Numerical Simulation of Sloshing Using the MPS-FSI Method with Large Eddy Simulation

A numerical model has been developed to study sloshing of turbulent flow in a tank with elastic baffles. The Moving-Particle Semi-implicit method(MPS) is a kind of meshless Lagrangian calculation method. The large eddy simulation(LES) approach is employed to model the turbulence by using the Smagorinsky Sub-Particle Scale(SPS)closure model. This paper uses MPS-FSI method with LES to simulate the interaction between free surface flow and a thin elastic baffle in sloshing. Then, the numerical model is validated, and the numerical solution has good agreement with experimental data for sloshing in a tank with elastic baffles. Furthermore, under external excitations,the MPS is applied to viscous laminar flow and turbulent flow, with both the deformation of elastic baffles and the wave height of the free surface are compared with each other. Besides, the impact pressure with/without baffles and wave height of free surface are investigated and discussed in detail. Finally, preliminary simulations are carried out in the damage problem of elastic baffles, taking the advantage of the MPS-FSI method in computations of the fluid–structure interaction with large deformation.     

MPS方法数值模拟液舱晃荡问题

基于无网格粒子法MPS方法(moving particle semi-implicit method)研究了液舱晃荡问题。针对二维矩形液舱晃荡问题进行了数值验证,结果表明MPS方法能够很好地计算晃荡产生的拍击压力。同时将MPS方法应用到带隔板的液舱晃荡问题计算中,分析了二维和三维带隔板液舱晃荡问题。计算结果表明:隔板的存在很大程度地限制了流体的水平运动,隔板附近出现了自由面的翻卷、破碎和融合现象,MPS方法能够很好地模拟这些流动现象。计算得到的波高与实验测得的波高吻合较好,表明MPS方法模拟带隔板的晃荡问题具有一定的可靠性。     

Complete two-dimensional analysis of sea-wave-induced fully non-linear sloshing fluid in a rigid floating tank

A time-independent finite-difference method and a fifth-order Runge–Kutta–Felhberg scheme were used to analyze the dynamic responses of sea-wave-induced fully non-linear sloshing fluid in a floating tank. The interaction effect between the fully non-linear sloshing fluid and the floating tank associated with coupled surge, heave and pitch motions of the tank are analyzed for the first time in the present pilot study. For the analysis of fluid motion in the tank, the coordinate system is moving (translating and rotating) with tank motion. The time-dependent water surface of the sloshing fluid is transformed to a horizontal plane and the flow field is mapped on to a rectangular region. The Euler equations as well as the fully non-linear kinematic free surface condition were used in the analysis of the sloshing fluid. The strip theory for linearized harmonic sea-wave loading was adopted to evaluate the regular encounter wave force. In addition, the dynamic coefficients used in the dynamic equations of tank motion were also derived based on strip theory and a harmonic motion of the tank. The characteristics of free and forced tank motions with and without the sloshing effect are studied. By the damping effect, the response of free oscillation will damp out and that of forced oscillation will approach a steady state. Without sea-wave action, the contribution of the sloshing load would enlarge the angular response of tank motion as well as the rise of free surface and the sloshing effect will delay the damping effect on angular displacement. On the contrary, under sea-wave action, the sloshing effect will decrease the dynamic response of tank motion and rise of free surface. The interaction, sloshing and coupling effects are found to be significant and should be considered in the analysis and design of floating tanks.     

Two phase modal analysis of nonlinear sloshing in a rectangular container

Sloshing, or liquid free surface oscillation, in containers has many important applications in a variety of engineering fields. The modal method can be used to solve linear sloshing problems and is the most efficient reduced order method that has been used during the previous decade. In the present article, the modal method is used to solve a nonlinear sloshing problem. The method is based on a potential flow solution that implements a two-phase analysis on sloshing in a rectangular container. According to this method, the solution to the mass conservation equation, with a nonpenetration condition at the tank walls, results in velocity potential expansion; this is similar to the mode shapes used in modal method. The kinematic and dynamic boundary conditions create a set of two-space-dimensional differential equations with respect to time. The numerical solution of this set of differential equations, in the time domain, predicts the time response of interfacial oscillations. Modal method solutions for the time response of container sloshing due to lateral harmonic oscillations show a good agreement with experimental and numerical results reported in the literature.     

