Estimation of the Roll Hydrodynamic Moment Model of a Ship by Using the System Identification Method and the Free Running Model Test

When a fast container ship or a naval vessel turns, accompanying roll motions occur. This roll effect must be considered in the horizontal equations of the motion of the ship to predict the maneuverability of the ship properly. In this paper, a new method for determining a model structure of the hydrodynamic roll moment acting on a ship and for estimating the hydrodynamic coefficients is proposed. The method utilizes a system identification technique with the data from sea trial tests or from free running model (FRM) tests. To obtain motion data that is applied to the proposed algorithm, an FRM of a large container ship was developed. Using this model ship, standard maneuvering tests were carried out on a small body of water out of doors. A hydrodynamic roll moment model was constructed utilizing the data from turning circle tests and a 20-20 zig-zag test. This was then confirmed through a 10-10 zig-zag test. It was concluded that a model structure of the hydrodynamic roll moment model could be established without difficulty through a system identification method and FRM tests.     

The effects of yawing motion with different frequencies on the hydrodynamic performance of floating vertical-axis tidal current turbines

Under real sea conditions, the hydrodynamic performance of floating vertical-axis tidal current turbines is affected by waves and currents. The wave circular frequency is a significant factor in determining the frequencies of the wave-induced motion responses of turbines. In this study, the ANSYS-CFX software (manufacturer: ANSYS Inc., Pittsburgh, Pennsylvania, United States) is used to analyse the hydrodynamic performance of a vertical-axis turbine for different yawing frequencies and to study how the yawing frequencies affect the main hydrodynamic coefficients of the turbine, including the power coefficient, thrust coefficient, lateral force coefficient, and yawing moment coefficient. The time-varying curves obtained from the CFX software are fitted using the least-squares method; the damping and added mass coefficients are then calculated to analyse the influence of different yawing frequencies. The simulation results demonstrate that when analysing non-yawing turbines rotating under constant inflow, the main hydrodynamic coefficient time-varying curves of yawing turbines exhibit an additional fluctuation. Furthermore, the amplitude is positively correlated with the yawing frequency, and the oscillation amplitudes also increase with increasing yawing frequency; however, the average values of the hydrodynamic coefficients (except the power coefficient) are only weakly influenced by yawing motion. The power coefficient under yawing motion is lower than that under non-yawing motion, which means that yawing motion will cause the annual energy production of a turbine to decrease. The fitting results show that the damping term and the added mass term exert effects of the same level on the loads and moments of vertical-axis turbines under yawing motion. The results of this study can facilitate the study of the motion response of floating vertical-axis tidal current turbine systems in waves.     

Wave effects on ascending and descending motions of the autonomous underwater vehicle

In the paper, a hydrodynamic model including the characteristics of maneuvering and seakeeping is developed to simulate the six-degree of freedom motions of the underwater vehicle steering near the sea surface. The corresponding wave exciting forces on the underwater vehicle moving in waves are calculated by the strip theory, which is based on the source distribution method. With the hydrodynamic coefficients relevant to the maneuvering and seakeeping, the fourth-order Runge–Kutta numerical method is adopted to solve the equations of motions and six-degrees of freedom of the motions for the underwater vehicle steering near the free surface can be obtained. The wave effect on the corresponding motions of the underwater vehicle is investigated and some interesting phenomena with respect to different wave frequencies and headings are observed. The hydrodynamic numerical model developed here can be served as a valuable tool for analyzing the ascending and descending behaviors of the underwater vehicle near the sea surface.     

董家口海域水动力环境分析

根据2008年12月董家口港附近海域4个站位的实测海流资料,初步分析了研究海域的潮流场特征,同时采用数值模拟的方法对整个海区的水动力环境进行了分析,对进一步了解该海域的水动力环境具有积极的意义,为董家口港近岸海域的环境保护提供了科学依据.     

Uncertainty of full-scale manoeuvring trial results estimated using a simulation model

This paper describes how to estimate the uncertainty of manoeuvring sea trial results without performing repeated tests using only a simulation model. The approach is based on the Monte Carlo method of uncertainty propagation. Moreover, the global sensitivity analysis procedure based on variance decomposition is described. As an example, the method is applied to estimate the uncertainty of 10°/10° zigzag overshoot angles and a 20° turning circle advance and tactical diameter for a small research vessel. The estimated uncertainty is compared with corresponding experimental uncertainty assessed from repeated tests. The method can be useful for validation studies and other studies that involve the uncertainty of sea trial results.     

