
periods larger than the reservoir’s natural period, the effect of
I. INTRODUCTION reservoir’s length is inconsiderable, but for shorter periods the
modeled length of reservoir plays an important role in
T HE issue of determining hydrodynamic pressures applied
on concrete dams under the effect of earthquake has been
largely studied by researchers. Westergaard[1] was the first
harmonic movement. He also surveyed the effect surface
waves for harmonic excitation and calculated the error due to
ignoring surface waves.
who put forward an analytical response for determining In further researches Chopra [8] in 1967 calculated the
hydrodynamic pressure on a rigid dam under harmonic loads hydrodynamic pressure on dams and in 1968 the dam
with the assumption that the reservoir fluid has no viscosity. response under horizontal and vertical acceleration of
Kotsubo[2] showed that Westergaard’s response in valid earthquake of any value considering the effect of
only when excitation period in larger than the reservoir’s compressibility of the fluid conducting further researches.
natural period. Barthez and Heilborn [3] showed that if the Chopra and Chakrabarti [9] calculated the hydrodynamic
reservoir is of limited length, upstream, with upstream side pressure in a dam reservoir caused by vertical component of
unmoving, for L H > 2 (L= length of reservoir, H=Depth of earthquake.
reservoir) with elongation of length, pressure rise wont exceed Lee and Tsai [10] developed the enclosed solution to the
0.5% (compared to a reservoir with infinite length) and if it’s analysis of the dam-reservoir in time domain.
assumed that the upstream of reservoir vibrates along with the They studied the response for the dam when the reservoir is
earth, for L H > 3 effect of length is inconsiderable. Hoskins both empty and full considering the interaction between fluid
and Jacobsen’s experimental studies confirm the results and structure and using standard methods. They also worked
above[4]. out the effect of material on responded by numerical values
and proved that reservoir fluid and flexibility of dam structure
itself has great impact on interactive behavior of both
structure and fluid and thus leads to huge responses.
Assitant professor, Civil engineering faculty, Babol University of
Chwang[11] found the analytical answers for a rigid dam
Technology, P.O.Box 484, Babol, Iran (corresponding author to provide
phone: +98-091130082; fax: +98-01113231707; e-mail: [email protected]). with a sloped upstream face and also a sloped reservoir
Associate professor, Civil engineering faculty, Babol University of bottom in case of a reservoir with infinite length. He used the
Technology, P.O.Box 484, Babol, Iran (e-mail: [email protected]). boundary integration method in this research.
Assistant professor, Civil engineering faculty, Babol University of
Technology, P.O.Box 484, Babol, Iran (e-mail: [email protected]). Liu [12] put forward semi-analytical solution for rigid dam
PhD student, Civil engineering faculty, Babol University of Technology, which actually were development of those of Chwang.
P.O.Box 484, Babol, Iran (e-mail: [email protected]).

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 World Academy of Science, Engineering and Technology
International Journal of Civil and Environmental Engineering
Vol:3, No:10, 2009

Aviles [13] gave semi-analytical answers for rigid dam, A. Boundary conditions and initial value
with sloped upstream face and also with viscous and Four boundary conditions with S1, S2 , S3 and S4, as
compressible fluid. He also calculated hydrodynamic pressure boundaries are shown in fig 1 and assuming horizontal
using boundary integration method and a series of certain component of earth's movement is perpendicular to dam's axis,
functions that were to satisfy boundary conditions and dam is so wide that it can be surveyed as in 2 and dam
governing equation and stated the answer for different cases reservoir is infinite upstream, two initial conditions can be
of upstream shape of this dam with the aid of numerical stated follows:
problems.
Zingales[14] found the hydrodynamic pressure for dam-
reservior system using earthquake stochastic analysis. This
was carried out considering a compressible fluid and a
vibration model.
Attarnejad and Farsad [15] studied the closed form solution
for dam- reservoir system in time domain for a variable-
thickness dam. By considering the interaction between the
structure and fluid showed the answers for a dam with both
empty and full reservoir for several earthquakes using
Open Science Index, Civil and Environmental Engineering Vol:3, No:10, 2009 publications.waset.org/13291/pdf

