A Unified Computational Method for Simulating Dynamic Behavior of Planing Vessels

High speed planing hulls have complex hydrodynamic behaviors. The trim angle and drafts are very sensitive to speed and location of the center of gravity. Therefore, motion simulation for such vessels needs a strong coupling between rigid body motions and hydrodynamic analysis. In addition, free surface should be predicted with good accuracy for each time step. In this paper, velocity and pressure fields are coupled by use of the fractional step method. On the basis of integration of the two-phase viscous f...     

Towards simulation of 3D nonlinear high-speed vessels motion

A numerical simulation algorithm based on the finite volume discretisation is presented for analyzing ship motions. The algorithm employs a fractional step method to deal with the coupling between the pressure and velocity fields. The free surface capturing is fulfilled by using a volume of fluid method in which the interface between the liquid (water) and gas (air) phases are computed by solving a scalar transport equation for the volume fraction of the liquid phase. The computed velocity field is employed to evaluate the acting forces and moments on the vessel. Using the strategy of boundary-fitted body-attached mesh and calculating all six degrees-of-freedom of motion in each time step, time history of ship motions including displacements, velocities and accelerations are evaluated.To verify the proposed algorithm, a series of verification tests are conducted. First, a two-dimensional asymmetrical wedge slamming is simulated as a simple type of a common case for high-speed vessels. Then, the steady-state forward motion of a high-speed planing catamaran is investigated. Results of both test cases show good agreement with experimental data. It is concluded that the proposed algorithm can be a promising strategy for both performance prediction and design of high-speed vessels.     

Theoretical prediction of running attitude of a semi-displacement round bilge vessel at high speed

Running attitudes of semi-displacement vessels are significantly changed at high speed and thus have an effect on resistance performance and stability of the vessel. There have been many theoretical approaches about the prediction of running attitudes of high-speed vessels in calm water. Most of them proposed theoretical formulations for the prismatic hard-chine planing hull. In this paper, running attitudes of a semi-displacement round bilge vessel are theoretically predicted and verified by high-speed model tests. Previous calculation methods for hard-chine planing vessels are extended to be applied to semi-displacement round bilge vessels. Force and moment components acting on the vessel are estimated in the present iteration program. Hydrodynamic forces are calculated by ‘added mass planing theory’, and near-transom correction function is modified to be suitable to a semi-displacement vessel. Next, ‘plate pressure distribution method’ is proposed as a new hydrodynamic force calculation method. Theoretical pressure model of the 2-dimensional flat plate is distributed on the instantaneous waterplane corresponding to the attitude of the vessel, and hydrodynamic force and moment are estimated by integration of those pressures. Calculations by two methods show good agreements with experimental results.     

Hydrodynamic analysis techniques for high-speed planing hulls

A planing hull is a marine vessel whose weight is mostly supported by hydrodynamic pressures at high-speed forward motion. Its high-speed character has made it popular and thus the interest for planing hulls for military, recreational and racing applications is progressively rising. The design and analysis procedure for high-speed planing hulls, due to their performance and speed requirements, is very important. Access to a fast, accurate technique for predicting the motion of these hulls plays a significant role in improvement in this field. Over the past several decades, numerous investigations have been done on hydrodynamic analysis of high-speed planing hulls. In this study, the existing techniques for analysis of these hulls are reviewed. Understanding the strengths and limitations of these techniques will help researchers and engineers select the most appropriate method for optimal design and analysis of a hull. To present a comprehensive study on the existing techniques, they are classified into two major categories: analytical–experimental and numerical techniques. The numerical techniques are further divided into methods for boundary value problems and domain-dependent problems. Each technique is applicable only for a limited range of cases.     

The influence of hull form on the motions of high speed vessels in head seas

Prediction of ship motions at high Froude number is carried out using a time domain strip theory in which the unsteady hydrodynamic problem is treated in terms of the motion of fixed strips of the water as hull sections pass through it. The Green function solution is described and the integration of the ship motion carried out by an averaging method to ensure stability of the solution. The method is validated by comparison with tank data for conventional slender hulls suitable for catamarans, small water area twin hull (SWATH) forms and hulls suitable for high-speed monohulls. Motion computations are then carried out for 14 designs with an operating speed of 40 kts and a displacement of 1000 tonnes. The vessels are assumed not to be fitted with motion control systems for the purposes of this comparative study. Motion sickness incidence is predicted to rise to between 42 and 72% depending upon the hull design in 3 m head seas of average period 7.5 s. MSI values reduce in smaller seas with a shorter average period to be less than 15% in all cases in 1m seas with an average period of 5.5 s.     