三维完全非线性波浪水槽的数值模拟

用有限元求解拉普拉斯方程,建立了三维完全非线性数值波浪水槽.跟踪流体自由表面的方法为满足完全非线性自由表面条件的半拉格朗日法,对离散单元采用20节点的六面体二次等参数单元.并把数值计算结果与水面初始升高产生箱体内流体运动解析解和二阶斯托克斯波理论解进行了对比,结果表明该模型是稳定的、守恒的,能精确模拟非线性波浪的产生和传播.     

Effect of anti-slosh baffles on free liquid oscillations in partially filled horizontal circular tanks

An exact two dimensional hydrodynamic analysis based on the linear potential theory is introduced to study the free liquid sloshing characteristics of transverse oscillation modes in a non-deformable horizontal circular cylindrical baffled container which is filled to an arbitrary depth with an inviscid incompressible liquid. Three common baffle configurations are considered: a pair of internal rigid horizontal side baffles of arbitrary extension installed at the free liquid surface, and a surface-piercing or a bottom-mounted vertical rigid baffle of arbitrary extension positioned along the tank vertical axis of symmetry. The problem solution is obtained by the method of successive conformal coordinate transformations, leading to standard truncated matrix eigenvalue problems on simple (rectangular) regions which are then solved numerically for the resonance eigen-frequencies. The effects of liquid fill level, baffle arrangement and length upon the three lowest antisymmetric and symmetric sloshing frequencies and the associated hydrodynamic pressure mode shapes are examined. Also, convergence of the adopted approach with respect to the fill condition, and baffle type/extension is discussed. Limiting cases are considered and the validity of results is established in comparison with the data in the existing literature.     

Comparison of laminar model,RANS, LES and VLES for simulation of liquid sloshing

Liquid sloshing in storage tank is a fundamental problem of great engineering importance. Sloshing motion can be laminar or turbulent. However, the necessity for inclusion of turbulence in CFD simulation of sloshing flows has not yet been established. In this paper, three roll–induced sloshing cases are studied to assess the merits and shortcomings of the laminar model and three most–commonly used turbulence models (RANS k–ε, LES and Very LES). To overcome the deficiencies in the RANS and LES, the new Very LES (VLES) model, which combines the RANS k–ε and LES, is developed in this paper. The free surface profiles are reconstructed by a coupled Level–Set and Volume–of–Fluid (CLSVOF) method. To the authors’ knowledge, the comprehensive and systematical assessment of the effect of turbulence on sloshing simulation has not been reported in the literature. The numerical results are evaluated using experimental measurements from Delorme and Souto−Iglesias. The present study indicates that the inclusion of an appropriate turbulence model has a profound influence on the simulations of violent and non–violent sloshing flows. The VLES and LES models can provide accurate predictions of free surface profiles and impact pressures, whereas the laminar flow assumption and the RANS model cannot adequately capture the energy dissipation in the sloshing simulation and lead to the inaccurate flow predictions.     