numerical examples.
Fig. 1 Dam-Reservoir System and boundary conditions
Bouaanani et all. [16] considering the effect of bottom
absorption. And horizontal earthquake acceleration found the
earthquake semi-closed form answer using approximate Boundary condition in reservoirs free surface (S1)
method. With neglecting of surface waves, boundary condition in
Pressure wave absorption by sediment at the bottom of the reservoir's free surface can be taken P=0 with a good
reservoir is also an important factor in assessing the approximation.
hydrodynamic pressure which was fist studied by Fenves and
Boundary condition at reservoir's bottom (S2)
Chopra[17] and then showed that sediment at the bottom of a
reservoir plays and important role in assessing the true If the reservoir's bottom is assumed horizontal and rigid,
Hydrodynamic pressure applied on the dam. boundary condition can be obtained as ∂P = 0
Kucukarslan et all. [18] investigated the effect of pressure ∂y
wares absorption by reservoir bottom sediment and its impact
on the value of hydrodynamic pressure applied on the dam by Based on this assumption Reservoirs bottom bears no
modeling it with finite elements and two-layer boundary deformation and dynamic load directly reaches to dam's
elements. reservoir during the application of earthquake load.
The aim of this research is solve governing differential Boundary condition between dam and reservoir (S3)
equation of reservoir containing viscous fluid under harmonic
loading. Thus horizontal acceleration in the dam's reservoir Normal velocity in the interface of dam and fluid must be
due to dam body vibration excluding structure-fluid equal so that neither vacuum nor opening is made between
interaction is investigates. dam and reservoir. In other words, fluid is in constant contact
with solid boundary to satisfy so, velocity component any
II. GOVERNING EQUATION where in solid boundary perpendicular to surface must be
equal to velocity in that very direction in fluid boundary.
Assuming that fluid velocity is negligible and consequently
Using Navier-Stock and continuity relations equation
shear stress where fluid and dam body meets, boundary
governing circumference of concrete dam's reservoir can be
condition in boundary between dam and reservoir could be
written as:
writhen as: ∂P = − ρ a
μ ∂ 1 ∂2P ∂n
n

∇ P+
2
(∇ P ) = 2 2
2
(1)
K ∂t C ∂t Where p is hydrodynamic pressure, an is the exerted
where P and μ are hydrodynamic pressure and viscosity acceleration on a point in boundary and n is the vector
respectively, K and C represents Bulk modulus and elastic perpendicular to the intended point upstream.
waves velocity respectively. Boundary condition in upstream of reservoir (S4) or
Following assumptions have been made in obtaining the propagation condition
above equation: acceleration of transfer" terms in Navier-
Considering that in analytical solution it is assumed that the
Stock relations are minor, fluid is isotropic, homogeneous
dam spreads infinitely. Hydrodynamic pressure is gradually
with linear behavior. Amplitude of movement of reservoir
reduced till it converges to zero at last.
water is low and irrigational.

International Scholarly and Scientific Research & Innovation 3(10) 2009 371 ISNI:0000000091950263
 World Academy of Science, Engineering and Technology
International Journal of Civil and Environmental Engineering
Vol:3, No:10, 2009

Initial value 2ραg 1

Gn = ×
Since fluid is stationary in (t=0), hydrodynamic pressure hλn λn − s 2
2
inside the reservoir is zero. So initial conditions are described (8)
with following values at t=0: By inserting Gn in relation (7), the final response can be
, ∂P
P ( x, y , z , t ) = 0 ( x, y , z , t ) = 0 described as:
∂t 2αρ g iω t ∞ 1
e ∑
− x λ2 − s 2
P( x, y, t ) = − e n sin λn y (9)
h n =1, 3,.. λn λn − s
2 2
III. SOLUTION TO THE GOVERNING EQUATION
To solve the governing equation (1) boundary conditions Statement above is the answer to equation (1) assuming that
with respect to fig (1) are introduced as: acceleration is horizontal. By simplifying we would get:
1) p ( x , 0, t ) = 0
nπ s2
∂p 8αρ g h ∞
1 − 1− x
(10)
(2) P ( x, y , t ) = − iω t
∑ λ 2n
sin λn y
2h
2) ( x, h, t ) = 0 e e
∂y π 2
n =1, 3,.. s 2