基于Savitsky法滑行艇航行姿态参数影响研究

高速滑行艇处于滑行状态时的阻力性能一直是滑行艇水动力性能研究的重点和难点。首先采用半经验半理论的Savitsky法对棱柱形滑行艇的航行姿态与阻力进行研究分析,计算纵倾结果与试验结果吻合良好。然后改变滑行艇的长宽比、重心纵向位置与底部斜升角参数,进一步研究三种参数变化对滑行艇航行姿态与阻力性能的影响。研究结果表明:基于半经验半理论的Savitsky方法可用于棱柱形滑行艇的阻力性能分析;在高速阶段,长宽比、重心纵向位置与底部斜升角参数对阻力影响较大。     

Study of the motions of fishing vessels by a time domain panel method

In this paper, a wide variety of computed motion results is presented for three existing fishing vessels. In order to do that, time domain computations of 3D ship motions are performed with a time domain Green's function. The computational method adopted is based on a previously developed one, whose numerical scheme here is subjected to modifications that increase its robustness and overall efficiency, so that it can be applied to calculate the motions of fishing vessels. The results are then compared with simulations using WAMIT for the zero speed case, and a strip theory method is used to determine the effect of forward speed. Results are presented for head seas, quartering head waves and following waves with three distinct Froude numbers.     

扁平潜器微速操纵性研究

针对扁平潜器的特点建立了其微速操纵性运动方程,提出了忽略攻角、漂角与旋转角速度耦合影响的水动力模型,由拖曳水池模型试验确定了攻角、漂角水动力,近似估算了旋转水动力.在主辅推进器的PD控制下,数值仿真计算了水平面航向保持与改变、垂直面潜浮的微速运动控制.     

Numerical solution of the asymmetric water impact of a wedge in three degrees of freedom

Impact problems associated with water entry have important applications in various aspects of naval architecture and ocean engineering. Estimation of hydrodynamic impact forces especially during the first instances after the impact is very important and is of interest. Since the estimation of hydrodynamic impact load plays an important role in safe design and also in evaluation of structural weight and costs, it is better to use a reliable and accurate prediction method instead of a simple estimation resulted by analyzing methods. In landing of flying boats, some phenomena such as weather conditions and strong winds can cause asymmetric instead of symmetric descent. In this paper, a numerical simulation of the asymmetric impact of a wedge, as the step of a flying boat, considering dynamic equations in two-phase flow is taken into account. The dynamic motion of the wedge in two-phase flow is solved based on finite volume method with volume of fluid (VOF) scheme considering dynamic equations. Then the effects of different angles of impact and water depth on the velocity change and slamming forces in an asymmetric impact are investigated. The comparison between the simulation results and experimental data verifies the accuracy of the method applied in the present study.     

Numerical analysis of the influence of fixed hydrofoil installation position on seakeeping of the planing craft

This paper analyzes the hydrodynamic performance of a planing craft with a fixed hydrofoil in regular waves. Numerical simulations are carried out based on a RANS-VOF solver to study the hydrodynamic performance of the planing craft and the influence of the fixed hydrofoil on its seakeeping. To validate the numerical method, a series of hydrodynamic experiments of a bare planing craft without the hydrofoil were carried out, from which the seakeeping performance of the planing craft was recorded, the numerical method based on overset grid was compared with the experiment and verified reliable. Eight hydrofoil design cases were then studied, whereby, their seakeeping performance in regular wave conditions were predicted through the numerical method which has been verified reliable and compared with each other. Effects of hydrofoil parameters, such as angle of attack and installation height, on the seakeeping performance were investigated. Finally, the suitable installation parameters which can optimize the performance of hydrofoil and reduce the negative influence are verified. The influence of the speed on the effect of the hydrofoil and the flow field around the planing craft are also investigated.     

Numerical simulation of impact loads using a particle method

The violent free-surface motions interacting with structures are investigated using the moving particle semi-implicit (MPS) method, which was originally proposed by Koshizuka and Oka (1996) for incompressible flow simulation. In the present numerical method, a more efficient algorithm for Lagrangian moving particles is used for solving various highly nonlinear free-surface problems without using the Eulerian approach or the grid system. Therefore, the convection terms and time derivatives in the Navier–Stokes equation can be calculated more directly without any numerical diffusion, instabilities, or topological failure. In particular, the MPS method is applied to the simulation of liquid-entry and slamming problems, such as wet-drop (liquid–liquid collision) tests in an LNG tank and slamming loads (solid–liquid collision) on rigid plates with various incident angles. The numerical results are in good agreement with available experimental data.     