Study on coupling effects of ship motion and sloshing

This study considers the coupling effects of ship motion and sloshing. The linear ship motion is solved using an impulse-response-function (IRF) method, while the nonlinear sloshing flow is simulated using a finite-difference method. The IRF method requires the frequency-domain solution prior to conversion to time domain, but the computational effort is much less than that of direct time-domain approaches. The developed scheme is verified by comparing the motion RAOs between the frequency-domain solution and the solution obtained by the IRF method. Furthermore, a soft-spring concept and linear roll damping are implemented to predict more realistic motions of surge, sway, yaw, and roll. For the simulation of sloshing flow in liquid tanks, a physics-based numerical approach adopted by Kim [2001. Numerical simulation of sloshing flows with impact load. Applied Ocean Research 23, 53–62] and Kim et al. [2004. Numerical study on slosh-induced impact pressures on three-dimensional prismatic tanks. Applied Ocean Research 26, 213–226] is applied. In particular, the present method focuses on the simulation of the global motion of sloshing flow, ignoring some local phenomena. The sloshing-induced forces and moments are added to wave-excitation forces and moments, and then the corresponding body motion is obtained. The developed schemes are applied for two problems: the sway motion of a box-type barge with rectangular tanks and the roll motion of a modified S175 hull with rectangular anti-rolling tank. Motion RAOs are compared with existing results, showing fair agreement. It is found that the nonlinearity of sloshing flow is very important in coupling analysis. Due to the nonlinearity of sloshing flow, ship motion shows a strong sensitivity to wave slope.     

Experimental and numerical investigation of sloshing using different free surface capturing methods

We investigated the use of numerical methods to predict liquid sloshing phenomena in a moving tank and compared our results to model test measurements. The numerical techniques for the free surface, based on the so-called finite Volume-of-Fluid (VoF) approach, comprised an incompressible VoF method, an incompressible coupled Level-Set and Volume-of-Fluid (clsVoF) method, and a compressible VoF method. We assessed the capability of these three numerical methods to achieve suitable numerical predictions of sloshing phenomena, specifically, air pockets and bubbles on the free surface inside a test tank. To observe the described sloshing phenomena, we simulated tank motions leading to well defined single impact wave motions. We performed repeated physical tests for validation purposes. Computed velocity and pressure time histories were compared to experimental data we obtained from Particle Image Velocimetry (PIV) and pressure sensor measurement. Grid sensitivity and turbulence model studies were performed. We demonstrated that the compressible VoF method was the most suitable method to obtain accurate predictions of sloshing phenomena.     

Numerical simulation of three-dimensional sloshing phenomena using a finite difference method with marker-density scheme

In the present study, three-dimensional sloshing phenomena occurring in liquid cargo tanks are numerically simulated. The Navier-Stokes equations and continuity equation are used for the governing equations, and solved with a finite difference method in a rectangular fixed staggered mesh system. The positions of free surface are defined by the Marker density method satisfying the free-surface boundary conditions, and the flows of the gas and liquid regions are simulated simultaneously. The irregular leg length and star method is employed on the cells near the free surface for the computations of pressure. The computation results are compared with other experimental results to verify the consistency of the present numerical method, and the agreements are reasonably good. Furthermore, the flow characteristics inside a partially filled liquid tank of a real sized ship oscillating regularly and irregularly are computed to verify the possibility of practical application of the present method.     

Comparative Study of Different SPH Schemes on Simulating Violent Water Wave Impact Flows

Free surface flows are of significant interest in Computational Fluid Dynamics（CFD）. However, violent water wave impact simulation especially when free surface breaks or impacts on solid wall can be a big challenge for many CFD techniques. Smoothed Particle Hydrodynamics（SPH） has been reported as a robust and reliable method for simulating violent free surface flows. Weakly compressible SPH（WCSPH） uses an equation of state with a large sound speed, and the results of the WCSPH can induce a noisy pressure field and spurious oscillation of pressure in time history for wave impact problem simulation. As a remedy, the truly incompressible SPH（ISPH） technique was introduced, which uses a pressure Poisson equation to calculate the pressure. Although the pressure distribution in the whole field obtained by ISPH is smooth, the stability of the techniques is still an open discussion. In this paper, a new free surface identification scheme and solid boundary handling method are introduced to improve the accuracy of ISPH. This modified ISPH is used to study dam breaking flow and violent tank sloshing flows. On the comparative study of WCSPH and ISPH, the accuracy and efficiency are assessed and the results are compared with the experimental data.     

