Analysis of loads,motions and cavity dynamics during freefall wedges vertically entering the water surface

In this paper, theoretical models are developed and numerical methods are used to analyze the loads, motions and cavity dynamics for freefall wedges with different deadrise angles vertically entering the water surface at Froude numbers: 1 ≤ Fn < 9. The time evolutions of the penetration depth, the velocity and the acceleration are analyzed and expressed explicitly. The maximum and average accelerations are predicted. The theoretical results are compared with numerical data obtained through a single-fluid BEM model with globally satisfactory agreement. The evolution of the pressures on the impact side is investigated. Before flow separation, gravity and the acceleration of the wedge have negligible influence on the pressure on the impact side for large Froude numbers or small deadrise angles; with increasing the deadrise angle or decreasing Froude number, the effects of gravity and the acceleration of the wedge tend to become more important. Global loads, with the main emphasis on the drag coefficient, are also studied. It is found that for the light wedge, the transient drag coefficient has slow variation in the first half of the collapse stage and rapid variation in the last half of the collapse stage. For the heavy wedge, the transient drag coefficients vary slowly during the whole collapse stage and can be treated as constant. The characteristics of the transient cavity during its formation are investigated. The non-dimensional pinch-off time, pinch-off depth and submergence depth at pinch-off scale roughly linearly as the Froude number.     

楔形体在波浪中自由入水的数值模拟

物体入水时波浪的影响不可忽略,基于流体力学模型采用VOF法,并利用自定义函数,模拟了楔形体的自由入水过程;同时结合推波板原理及海绵层消波理论实现了数值水槽的造消波,完成了波浪中楔形体自由入水的模拟,计算了楔形体入水时所受的水作用力、自由液面变化及物面压强分布等,研究了不同波高、周期以及在波浪不同位置入水时对楔形体的影响。结果表明:本文建立的数值模型可很好地模拟楔形体入水造成的射流及空泡的形成发展过程,波浪对楔形体入水的影响主要由波浪内部流场变化及表面波形决定,在波浪不同位置处入水对楔形体受力及入水形态均有较大影响。     

Computation of wet deck bow slam loads for catamaran arched cross sections

A computational model for catamaran wet deck slamming is developed on the basis of the variation of added mass as the hulls enter the water. In the case of a wave-piercing catamaran the bow cross section has a double arch cross section and slamming occurs when the arches fill. Residual air is entrained at the top of the arch due to bubble formation by turbulent mixing and this modifies the effect of the water added mass on the hull. The computational model therefore introduces a soft connection between the water added mass associated with the slam and the hull. The method has been evaluated by comparison with two-dimensional model drop tests in terms of the maximum forces and acceleration imposed on the hull, the variation of velocity during the slam event and the depth of penetration into the water. It is concluded that the added mass computation is adequate for slam modelling in global motions and loads calculations since it gives a good representation of the maximum total forces on the section and their duration.     

Trajectory model for vertical sphere water-entry in presence of deep-seal cavity

This study presents a piecewise model for determining the vertical distance and velocity evolution with time for a sphere impacting a water surface and submerging to depths beyond deep-seal cavity pinch-off. Experimental data taken with a high-speed camera are presented for varying sphere mass ratios and impact velocities. The semi-empirical model incorporates results from previously published research and is shown to be in good agreement with experiments for heavier spheres but deviates when the sphere is only slightly denser than water. Two causes for the deviation are presented which relate to the dynamics of the cavity pinch-off event and the inception of a trailing vortex ring after the trailing cavity sloughs from the sphere. A model for predicting cavity pinch-off time and sphere position and velocity at the moment of cavity pinch-off is shown to agree well with experimental results for varying sphere mass ratios and impact velocities. The key experimental values are provided for comparison with current and future modeling efforts.     