New model to determine forces at on-bottom slender pipelines

The present paper proposes a numerical model to determine horizontal and vertical components of the hydrodynamic forces on a slender submarine pipeline lying at the sea bed and exposed to non-linear waves plus a current. The new model is an extension of the Wake II type model, originally proposed for sinusoidal waves (Soedigdo et al., 1999) and for combined sinusoidal waves and currents (Sabag et al., 2000), to the case of periodic or random waves, even with a superimposed current. The Wake II type model takes into account the wake effects on the kinematic field and the time variation of drag and lift hydrodynamic coefficients. The proposed extension is based on an evolutional analysis carried out for each half period of the free stream horizontal velocity at the pipeline. An analytical expression of the wake velocity is developed starting from the Navier–Stokes and the boundary layer equations. The time variation of the drag and lift hydrodynamic coefficients is obtained using a Gaussian integration of the start-up function. A reduced scale laboratory investigation in a large wave flume has been conducted in order to calibrate the empirical parameters involved in the proposed model. Different wave and current conditions have been considered and measurements of free stream horizontal velocities and dynamic pressures on a bottom-mounted pipeline have been conducted. The comparison between experimental and numerical hydrodynamic forces shows the accuracy of the new model in evaluating the time variation of peaks and phase shifts of the horizontal and vertical wave and current induced forces.     

On extracting current profiles from vertically integrated numerical models

A transformation method is presented by which current profiles (of tidal or wind-induced origin) can be extracted at any horizontal position and moment in time from a vertically integrated, two-dimensional, hydrodynamic numerical model. An arbitrary vertical variation of eddy viscosity can be included in the method, which can incorporate a no-slip bottom boundary condition. The technique assumes that the sea is homogeneous.The method is used to improve the representation of bottom stress within the two-dimensional model, whereby the bottom stress is no longer related simply to the depth-mean current as in the “conventional” two-dimensional, vertically integrated model.Idealized calculations for a range of eddy viscosity profiles, show that elevations, current profiles, and time series of current extracted from this “enhanced” two-dimensional numerical model are in good agreement with currents obtained from a full three-dimensional model.     

Hull component interaction and scaling for TLP hydrodynamic coefficients

The purpose of this paper is to validate a new method that can be used by offshore platform designers to estimate the added mass and hydrodynamic damping coefficients of potential Tension Leg Platform hull configurations. These coefficients are critical to the determination of the platform response particularly to high frequency motions in heave caused by sum-frequency wave forcing i.e. “springing”. Previous research has developed the means by which offshore platform designers can extrapolate anticipated full-scale hydrodynamic coefficients based on the response of individual model scale component shapes. The work presented here further evaluates the component scaling laws for a single vertical cylinder and quantifies the effects due to hydrodynamic interaction. Hydrodynamic interaction effects are established through a direct comparison between the superposition of individual hull component coefficients and those evaluated directly from complete hull configuration models. The basis of this comparison is established by the experimental evaluation of the hydrodynamic coefficients for individual hull components as well as partial and complete platform models. The results indicate that hydrodynamic interaction effects between components are small in heave, and validate component scaling and superposition as an effective means for added mass and damping coefficient estimation of prototype platforms. It is found that the dependency of damping ratio with KC for a TLP is almost identical to that of a single column, thus offering a scaling methodology for prototype damping ratio values.     

Hydrodynamic Characteristics of Submarine Composite Pipeline in a Wave-Current Coexisting Field

-A composite pipeline is defined as a pipeline system composed of one big pipe and one or several small pipes. Based on the theory of wave- current interaction and physical model test, the hydrodynamic characteristics of the submarine composite pipeline in wave-current coexisting field (both regular and irregular waves) are investigated. The so-called "modified diameter method" is used for analyzing the in-fine hydrodynamic coefficients of the composite pipeline, which are well related to KC number. The comparison of test data for regular and irregular waves shows that in the region of 90 > KC> 20, the results in these two cases can be unified. The effect of water depth is analyzed in details. The relationships between CD, CM and KC , which are based on the results of present research, may be used as a reference in engineering design.     

Wake II model for hydrodynamic forces on marine pipelines including waves and currents

The Wake II model for the determination of the hydrodynamic forces on marine pipelines is extended to include currents and waves. There are two main differences between the Wake II and the traditional model. First, in the Wake II model the velocity is modified to include the pipe's encounter with the wake flow when the velocity reverses. Second, the model uses time dependent drag and lift coefficients. The flow field is assumed to be the linear superposition of regular waves and uniform current and is treated as wave only but in two different phases. The model requires eight empirical parameters that are obtained from comparisons with field data for various Keulegan–Carpenter numbers and current to wave ratios. The effective velocity and the force predictions are compared with field data from Exxon Production Research Company and with the conventional model. The model gives satisfactory results and predicts lift forces that in shape, magnitude and phase relative to the velocity are in very close agreement with measured forces. For the horizontal forces the results are very accurate. A substantial improvement is obtained over the predictions with the conventional model. This work is applicable to the design of submarine pipelines laying on the sea bottom in water depths where waves or waves and currents contribute to the hydrodynamic forces.     