Coupled analysis of nonlinear sloshing and ship motions

A coupled numerical model considering nonlinear sloshing flows and the linear ship motions has been developed based on a boundary element method. Hydrodynamic performances of a tank containing internal fluid under regular wave excitations in sway are investigated by the present time-domain simulation model and comparative model tests. The numerical model features well the hydrodynamic performance of a tank and its internal sloshing flows obtained from the experiments. In particular, the numerical simulations of the strong nonlinear sloshing flows at the natural frequency have been validated. The influence of the excitation wave height and wave frequency on ship motions and internal sloshing has been investigated. The magnitude of the internal sloshing increases nonlinearly as the wave excitation increases. It is observed that the asymmetry of the internal sloshing relative to still water surface becomes more pronounced at higher wave excitation. The internal sloshing-induced wave elevation is found to be amplitude-modulated. The frequency of the amplitude modulation envelope is determined by the difference between the incident wave frequency and the natural frequency of the internal sloshing. Furthermore, the coupling mechanism between ship motions and internal sloshing is discussed.     

Sloshing in a three-dimensional rectangular tank: Numerical simulation and experimental validation

Pressure variations and three-dimensional effects on liquid sloshing loads in a moving partially filled rectangular tank have been carried out numerically and experimentally. A numerical algorithm based on the volume of fluid (VOF) technique is used to study the non-linear behavior and damping characteristics of liquid sloshing. A moving coordinate system is used to include the non-linearity and avoid the complex boundary conditions of moving walls. The numerical model solves the complete Navier–Stokes equations in primitive variables by using of the finite difference approximations. In order to mitigate a series of discrete impacts, the signal computed is averaged over several time steps. In order to assess the accuracy of the method used, computations are compared with the experimental results. Several configurations of both baffled and unbaffled tanks are studied. Comparisons show good agreement for both impact and non- impact type slosh loads in the cases investigated.     

Energy dissipation in sloshing waves in a rolling rectangular tank — III. Results and applications

The hydrodynamic aspects of the motion of a viscous fluid having a free surface in a rolling tank have been investigated. In a sequence of three papers, an analytical technique together with a numerical solution method will be presented to describe the sloshing phenomenon accurately and efficiently. This first paper introduces a linear theory of viscous liquid sloshing and formulates a boundary value problem subject to appropriate conditions. Viscosity is included in the problem formulation and its effects are properly accounted for. The second paper will describe a solution of the problem in function space by the truncation of infinite series. Boundary conditions are satisfied through the use of Fourier series expansions. However, the no-slip condition at the side walls can also be treated in a least-squares sense.Among the results that will be reported in the third paper are the effects of viscosity on liquid sloshing phenomenon and the dependence of viscous dissipation on the Reynolds and Froude numbers. Furthermore, the influence of the tank aspect ratio on viscous dissipation has been explored. These results demonstrate some unknown features of the functional relationships that exist between the dissipated energy and the Reynolds and Froude numbers. Similarly, the dependence of the dissipated energy on the aspect ratio has been analytically studied. The results obtained agree with the physical laws for the range of parameters investigated.     

Wave propagation in a fully nonlinear numerical wave tank: A desingularized method

The problem of wave propagation in a fully nonlinear numerical wave tank is studied using desingularized boundary integral equation method coupled with mixed Eulerian–Lagrangian formulation. The present method is employed to solve the potential flow boundary value problem at each time step. The fourth-order predictor–corrector Adams–Bashforth–Moulton scheme is used for the time-stepping integration of the free surface boundary conditions. A damping layer near the end-wall of wave tank is added to absorb the outgoing waves with as little wave reflection back into the wave tank as possible. The saw-tooth instability is overcome via a five-point Chebyshev smoothing scheme. The model is applied to several wave propagations including solitary, irregular and random incident waves.     

