Hydraulic calculation lecture

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Liquid Pipeline Hydraulics

This book presents liquid pipeline hydraulics as it applies to transportation of liquids through pipelines in a single-phase steady state environment. It serves as a practical handbook for engineers, technicians, and others involved in design and operation of pipelines transporting liquids. Existing books on the subject are mathematically rigorous and theoretical but lack practical applications. Using this book, engineers can better understand and apply the principles of hydraulics to their daily work in the pipeline industry without resorting to complicated formulas and theorems. Numerous examples from my experience are included to illustrate application of pipeline hydraulics.


The application of hydraulics to liquid pipelines involves an understanding of various properties of liquids, the concept of pressure, friction, and calculation of the energy required to transport liquid from point A to point B through a pipeline. You will not find rigorous mathematical derivation of formulas in this book. The formulas necessary for calculations are presented and described without using calculus or complex mathematical methods. The reader interested in how the formulas and equations are derived should refer to the books and other publications in the References section.

This book covers liquid properties that affect flow through pipelines, calculation of pressure drop due to friction, horsepower, and the number of pump stations required for transporting a liquid through a pipeline. Among the topics considered are the basic equations necessary for pipeline design, commonly used formulas to calculate frictional pressure drop andnecessary horsepower, the feasibility of improving an existing pipeline’s performance using drag-reduction additives, and power optimization studies. The use of pumps and valves in pipelines is addressed along with modifications necessary to improve pipeline throughput. Economic analysis and transportation tariff calculations are also included.
The book can be used for the analysis of liquid pipeline gathering systems, plant or terminal piping, and long-distance trunk lines. The primary audience is engineers and technicians working in the petroleum, water, and process industries. could also be used as a text for a collegelevel course in liquid pipeline hydraulics.
E.Shashi Menon

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Hydraulics Basic Level

1 Tasks of a hydraulic installation______________________________ 7
1.1 Stationary hydraulics____________________________________8
1.2 Mobile hydraulics ______________________________________10
1.3 Comparison of hydraulics with other control media _______________ 11


2 Fundamental physical principles of hydraulics ___________________ 13
2.1 Pressure___________________________________________13
2.2 Pressure transmission__________________________________18
2.3 Power transmission___________________________________ 19
2.4 Displacement transmission ______________________________19
2.5 Pressure transfer_____________________________________23
2.6 Flow rate__________________________________________25
2.7 Continuity equation___________________________________26
2.8 Pressure measurement_________________________________30
2.9 Temperature measurement______________________________31
2.10 Measurement of flow rate______________________________31
2.11 Types of flow_______________________________________31
2.12 Friction, heat, pressure drop ____________________________35
2.13 Energy and power ___________________________________41
2.14 Cavitation________________________________________ 51
2.15 Throttle points_____________________________________ 53


3 Hydraulic fluid_______________________________________ 57
3.1 Tasks for hydraulic fluids _______________________________ 57
3.2 Types of hydraulic fluid________________________________ 58
3.3 Characteristics and requirements__________________________ 59
3.4 Viscosity__________________________________________ 60


4 Components of a hydraulic system __________________________ 67
4.1 Power supply section __________________________________ 67
4.2 Hydraulic fluida_____________________________________ 67
4.3 Valves____________________________________________ 68
4.4 Cylinders (linear actuators)______________________________ 70
4.5 Motors (rotary actuators) _______________________________ 71

5 Graphic and circuit symbols_______________________________ 73
5.1 Pumps and motors____________________________________ 73
5.2 Directional control valves _______________________________ 74
5.3 Methods of actuation __________________________________ 75
5.4 Pressure valves ______________________________________ 76
5.5 Flow control valves ___________________________________ 78
5.6 Non-return valves ____________________________________ 79
5.7 Cylinders __________________________________________ 80
5.8 Transfer of energy and conditioning of the pressure medium_________ 82
5.9 Measuring devices_____________________________________ 83
5.10 Combination of devices________________________________ 83


6 Design and representation of a hydraulic system _________________ 85
6.1 Signal control section __________________________________ 86
6.2 Hydraulic power section ________________________________ 87
6.3 Positional sketch_____________________________________ 90
6.4 Circuit diagram______________________________________ 91
6.5 Components plus technical data___________________________ 92
6.6 Function diagram____________________________________ 94
6.7 Function chart ______________________________________ 95


7 Components of the power supply section_______________________ 97
7.1 Drive_____________________________________________ 97
7.2 Pump ____________________________________________ 99
7.3 Coupling__________________________________________ 107
7.4 Reservoir _________________________________________ 107
7.5 Filters ___________________________________________ 109
7.6 Coolers___________________________________________ 120
7.7 Heaters___________________________________________ 122