∂p n2 1 −
3) ( 0, y , t ) = − ρ α g e iw t λ2n
∂x
4) p (∞ , y , t ) = 0
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s 2 can be simplified as follows:

1−
where α and h are earthquake factor and reservoir fluid head λn 2
respectively.
w2
If the excitation of real part is e i w t , the answer could be μ 2 w2 w 2C 2 μw3
μiw C4 + − + i(
written in real form as: P ( x, y, w) . e i w t , In other words C2 + ) (11)
s 2
ρ ρ 2
λn 2
ρλn 2
1− = 1− = →
assuming that the harmonic response is λn 2 λn 2 μw
C2 +
P( x, y, t ) = P ( x, y, w)e i w t equation (1) in frequency domain is ρ
transformed as: →
1 1 ⎡ 2 R 2 + M 2 + 2 R + i sgn( M − iR ) 2 R 2 + M 2 + 2 R ⎤
2 μ w ⎢⎣ ⎥⎦
C +
∇2 p + s2 p = 0
2
(3) ρ
where where M and R are introduced as:
w 2
μ 2 w 2 w 2C 2 μw 3
s2 = (4) R = C4 + − , M = (12)
μiw ρ2 λn 2 ρλ n 2
C2 +
ρ so the in the response of governing equation can be written in
By applying separation method and inserting it in equation a complex form To obtain resonance frequencies, we first
(3) and then simplifying the relation above and also applying calculate the roots of and we’ll have:
boundary conditions (S1) and (S4) in the relation: s 2
−μπ − μ 2π 2 + 16 ρ 2 C 2 h 2
1 − 2 = 0 → TRes = i± (13)
λ2 − s 2 x
p ( x , y , w) = Ge − . sin λ y (5) λn ρC 2
ρ C2
where G in a constant coefficient which will be obtained Resonance period order for Chopra's response is then
later. By applying boundary Condition (S2) in relation above discovered
it gives:
w2 4h
∂p
λn 2 − 2
= 0 → TRes = (14)
− λn 2 − s 2 x nC
( x , h, w) = G λ e . cos λ h = 0 → C
∂y By placing real values for the fluid with viscosity 10 times
(6)
π greater than water’s we would have:
cos λ h = 0 → λ = ( 2 m − 1) TRes = 0.13888889 (Chopra’s resonance Period) (15)
2h
λ is special value for Sturm-Liouville problem (in this TRes = −0.00001515 i ± 0.13888889 (viscose fluid resonance
research Sturm-Liouville problem is a governing equation period).
with its boundary conditions) and can be described as a Thus it is concluded that viscosity in fluid causes the
sequence. formation of complex in the fluid. It is also concluded from
∞ relations (15) that the real purl in resonance period of the fluid
p( x, y, w) = ∑Ge
n=1, 3, ...
n
− λn 2 − s 2 x
. sin λn y (7) is almost like resonance period of in viscid fluid and on the
other hand imaginary part in resonance period of the fluid is
by applying boundary condition (S3), in relation above very small. So it can be observed that existence of viscosity in
coefficient G would be obtained: fluid change the resonance period of reservoir. It should be
noted that considering relation (13) if viscosity is very high,
resonance period will become totally imaginary.