A two-dimensional analytical model of vertical water entry for asymmetric bodies with flow separation

The vertical water entry of asymmetric two-dimensional bodies with flow separation is considered. As long as there is no flow separation, linearised Wagner's theory combined with the modified Logvinovich model has been shown to provide computationally fast and reliable estimates of slamming loads during water entry. Tassin et al. [11] introduced the fictitious body continuation (FBC) concept as a way to extend the use of Wagner's model to separated flow configurations, but they only considered symmetric bodies. In the present study, we investigate the ability of the FBC concept to provide accurate estimates of slamming loads for asymmetric bodies. In this case, flow separation may not occur simultaneously on both sides of the body. During an intermediate phase, slamming loads are governed by a competition between the local drop in pressure due to partial flow separation and the ongoing expansion of the wetted area. As a first benchmark for the model, we consider the water entry of an inclined flat plate and compare the FBC estimates with the results of a nonlinear model. Then, we consider the case of a foil and compare the FBC results with computational fluid dynamics predictions. In both cases, we find that the FBC model is able to provide reliable estimates of the slamming loads.     

Momentum and gravity effects during the constant velocity water entry of wedge-shaped sections

Computational fluid dynamics analysis was used to investigate the added mass momentum, flow momentum and gravity effects during the constant velocity water entry of wedge-shaped sections with deadrise angles from 5° to 45°. It is shown that the added mass continues to increase for a time after chine immersion and that added mass can be estimated in terms of a constant added mass coefficient and an effective wetted width. A momentum theory is presented in which the water entry force is explained as the sum of the rate of change of added mass momentum, which becomes zero at immersion to chine depth ratios greater than about three, and the rate of change of flow momentum, which continues at deep immersions. The effect of gravity on the water entry force is given as the hydrostatic force together with the force necessary to create the potential energy in the water pile up. Hydrodynamic forces are not significantly changed by the effect of gravity on the flow fields.     

A combined wind and wave energy-converter concept in survival mode: Numerical and experimental study in regular waves with a focus on water entry and exit

A combined wind and wave energy converter concept, named STC concept was proposed. Model tests were performed in terms of operational and survival modes. Water entry and exit phenomena as well as green water on deck were observed during the survivability model tests. In this paper, a nonlinear numerical model based on a blended station-keeping potential-flow solver with a local impact solution for bottom slamming events and an approximated model for the water shipped on the deck is proposed to simulate these nonlinear phenomena. Physical investigation of the water entry and exit process was firstly carried out and uncertainty analysis of the model test results were performed. Numerical comparisons between the nonlinear solver and model test results are then performed in terms of mean, wave frequency and double wave frequency motion response components. The slamming and green water involved in the water entry process are specially investigated, in terms of the physical evolution and the effects on the dynamic motion responses. The validation work on the occurrence of slamming and water on deck as well as the slamming pressure are performed.     

Experimental and numerical investigation of a freefall wedge vertically entering the water surface

Experiments and numerical methods are developed to investigate the water entry of a freefall wedge with a focus on the evolution of the pressure on the impact sides (the side contacting water) and the top side (the dry side on the top of the wedge), evolution of the global hydrodynamic loads, evolution of the air–water interface, and wedge motion. It is found that a typical water entry of a freefall wedge can be divided into slamming, transition, collapse and post-closure stages. A single-fluid numerical model is presented to simulate the first three stages. The results are compared to experiments and good agreements are obtained. A two-fluid BEM is proposed to investigate the influence of the air flow before the closure of the cavity created on the top of the wedge. It is found that for the closure of the 2D cavity, the air flow starts to play an important role just before closure but due to the short duration, the influence of air flow on the body velocity and configuration of the air–water interface is limited.     