Measures to diminish the parameter drift in the modeling of ship manoeuvring using system identification

System identification provides an effective way to predict the ship manoeuvrability. In this paper several measures are proposed to diminish the parameter drift in the parametric identification of ship manoeuvring models. The drift of linear hydrodynamic coefficients can be accounted for from the point of view of dynamic cancellation, while the drift of nonlinear hydrodynamic coefficients is explained from the point of view of regression analysis. To diminish the parameter drift, reconstruction of the samples and modification of the mathematical model of ship manoeuvring motion are carried out. Difference method and the method of additional excitation are proposed to reconstruct the samples. Using correlation analysis, the structure of a manoeuvring model is simplified. Combined with the measures proposed, support vector machines based identification is employed to determine the hydrodynamic coefficients in a modified Abkowitz model. Experimental data from the free-running model tests of a KVLCC2 ship are analyzed and the hydrodynamic coefficients are identified. Based on the regressive model, simulation of manoeuvres is conducted. Comparison between the simulation results and the experimental results demonstrates the validity of the proposed measures.     

Modelling of a medium-term dynamics in a shallow tidal sea, based on combined physical and neural network methods

The paper presents an approach towards a medium-term (decades) modelling of water levels and currents in a shallow tidal sea by means of combined hydrodynamic and neural network models. The two-dimensional version of the hydrodynamic model Delft3D, forced with realistic water level and wind fields, is used to produce a two-year-database of water levels and currents in the study area. The linear principal component analysis (PCA) of the results is performed to reveal dominating spatial patterns in the analyzed dataset and to significantly reduce the dimensionality of the data. It is shown that only a few principal components (PCs) are necessary to reconstruct the data with high accuracy (over 95% of the original variance). Feed-forward neural networks are set up and trained to effectively simulate the leading PCs based on water level and wind speed and direction time series in a single, arbitrarily chosen point in the study area. Assuming that the spatial modes resulting from the PCA are ‘universally’ applicable to the data from time periods not modelled with Delft3D, the trained neural networks can be used to very effectively and reliably simulate temporal and spatial variability of water levels and currents in the study area. The approach is shown to be able to accurately reproduce statistical distribution of water levels and currents in various locations inside the study area and thus can be viewed as a reliable complementary tool e.g., for computationally expensive hydrodynamic modelling. Finally, a detailed analysis of the leading PCs is performed to estimate the role of tidal forcing and wind (including its seasonal and annual variability) in shaping the water level and current climate in the study area.     

核电站附近海域漂流海藻的漂移路径数值模拟

研究核电站附近海域漂流海藻的漂流路径对保障核电站冷源安全具有重要意义。本研究根据辽东湾东部海域漂流海藻的分布特征,构建该海域的二维水动力和粒子追踪数值预测、预报模型,基于近年实际观测的海流和潮位数据,对水动力模型进行验证,并根据2019年5月至8月释放北斗和GPS浮标采集数据,对该海域相同工况下的海藻漂移路径进行校验,均吻合良好。同时,对该海域7月大潮期,取水口附近海域的海藻堵塞风险进行了模拟分析,得到各不同工况下,漂流海藻到达取水口定义威胁区范围内的时间。结果表明,该数值模型能够对漂流海藻的漂移路径进行准确模拟,可为科学规避或有效减轻漂流海藻对核电站冷源取水口的堵塞风险提供技术支撑。     

Loss rates and operational limits for booms used as oil barriers

The hydrodynamic basis for estimating the capacity of booms used as oil barriers is reviewed. Of crucial importance is the assumed interfacial shear stress, and best values of skin friction coefficients are recommended based on existing data. The fundamental hydrodynamic phenomena limiting barrier performance are discussed, and the existing information concerning loss mechanisms, the inception of loss and rate of loss as functions of current speed is presented. It is found that the available loss data from laboratory and field experiments are in reasonable agreement and of quality sufficient to justify a correlation useful in estimating barrier performance. Existing relations are found to be deficient, and a new empirical correlation is suggested which agrees with available data over the full range of current speeds. The new correlation for entrainment loss estimates is based primarily on information from recent research on headwave phenomena and on the full-scale loss data from the United States Coast Guard sea trials.     