8 Valves_____________________________________________ 123
8.1 Nominal sizes_______________________________________ 123
8.2 Design ___________________________________________ 125
8.3 Poppet valves_______________________________________ 126
8.4 Spool valves________________________________________ 127
8.5 Piston overlap _______________________________________ 129
8.6 Control edges_______________________________________ 134

9 Pressure valves_______________________________________ 137
9.1 Pressure relief valves __________________________________ 137
9.2 Pressure regulators___________________________________ 144


10 Directional control valves_______________________________ 149
10.1 2/2-way valve _____________________________________ 153
10.2 3/2-way valve _____________________________________ 157
10.3 4/2-way valve _____________________________________ 159
10.4 4/3-way valve _____________________________________ 162


11 Non-return valves ____________________________________ 167
11.1 Non-return valve ___________________________________ 168
11.2 Piloted non-return valve ______________________________ 172
11.3 Piloted double non-return valve__________________________ 175


12 Flow control valves___________________________________ 179
12.1 Restrictors and orifice valves____________________________ 180
12.2 One-way flow control valve____________________________ 184
12.3 Two-way flow control valve____________________________ 185


13 Hydraulic cylinders___________________________________ 193
13.1 Single-acting cylinder ________________________________ 194
13.2 Double-acting cylinder _______________________________ 199
13.4 Seals___________________________________________ 200
13.5 Types of mounting__________________________________ 202
13.6 Venting_________________________________________ 202
13.7 Characteristics_____________________________________ 203
13.8 Buckling resistance _________________________________ 205
13.9 Selecting a cylinder__________________________________ 207


14 Hydraulic motors____________________________________ 211
15 Accessories ________________________________________ 215
15.1 Flexible hoses _____________________________________ 217
15.2 Pipelines________________________________________ 223
15.3 Sub-bases _______________________________________ 226
15.4 Bleed valves______________________________________ 228
15.5 Pressure gauges ___________________________________ 229
15.6 Pressure sensors___________________________________ 230
15.7 Flow measuring instruments___________________________ 231


16 Appendix ________________________________________ 233


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Hydraulics of pipeline systems

TABLE OF CONTENTS
1. Introduction
2. Review of Fundamentals
2.1 The fundamental principles
2.1.1. The basic equations
2.1.2. Energy and Hydraulic Grade Lines
2.2 Head loss formulas
2.2.1. Pipe friction
2.2.2. Darcy-Weisbach equation
2.2.3. Empirical equations
2.2.4. Exponential formula
2.2.5. Local and minor losses
2.3 Pump theory and characteristics
2.4 Steady flow analyses
2.4.1. Series pipe flow
2.4.2. Series pipe flow with pump(s)
2.4.3. Parallel pipe flow, equivalent pipes
2.4.4. Three reservoir problem
2.5 Problems

3. Manifold Flow
3.1 Introduction
3.2 Analysis of manifold flow
3.2.1. No friction
3.2.2. Barrel friction only
3.2.3. Barrel friction with junction losses
3.3 A hydraulic design procedure
3.4 Problems

4. Pipe Network Analysis
4.1 Introduction
4.1.1. Defining an appropriate pipe system
4.1.2. Basic relations between network elements
4.2 Equation systems for steady flow in networks
4.2.1. System of Q-equations
4.2.2. System of H-equations
4.2.3. System of ?Q-equations
4.3 Pressure reduction and back pressure valves
4.3.1. Q-equations for networks with PRV's/BPV's
4.3.2. H-equations for networks with PRV's/BPV's
4.3.3. ?Q-equations for networks with PRV's/BPV's
4.4 Solving the network equations
4.4.1. Newton method for large systems of equations
4.4.2. Solving the three equation systems via Newton
4.4.3. Computer solutions to networks
4.4.4. Including pressure reducing valves
4.4.5. Systematic solution of the Q-equations
4.4.6. Systematic solution of the H-equations
4.4.7. Systematic solution of the ?Q-equations
4.5 Concluding remarks
4.6 Problems

5. Design of Pipe Networks
5.1 Introduction
5.1.1. Solving for pipe diameters
5.1.2. Solution based on the Darcy-Weisbach equation
5.1.3. Solution based on the Hazen-Williams equation
5.1.4. Branched pipe networks
5.2 Large branched systems of pipes
5.2.1. Network layout
5.2.2. Coefficient matrix
5.2.3. Standard Linear Algebra
5.3 Looped network design criteria
5.4 Designing special components
5.5 Developing a solution for any variables
5.5.1. Logic and use of NETWEQS1
5.5.2. Data to describe the pipe system
5.5.3. Combinations that can not be unknowns
5.6 Higher order representations of pump curves
5.6.1. Within range polynomial interpolation
5.6.2. Spline function interpolation
5.7 Sensitivity analysis
5.8 Problems