An experimental study on water entry of asymmetric wedges

The aim of the paper is to provide an experimental reference for investigation of asymmetric water entry of wedges. Parameters of the study include initial deadrise angle, inclination angle and impact speed. Initial deadrise angles of the wedges were 20° and 30° with inclination angles ranging from 0° to 15° in 5° increments. Wedges were freely fallen from three different heights. Time histories of impact pressure and body acceleration were recorded. Sampling rate of measurements were set to 25 KHz. Main configuration of each test including mass of the wedge and water level were kept unchanged during all experiments. Additionally, several calibration tests were conducted to assess the repeatability and accuracy of the recorded data. The experimental results are compared with different entry theories and other available experiments. The comparison shows a reasonable agreement and indicates that the inclination angle can dramatically affect the impact pressure experienced by the wedges. Finally, the results show that the traditional asymmetric theories are not appropriate for all inclination angles.     

Numerical simulation of oblique water entry of an asymmetrical wedge

The hydrodynamic problem of a two-dimensional asymmetrical wedge entering calm water obliquely at constant speed is analyzed based on the velocity potential theory. The gravity effect on the flow is ignored based on the assumption that the ratio of the entry speed to the acceleration due to gravity is much larger than the time scale of interest. The problem of this similarity flow is solved by a boundary element method together with an analytical solution for the jet based on the shallow water approximation. Various results are provided for the wave elevation, pressure distribution and force at different deadrise angles and at different oblique entry. The effects of asymmetry and horizontal speed on these results are investigated.     

水深对超大型FPSO波浪载荷响应影响试验研究

随着超大型浮式生产储卸油装置FPSO（floating production storing and offloading）在渤海浅水海域的广泛应用,水深对FP—SO波浪载荷响应的影响问题突现出来。对缩尺比为1：100的三模块分节模型进行了水深对超大型FPSO波浪载荷响应影响的试验研究,试验结果表明水深对FPSO波浪诱导载荷的影响很大。     

Improved numerical solution of Dobrovol'skaya's boundary integral equations on similarity flow for uniform symmetrical entry of wedges

Dobrovol'skaya [1] presented a similarity solution for the water entry of symmetrical wedges with constant velocity. The solution involves an integral equation that becomes increasingly harder to numerically solve as the deadrise angle decreases. Zhao and Faltinsen [2] were able to present reliable results for deadrise angles down to 4°. In this paper, Zhao and Faltinsen's results are improved and reliable results for deadrise angles down to 1° are confirmed by comparing to the asymptotic solutions at small deadrise angles and the solutions by the traditional boundary element method at relatively large deadrise angles. The present similarity solution results provide a reference solution in theoretical studies of water entry problems and in developing accurate numerical solvers for simulating strongly nonlinear wave–body interactions, which flows are governed by Laplace equation or Euler equation.     

小型水下自航行器自沉浮装置设计与研究

文中对水下自航行器(Autonomous Underwater Vehicle,简称AUV)的自沉浮装置进行了详细设计与研究。通过对已有的自沉浮装置方案进行对比研究,设计了以高压气体吹除压载水舱的新型自沉浮装置,该装置具有结构简单、可靠性高和可维护性好的特点,并可实现模块化设计。最后,对装置的主要设计参数进行了计算与优化。     

Numerical analysis of shipping water impact on a deck using a particle method

The objective of this study is to simulate three-dimensional behavior of shipping water and to predict the impact pressure on the deck using a particle method. An experiment carried out in a two-dimensional wave tank with a fixed deck model was numerically analyzed in three dimensions. The fluid motion, the surface elevation, and the impact pressure on the deck were compared between the experiment and the calculation and good agreement was obtained.     

Numerical and experimental study on seakeeping performance of ship in finite water depth

Vessels operating in shallow waters require careful observation of the finite-depth effect. In present study, a Rankine source method that includes the shallow water effect and double body steady flow effect is developed in frequency domain. In order to verify present numerical methods, two experiments were carried out respectively to measure the wave loads and free motions for ship advancing with forward speed in head regular waves. Numerical results are systematically compared with experiments and other solutions using the double body basis flow approach, the Neumann-Kelvin approach with simplified m-terms, and linearized free surface boundary conditions with double-body m-terms. Furthermore, the influence of water depths on added mass and damping coefficients, wave excitation forces, motions and unsteady wave patterns are deeply investigated. It is found that finite-depth effect is important and unsteady wave pattern in shallow water is dependent on both of the Brard number τ and depth Froude number F_h.     