Nonlinear modeling of liquid sloshing in a moving rectangular tank

A nonlinear liquid sloshing inside a partially filled rectangular tank has been investigated. The fluid is assumed to be homogeneous, isotropic, viscous, Newtonian and exhibit only limited compressibility. The tank is forced to move harmonically along a vertical curve with rolling motion to simulate the actual tank excitation. The volume of fluid technique is used to track the free surface. The model solves the complete Navier–Stokes equations in primitive variables by use of the finite difference approximations. At each time step, a donor–acceptor method is used to transport the volume of fluid function and hence the locations of the free surface. In order to assess the accuracy of the method used, computations are verified through convergence tests and compared with the theoretical solutions and experimental results.     

Energy dissipation in sloshing waves in a rolling rectangular tank—I. Mathematical theory

The hydrodynamic aspects of the motion of a viscous fluid having a free surface in a rolling tank have been investigated. In a sequence of three papers, an analytical technique together with a numerical solution method will be presented to describe the sloshing phenomenon accurately and efficiently. This first paper introduces a linear theory of viscous liquid sloshing and formulates a boundary value problem subject to appropriate conditions. Viscosity is included in the problem formulation and its effects are properly accounted for. The second paper will describe a solution of the problem in function space by the truncation of infinite series. Boundary conditions are satisfied through the use of Fourier series expansions. However, the no-slip condition at the side walls can also be treated in a least-squares sense.Among the results that will be reported in the third paper are the effects of viscosity on liquid sloshing phenomenon and the dependence of viscous dissipation on the Reynolds and Froude numbers. Furthermore, the influence of the tank aspect ratio on viscous dissipation has been explored. These results demonstrate some unknown features of the functional relationships that exist between the dissipated energy and the Reynolds and Froude numbers. Similarly, the dependence of the dissipated energy on the aspect ratio has been analytically studied. The results obtained agree with the physical laws for the range of parameters investigated.     

Roll performance of a small fishing vessel with live fish tank

The concept of live fish tanks in trawlers is to use the catch in a better condition and to reduce marine pollution. It also reduces the infrastructure meant to freeze the catch to preserve it for longer period. But the presence of additional free surface in the vessel challenges the stability of the vessel. This is besides the sloshing effect due to the moving liquid mass in the tank. Roll motions are initiated due to various factors related to the hull characteristics of the vessel, loading and operating conditions and its interaction with the environment. Location of fish tank, its orientation, arrangement of baffles inside the tank to reduce the free surface affects and careful design of tank opening are to be given priority during the design, manufacturing and tank testing. The results obtained from tank test of model are compared with that of analytical method. The non-linear roll performance become further complicated due to the free surface and sloshing effects of the mass in the live fish tank. Wave makers are used for generating waves under laboratory conditions compatible with the scaled down model of the trawler model. The tests are conducted in the towing tank of Pusan National University.     

Effects of perforated baffle on reducing sloshing in rectangular tank: Experimental and numerical study

A liquid sloshing experimental rig driven by a wave-maker is designed and built to study liquid sloshing problems in a rectangular liquid tank with perforated baffle. A series of experiments are conducted in this experimental rig to estimate the free surface fluctuation and pressure distribution by changing external excitation frequency of the shaking table. An in-house CFD code is also used in this study to simulate the liquid sloshing in three-dimensional （3D） rectangular tank with perforated baffle. Good agreements of free surface elevation and pressure between the numerical results and the experimental data are obtained and presented. Spectral analysis of the time history of free surface elevation is conducted by using the fast Fourier transformation.     

容器固有频率对液体晃荡的影响

针对矩形容器内液体晃荡问题,采用了时域高阶边界元方法建立自由水面满足完全非线性边界条件的数学模型。求解中采用混合欧拉-拉格朗日方法追踪流体瞬时水面,运用四阶龙格库塔方法更新下一时间步的波面和速度势。通过将计算得到的波面结果与实验数据、解析解和已发表结果对比,吻合良好,验证了本方法的准确性。进而采用谱分析方法分析了波面时间历程,得到容器各阶固有频率对液体晃荡的影响。研究发现,基频对液体晃荡的影响最大,且非线性越强,更高阶容器固有频率的影响越大。