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.     

Sensitivity analysis of submersibles’ manoeuvrability and its application to the design of actuator inputs

The influences of hydrodynamic coefficients on the prediction of manoeuvrability were examined by sensitivity analysis (SA) of direct method. The equations of motion used were the standard equations of motion for submarine [Gertler, M., Hagen, G.R., 1967. Standard equations of motion for submarine simulation. DTNSRDC Report], and three submersibles with different appendages were considered. Numerical simulations of three types of sea trials are performed to obtain the sensitivities of motions to hydrodynamic coefficients. Since the accuracy of hydrodynamic coefficients’ estimates is increased by the use of sensitivity-maximizing inputs, the sensitivity-optimal actuator commands that are sequences of bang-bang type inputs were deduced with genetic algorithm (GA) optimization technique.     

海流自供电浮标双向轴流叶轮仿真分析

通过CFD计算软件Fluent对叶片进行水动力仿真分析,由叶片压力曲线分析影响翼型效率的主要因素,对比分析选出S翼型,并由此翼型设计了对称S翼型,进行UG建模并通过接口导入Fluent进行叶轮仿真分析,由N-S控制方程及压力云图确定叶片数量。建立Bladed模型,仿真得到不同叶片的叶轮在不同的流速下转矩的变化情况及不同桨距角尖速比与获能效率的关系曲线。最后在实验室有机玻璃导管测试系统得到对称S型叶轮在不同流速下的获能效率。实验结果表明,对称S翼型具有捕获双向来流的能力,在实验流速为2.2 m/s时最大获能效率可达40%。为海流自供电浮标进行了正确选型,提高了效率,所得数据也为之后海试试验提供了理论参考。     

由模拟波面分析双峰谱型海浪的统计特征

采用目前国际上最新的随机波分析方法,由协方差矩阵的循环嵌套技术,对美国国家浮标44008站2002年6月一典型的双峰海浪谱资料进行谱分析.以实测平均谱为靶谱,对随机波面进行模拟.得到模拟波面估计谱与实测谱极为相近,谱峰及谱峰频率都基本一致.说明利用模拟波面研究海浪具有代表性,它可以反映实测海浪的特征.利用实测海浪谱密度,统计波特征量的周期概率分布,得到理论周期概率密度与估计周期概率密度分布相符较好,且与模拟波面的波周期分布也较好的一致.利用Longuet-Higgins(1983)模型计算了波高-周期联合概率密度分布.得到变换高斯过程计算的波高与周期联合分布与实测情况基本相同,更好地描述了波高-周期联合概率密度分布.     

Three dimensional modal model of wind induced flow in a sea region

The solution of the linear three dimensional hydrodynamic equations describing wind induced flow in a sea region is developed using the Galerkin method through the vertical. A basis set of B-splines is shown to have some computational advantages over a set of eigenfunctions (vertical modes). However, a basis set of modes leads to a system of essentially uncoupled equations and current profiles can be interpreted in terms of vertical modes.The influence of wind induced surface turbulence and turbulence at depth due to tidal motion upon current profiles in both deep (260 m) and shallow (35 m) sea regions is examined. The variation in the angle between surface current and surface wind for different viscosity profiles, and the effect of bottom friction upon it is considered.The magnitude and direction of the surface current is significantly influenced by surface eddy viscosity. However, viscosity at depth due to tidal motion also has an important effect upon the surface current.The time evolution of current structure following the sudden onset of a wind is examined using the modal model. Calculations show that the rate of damping of the internal modes is inversely proportional to the square of the depth. Consequently wind induced current structure takes longer to reach a steady state in a deep sea region than a shallow area.The influence of sea surface elevation gradients in determining the direction of surface current is also considered.     

基于模型相似度拟合的海杂波统计方法

本文提出一种基于模型相似度拟合的海杂波统计方法。首先根据合成孔径雷达(SAR)图像计算瑞利分布、对数正态分布、韦布尔分布、K分布、G0分布5种经典的海杂波分布的概率密度函数,然后根据模型间的相似度准则拟合得到新的海杂波分布模型。文章利用四景不同类型的真实SAR数据对算法的拟合性能进行了评价,结果显示利用该算法得到的拟合模型与真实SAR数据的平均Kullback-Leibler距离仅为0.015 84,远优于其他分布模型。基于该拟合模型的恒虚警率舰船检测算法对四景SAR数据的平均检测精度达到95.75%,在控制虚警和漏检方面均优于采用其他模型的同类方法。