可着陆式水下机器人的多体动力学建模与仿真

可着陆式水下机器人由于变浮力机构的设计要求,其外形与结构较之传统的水下航行器更为复杂。在设计阶段对可着陆式水下机器人进行仿真和操纵性分析具有重要意义。文中采用多体系统动力学方法分析可着陆式水下机器人动力学特性,将作用在系统各组成部分上的流体动力、推进力以及其它作用力分别计算和考虑,建立了多体动力学模型,并进行了三维空间运动仿真。该方法为具有较复杂附体结构的水下机器人设计和动力学仿真提供了有效途径。     

Wedge impact with the influence of ice

This work presents a canonical study on a wedge entering water near a single piece of ice using computational-fluid-dynamics (CFD) and a Wagner-type theoretical model with corrections for non-linear effects. Calculations for a series of conditions with ice of different sizes and locations relative to the wedge are conducted. The hydrodynamic force due to impact, the pressure distribution on the wedge surface, and the pile-up phenomenon are examined to study the role of ice in the impact process. The theoretical model is shown to be accurate and can serve as a useful method to assess slamming loads under the influence of ice. It is shown that even for the case of a small piece of ice, the slamming force on the wedge can increase by 30%.     

Object detection and tracking method of AUV based on acoustic vision

This paper describes a new framework for object detection and tracking of AUV including underwater acoustic data interpolation, underwater acoustic images segmentation and underwater objects tracking. This framework is applied to the design of vision-based method for AUV based on the forward looking sonar sensor. First, the real-time data flow (underwater acoustic images) is pre-processed to form the whole underwater acoustic image, and the relevant position information of objects is extracted and determined. An improved method of double threshold segmentation is proposed to resolve the problem that the threshold cannot be adjusted adaptively in the traditional method. Second, a representation of region information is created in light of the Gaussian particle filter. The weighted integration strategy combining the area and invariant moment is proposed to perfect the weight of particles and to enhance the tracking robustness. Results obtained on the real acoustic vision platform of AUV during sea trials are displayed and discussed. They show that the proposed method can detect and track the moving objects underwater online, and it is effective and robust.     

An accurate and efficient SPH modeling of the water entry of circular cylinders

The present work is dedicated to the enhancement and application of the recently developed δ⁺-SPH scheme for two and three dimensional water entry problems. The cylinder surface presents a circular shape and therefore the position where the flow separation happens is tightly related to the implementation of the boundary condition. A special treatment for the particle shifting between fluid and solid wall is highlighted. Adaptive particle refinement (APR) is applied in this work to reduce the computational cost. It is found that, APR and the δ⁺-SPH scheme benefit to each other. That is to say the former reduces the computing cost of the latter while in return the latter solves the problem of particle disorder of the inactive particles of the former. Thanks to the combination of APR and δ⁺-SPH especially in three dimensional (3D) cases, the overall computational cost is significantly reduced while sufficiently fine particle resolution can be obtained in the flow region characterized by large pressure gradient close to the structure surface. The fairly good agreements between the SPH results and the experimental data prove the present SPH model to be a reliable tool in accurately solving the fluid–structure interacting problems in ocean engineering.     

AUV总体概念设计中的多学科和多目标优化研究

针对水下自主式航行器(AUV)在总体概念设计阶段的多学科和多目标优化问题进行了研究。基于MDO的概念将AUV的设计要求分解为系统控制层和5个子系统,考虑了有效负载长度和总质量两个目标函数。采用多学科可行解方法(MDF)和多目标遗传算法(MOGA)给出了多学科的Pareto最优解,并且和经典的多目标方法进了比较。