An investigation on the vertical motion sickness characteristics of a high-speed catamaran ferry

Low frequent motions of vessel may cause motion sickness in rough seas. These undesirable effects induce fatigue of crews during the navigation. The motion sickness is always an important criterion for the high-speed craft design. Modern ferry designs have been marketed with a great emphasis on the seakeeping performance. This research has been carried out by investigating the results on the vertical motion sickness incidence (MSI) study for a 40 m wave-piecing catamaran at seas. The primary purpose of this research is to investigate the vertical motion sickness characteristics of a high-speed catamaran ferry. Two mathematical models, three-dimensional translating–pulsating source distribution technique and three-dimensional pulsating source distribution technique, are used for predicting the vertical acceleration responses of the wave-piecing catamaran in oblique waves. The comparison between numerical predictions and experimental data shows a good agreement except that around the pitch resonance region in FP vertical acceleration motions. Based on the experimental observation, the discrepancies may be caused by the nonlinear effects of centre bow during large pitch motions in waves. The comfort assessments are based on the ISO-2631/1997 standard with the hydrodynamic analysis for determining the acceleration levels in different locations on the vessel. The effects of seating location, wave heading and duration of motion exposure on seasickness are discussed.     

A time-domain prediction method of ship motions

A time-domain analysis is used to predict wave loading and motion responses for a ship traveling at a constant speed in regular oblique waves. Considered as a distribution of normal velocities on the wetted hull surface, the combined diffraction and radiation perturbations caused by the forward moving ship and her motions are determined simultaneously. This way, the ship-hull boundary condition is exactly fulfilled. The 3-D time domain Green's function is used to express the combined diffraction/radiation potential in terms of impulsive and memory potentials. Application of the Bernoulli equation yields the pressure distribution and accordingly, the necessary hydrodynamic forces. The equations of motion of the ship are then developed and solved in the time domain.Forces and motions at forward speed are predicted for a Wigley ship-hull in head waves and for a catamaran-ferry in oblique waves. Comparison is made with published theoretical and experimental results for the Wigley ship-hull, and the agreement is good. For the catamaran, a self-propelled model is built and tested both in a large towing tank and in a seakeeping basin in order to measure the six-degrees-of-freedom forces, moments and motions at forward speed in regular waves of different directions. For the longitudinal motions, the agreement between measurements and predictions is generally good. For the transverse motions, however, acceptable discrepancy exists. The discrepancy is thought to be mainly due to the exclusion from the analysis of the rudder forces and viscous damping. The inclusion of such nonlinear effects in the time domain simulation involves complex analysis and this problem is left to a future research.     

Numerical and Experimental Investigation of Interactions Between Free-Surface Waves and A Floating Breakwater with Cylindrical-Dual/Rectangular-Single Pontoon

This paper investigates the hydrodynamic performance of a cylindrical-dual or rectangular-single pontoon floating breakwater using the numerical method and experimental study. The numerical simulation work is based on the multi-physics computational fluid dynamics (CFD) code and an innovative full-structured dynamic grid method applied to update the three-degree-of-freedom (3-DOF) rigid structure motions. As a time-marching scheme, the trapezoid analogue integral method is used to update the time integration combined with remeshing at each time step. The application of full-structured mesh elements can prevent grids distortion or deformation caused by large-scale movement and improve the stability of calculation. In movable regions, each moving zone is specified with particular motion modes (sway, heave and roll). A series of experimental studies are carried out to validate the performance of the floating body and verify the accuracy of the proposed numerical model. The results are systematically assessed in terms of wave coefficients, mooring line forces, velocity streamlines and the 3-DOF motions of the floating breakwater. When compared with the wave coefficient solutions, excellent agreements are achieved between the computed and experimental data, except in the vicinity of resonant frequency. The velocity streamlines and wave profile movement in the fluid field can also be reproduced using this numerical model.     