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International Journal of Civil and Environmental Engineering
Vol:3, No:10, 2009

In fig. 2-10 presented effect of excitation frequency (or

period) on response of viscous fluid. In mentions figures 600
viscous and inviscid fluid responses for different viscosity
500
values for μ1 = μ wat , μ 2 = 10μ wat , μ 3 = 100μ wat that are
respectively shown as vis1, vis2, vis3, for different excitation 400

Pressu re (N /m 2)
chopra
periods and specified time and location are compared to those vis1
of Chopra's. 300
vis2
vis3
60000 200

50000 100

40000 0
Pressure (N/m 2)

chopra
vis1 0 5 10 15 20 25 30 35 40 45 50
30000 Height (m )
vis2
vis3
20000
Fig. 5 Result comparison for viscous and inviscid fluid in x=3h ,
Open Science Index, Civil and Environmental Engineering Vol:3, No:10, 2009 publications.waset.org/13291/pdf

10000 t=0 and Ts=1 sec.

0
1800
0 5 10 15 20 25 30 35 40 45 50
Height (m ) 1600
1400
Fig. 2 Result comparison for viscous and inviscid fluid in x=0, t=0
1200
Pressu re (kN /m 2)

and Ts=1 sec. chopra

1000 vis1

800 vis2
1800
vis3
1600 600
1400 400
1200
Pressure (kN/m2)

chopra 200
1000 vis1
vis2 0
800
600
vis3 0 5 10 15 20 25 30 35 40 45 50
Height (m )
400
200
0 Fig. 6 Result comparison for viscous and inviscid fluid in x=3h, t=0
0 5 10 15 20 25 30 35 40 45 50 and Ts=0.1388 sec.
Height (m )

70000
Fig. 3 Result comparison for viscous and inviscid fluid in x=0 , t=0
and Ts=0.1388 sec. 60000

50000
Pressure (N/m2)

chopra
70000
40000 vis1
60000 vis2
30000
vis3
50000 20000
Pressure (N/m2)

chopra
40000 vis1 10000
vis2
30000 0
vis3
20000 0 5 10 15 20 25 30 35 40 45 50
Height (m )
10000
Fig. 7 Result comparison for viscous and inviscid fluid in x=3h, t=0
0
and Ts=0.1 sec.
0 5 10 15 20 25 30 35 40 45 50
Height (m )

Fig. 4 Result comparison for viscous and inviscid fluid in x=0 , t=0 and
Ts=0.1 sec.

International Scholarly and Scientific Research & Innovation 3(10) 2009 373 ISNI:0000000091950263
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International Journal of Civil and Environmental Engineering
Vol:3, No:10, 2009

III. CONCLUSION
1.2 As it is clear from above result, in excitation periods near
to natural period of the reservoir the response difference
1
between viscous and inviscid fluid rises in comparison to
other periods which confirms that the reservoir contains
0.8
P res s u re ( N /m 2 )

chopra viscose fluid has complex resonance period. Away upstream

vis1 face of the dam, pressure value wont change in Chopra's
0.6
vis2 solution in shorter period than natural periods of reservoir and
vis3 this proves the dynamic state of a non-viscose system while
0.4
away upstream face of the dam for inviscid fluid pressure
0.2 reduction is observable which proves that energy damping
occurs in form of viscosity in fluid. It should be stated that
0 this energy damping is more boilable in higher viscosity. In
0 5 10 15 20 25 30 35 40 45 50 greater excitation periods than fluid reservoir's natural period
Height (m )
(first resonance frequency) viscosity has less effect on
responses.
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Fig. 8 Result comparison for viscous and inviscid fluid in x=7h, t=0
and Ts=1 sec. REFERENCES
[1] H.M. Westergaard, “Water pressure on dams earthquakes,” ASCE, 1933.
[2] S.M. Kotsubo, “Dynamic water pressure on dams due to irregular
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Pressure (kN/m2)

chopra 1933.
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Fig. 9 Result comparison for viscous and inviscid fluid in x=7, t=0 Proc, ASCE, EM6, 1967.
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International Scholarly and Scientific Research & Innovation 3(10) 2009 374 ISNI:0000000091950263