6. Extended Time Simulations and Economical Design
6.1 Introduction
6.2 Extended time simulations
6.3 Elements of engineering economics
6.3.1. Economics applied to water systems
6.3.2. Least cost
6.4 Economic network design
6.4.1. One principal supply source
6.4.2. Design guidelines for complex networks
6.5 Problems

7. Introduction to Transient Flow
7.1 Causes of transients
7.2 Quasi-steady flow
7.3 True transients
7.3.1. The Euler equation
7.3.2. Rigid-column flow in constant-diameter pipes
7.3.3. Water hammer
7.4 Problems

8. Elastic Theory of Hydraulic Transients (Water Hammer)
8.1 The equation for pressure head change ?H
8.2 Wave speed for thin-walled pipes
8.2.1. Net mass inflow
8.2.2. Change in liquid volume due to compressibility
8.2.3. Change in pipe volume due to elasticity
8.3 Wave speeds in other types of conduits
8.3.1. Thick-walled pipes
8.3.2. Circular tunnels
8.3.3. Reinforced concrete pipe
8.4 Effect of air entrainment on wave speed
8.5 Differential equations of unsteady flow
8.5.1. Conservation of mass
8.5.2. Interpretation of the differential equations
8.6 Problems

9. Solution by the Method of Characteristics
9.1 Method of characteristics, approximate governing equations
9.1.1. Development of the characteristic equations
9.1.2. The finite difference representation
9.1.3. Setting up the numerical procedure
9.1.4. Computerizing the numerical procedure
9.1.5. Elementary computer programs
9.2 Complete method of characteristics
9.2.1. The complete equations
9.2.2. The numerical solution
9.2.3. The ?s- ?t grid
9.3 Some parameter effects on solution results
9.3.1. The effect of friction
9.3.2. The effect of the size of N
9.3.3. The effect of pipe slope
9.3.4. Numerical instability and accuracy
9.4 Problems

10. Pipe System Transients
10.1 Series pipes
10.1.1. Internal boundary conditions
10.1.2. Selection of ?t
10.1.3. The computer program
10.2 Branching pipes
10.2.1. Three-pipe junctions
10.2.2. Four-pipe junctions
10.3 Interior major losses
10.4 Real valves
10.4.1. Valve in the interior of a pipeline
10.4.2. Valve at downstream end of pipe at reservoir
10.4.3. Expressing KL as a function of time
10.4.4. Linear interpolation
10.4.5. Parabolic interpolation
10.4.6. Transient valve closure effects on pressures
10.5 Pressure-reducing valves
10.5.1. Quick-response pressure reducing valves
10.5.2. Slower acting pressure-reducing or pressure-sustaining valves
10.6 Wave transmission and reflection at pipe junctions
10.6.1. Series pipe junctions
10.6.2. Tee junctions
10.6.3. Dead-end pipes
10.7 Column separation and released air
10.7.1. Column separation and released air
10.7.2. Analysis with column separation and released air
10.8 Problems

11. Pumps in Pipe Systems
11.1 Pump power failure rundown
11.1.1. Setting up the equations for booster pumps
11.1.2. Finding the change in speed
11.1.3. Solving the equations
11.1.4. Setting up the equations for source pumps
11.2 Pump startup
11.3 Problems

12. Network Transients
12.1 Introduction
12.2 Rigid-column unsteady flow in networks
12.2.1. The governing equations
12.2.2. Three-pipe problem
12.3 A general method for rigid-column unsteady flow in pipe networks
12.3.1. The method
12.3.2. An example
12.4 Several pumps supplying a pipe line
12.5 Air chambers, surge tanks and standpipes
12.6 A fully transient network analysis
12.6.1. The initial steady state solution
12.6.2. TRANSNET
12.7 Problems

13. Transient Control Devices and Procedures
13.1 Transient problems in pipe systems
13.1.1. Valve movement
13.1.2. Check valves
13.1.3. Air in lines
13.1.4. Pump startup
13.1.5. Pump power failure
13.2 Transient control
13.2.1. Controlled valve movement
13.2.2. Check valves
13.2.3. Surge relief valves
13.2.4. Air venting procedures
13.2.5. Surge tanks
13.2.6. Air chambers
13.2.7. Other techniques for surge control
13.3 Problems

14. References
Appendices
A. Numerical Methods
A.1 Introduction
A.2 Linear algebra
A.2.1. Gaussian elimination
A.2.2. Use of the linear algebra solver SOLVEQ
A.3 Numerical integration
A.3.1. Trapezoidal rule
A.3.2. Simpson's rule
A.4 Solutions to ordinary differential equations
A.4.1. Introduction
A.4.2. Runge-Kutta method
A.4.3. Use of the ODE solver ODESDOL
B. Pump characteristic curves
C. Valve loss coefficients
C.1 Globe and angle valves
C.2 Butterfly valves
C.3 Ball valves
D. Answers to selected problems


Total 533 pages 5 mb
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