Feedback Stabilization of High-Speed Planing Vessels by a Controllable Transom Flap

This paper focuses on the mitigation of porpoising instability of high-speed planing vessels using controllable transom flap and dynamic feedback. A control oriented model that captures both steady-state and dynamic characteristics is presented and used to facilitate the model-based control design. A nonlinear controller is developed based on the feedback linearization method to achieve asymptotic stability of the planing boat, thus avoiding porpoising at high speeds. We first show that the full-state nonlinear dynamic model describing the ship motion is not feedback linearizable. A state transformation is then constructed to decompose the model into a linearizable subsystem and a nonlinear internal dynamic subsystem. A reduced order state feedback is shown next to stabilize the planing vessel motion around the equilibrium point. Analysis of the region of attraction is also performed to provide an assessment of the effective safe operating range around the equilibrium point.     

Motions and slamming impact on catamaran

Prediction of craft motions and the dynamic loads acting on a catamaran hull are of great importance to the designer. This paper presents the motions of a Vosper International catamaran in head seas with and without forward speed. Two approaches are used—strip theory and the 3D pulsating source method. A method to predict slamming loads acting on this catamaran section using Computational Fluid Dynamics is presented. The loads acting on catamaran hulls and the cross structure are illustrated.     

Coupled dynamic analysis for wave interaction with a truss spar and its mooring line/riser system in time domain

A full time-domain analysis program is developed for the coupled dynamic analysis of offshore structures. For the hydrodynamic loads, a time domain second order method is developed. In this approach, Taylor series expansions are applied to the body surface and free-surface boundary conditions, and the Stokes perturbation procedure is then used to establish the corresponding boundary value problems with time-independent boundaries. A higher-order boundary element method (HOBEM) is developed to calculate the velocity potential of the resulting flow field at each time step. The free-surface boundary condition is satisfied to the second order by fourth order Adams–Bashforth–Moultn method. An artificial damping layer is adopted on the free surface to avoid the wave reflection. The mooring-line/tendon/riser dynamics are based on the rod theory and the finite element method (FEM), with the governing equations described in a global coordinate system. In the coupled dynamic analysis, the motion equation for the hull and dynamic equations for mooring-lines/tendons/risers are solved simultaneously using the Newmark method. The coupled analysis program is applied for a truss Spar motion response simulation. Numerical results including motions and tensions at the top of mooring-lines/risers are presented, and some significant conclusions are derived.     

Hydrodynamic assessment of planing hulls using overset grids

In conjunction with high performance computers, recent developments in computational science paved the path to more accurate representation of body motions inside fluids. Small motions inside the flow can be computationally approximated by using rigid body motion but it is incapable of accurately predicting the large motions of a planing vessel. The implementation of overset grid has made it possible to better approximate the complex fluid-structure interaction problem of the planing regime. The focus of this study was to evaluate the opportunity of using an overset grid system to numerically solve the flow around a planing hull and to understand the planing regime with this invaluable tool. It was shown in this study that the overset grid better captures the large motions of the planing hull at high Froude numbers. Then, the results obtained by overset grid were used to calculate the resistance components of a planing hull in a wide Froude number range. The resistance components were discussed with respect to values generated by Savitsky approach. Using the benefits that the computational science brings, the flow was visualized to explain some underlying physics relevant to the planing regime.     

New Method for Predicting the Motion Responses of A Flexible Joint Multi-Body Floating System to Irregular Waves

A new hybrid method of frequency domain and time domain is developed in this paper to predict the motion responses of a flexibly joint multi-body floating system to irregular waves. The main idea of the method is that the three-dimensional frequency method is used to obtain the hydrodynamic coefficients and the response equations are solved in time domain step by step. All the forces can be obtained at the same time. The motions and nonlinear mooring forces of a box type six-body floating system are predicted. A comparison of the theoretical method-based solutions with experimental results has shown good agreement.     

On the motions of the underwater remotely operated vehicle with the umbilical cable effect

In this paper, a hydrodynamic model is developed to simulate the six degrees of freedom motions of the underwater remotely operated vehicle (ROV) including the umbilical cable effect. The corresponding hydrodynamic forces on the underwater vehicle are obtained by the planar motion mechanism test technique. With the relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is then adopted to solve the equations of motions of the ROV and the configuration of the umbilical cable. The multi-step shooting method is also suggested to solve the two-end boundary-value problem on the umbilical cable with respect to a set of first-order ordinary differential equation system. All operation simulations for the ROV including forward moving, ascending, descending, sideward moving and turning motions can be analyzed, either with or without umbilical cable effect. The current effect is also taken into consideration. The present results reveal that the umbilical cable indeed significantly affects the motion of the ROV and should not be neglected in the simulation.