CFD, system-based and EFD study of ship dynamic instability events: Surf-riding, periodic motion, and broaching

CFD and system-based simulation are used to predict broaching, surf-riding, and periodic motion for the ONR Tumblehome model, including captive and free model test validation studies. CFD shows close agreement with EFD for calm water resistance, static heel (except for sway force and yaw moment), and static drift (except for roll moment). CFD predictions of static heel in following waves also compare well with EFD except for surge force, sway force, and pitch angle. Froude-Krylov calculations of wave-induced surge force in following waves provides good agreement for high Froude number, but significantly overestimates for Froude number less than 0.2. On the other hand, CFD successfully reproduces the reduction of the wave-induced surge force near Froude number 0.2, probably because CFD can capture the 3D wave pattern. CFD free model simulations are performed for several speeds and headings and validated for the first time for surf-riding, broaching, and periodic motions. System-based simulations are carried out based on inputs from EFD, CFD, and Froude-Krylov for a dense grid of speeds and headings to predict the instability map, which were found to produce fairly similar results.     

Estimating the hydrodynamic forces on a mini TLP with computational fluid dynamics and design-code techniques

This paper reports on the prediction of the hydrodynamic forces on a full-scale mini Tension Leg Platform (TLP) of the type typically deployed for deep-sea operation. Two alternative prediction techniques were used: Computational Fluid Dynamics (CFD), which is based on the solution of the fundamental equations that govern turbulent fluid flow; and ‘engineering’ calculations based on force coefficients derived from a design code that is in routine use in the Offshore Industry. The results from these two techniques were compared with each other and with experimental data obtained from wind-tunnel and towing-tank tests on a 1–70 scale model. It was found that the two techniques, while yielding very similar predictions for the front TLP members, give substantially different predictions for the aft members — a result that is consistent with the presence of significant interference effects that are captured only by the CFD. The design code yielded the highest value for the global drag coefficient, followed very closely by the towing-tank result. The wind-tunnel tests produced the lowest value for this parameter. The CFD predictions, which were the first to be obtained in this study, fall in the mid-range of the experimental values. These and other results are discussed in the context of the use of CFD in practical design applications.     

Experimental investigation of the lift component of roll damping

The lift force and turning moment acting on a model towed obliquely to the direction of motion have been measured. Two models were used; one of them was tested fitted with and without a rudder. These measurements were used to determine the magnitude of the lift coefficient and the point of application of the transverse force acting on the model. The data were then used to determine the lift component of the roll damping moment. It has been found that the equivalent linear damping coefficient due to lift is a nonlinear function of the forward speed of the ship.     

梳状防波堤上波浪反射

对梳状沉箱防波堤的波浪反射特征进行研究。在对梳状沉箱防波堤非线性消耗波能机理分析基础上,采用阻抗分析方法,导出一组所有参数都是事先知道的、完全封闭的波反射系数公式。     

Parameter identification of a compliant nonlinear SDOF system in random ocean waves by reverse MISO method

The determination of the drag and inertia coefficients, which enter into the wave force model given by Morison's equation, is particularly uncertain and difficult when a linear spectral model is used for ocean waves, and the structure is compliant and has nonlinear dynamic response. In this paper, a nonlinear System Identification method, called Reverse Multiple Inputs–Single Output (R–MISO) is applied to identify the hydrodynamic coefficients as well as the nonlinear stiffness parameter for a compliant single-degree-of-freedom system. Four different types of problems have been identified for use in various situations and the R–MISO has been applied to all of them. One of the problems requires iterative solution strategy to identify the parameters. The method has been found to be efficient in predicting the parameters with reasonable accuracy and has the potential for use in the laboratory experiments on compliant nonlinear offshore systems.     

Numerical investigation of the hydrodynamic interaction between two underwater bodies in relative motion

The hydrodynamic interaction between an Autonomous Underwater Vehicle (AUV) manoeuvring in close proximity to a larger underwater vehicle can cause rapid changes in the motion of the AUV. This interaction can lead to mission failure and possible vehicle collision. Being self-piloted and comparatively small, an AUV is more susceptible to these interaction effects than the larger body. In an aim to predict the manoeuvring performance of an AUV under the effects of the interaction, the Australian Maritime College (AMC) has conducted a series of computer simulations and captive model experiments. A numerical model was developed to simulate pure sway motion of an AUV at different lateral and longitudinal positions relative to a larger underwater vehicle using Computational Fluid Dynamics (CFDs). The variables investigated include the surge force, sway force and the yaw moment coefficients acting on the AUV due to interaction effects, which were in turn validated against experimental results. A simplified method is presented to obtain the hydrodynamic coefficients of an AUV when operating close to a larger underwater body by transforming the single body hydrodynamic coefficients of the AUV using the steady-state interaction forces. This method is considerably less time consuming than traditional methods. Furthermore, the inverse of this method (i.e. to obtain the steady state interaction force) is also presented to obtain the steady-state interaction force at multiple lateral separations efficiently. Both the CFD model and the simplified methods have been validated against the experimental data and are capable of providing adequate interaction predictions. Such methods are critical for accurate prediction of vehicle performance under varying conditions present in real life.     

Hydrodynamic coefficients of a harmonically oscillated tower

A tower hinged at the bottom was oscillated mechanically in a sinusoidal fashion in a plane in still water. An instrumented section in the tower measured the inline and transverse forces locally on the tower due to the hydrodynamic effects. These forces are analyzed for the added mass, drag and lift coefficients which are presented as functions of Keulegan-Carpenter and Reynolds number. The lift force frequencies are also investigated. The measured overall reactions on the tower are used to verify the values of the local coefficients. The results presented here are not only applicable to articulated towers but to other moving elements of an offshore structure, e.g. risers, tension-legs, etc.     

Experimental investigation of hydrodynamic force coefficients over AUV hull form

Extensive use of autonomous underwater vehicles (AUVs) in oceanographic applications necessitates investigation into the hydrodynamic forces acting over an AUV hull form operating under deeply submerged condition. This paper presents a towing tank-based experimental study on forces and moment on AUV hull form in the vertical plane. The AUV hull form considered in the present program is a 1:2 model of the standard hull form Afterbody1. The present measurements were carried out at typical speeds of autonomous underwater vehicles (0.4-1.4 m/s) by varying pitch angles (0-15°). The hydrodynamic forces and moment are measured by an internally mounted multi-component strain gauge type balance. The measurements were used to study variation of axial, normal, drag, lift and pitching moment coefficients with Reynolds number (Re) and angle of attack. The measurements have also been used to validate results obtained from a CFD code that uses Reynolds Average Navier-Stokes equations (ANSYS™ Fluent). The axial and normal force coefficients are increased by 18% and 195%; drag, lift and pitching moment coefficients are increased by 90%, 182% and 297% on AUV hull form at α=15° and Re_v=3.65×10⁵. These results can give better idea for the efficient design of guidance and control systems for AUV.     

Hydrodynamic optimization of ship hull forms

An extremely simple CFD tool is used to compare the calm-water drags of a series of hull forms and to define ‘optimized’ monohull ships for which the total (friction+wave) calm-water drag is minimized. The friction drag is estimated using the classical ITTC formula. The wave drag is predicted using the zeroth-order slender-ship approximation. Comparisons of theoretical predictions and experimental measurements for a series of eight hull forms show that—despite the extreme simplicity of the method that is used here to estimate the friction drag and the wave drag—the method is able to rank the drags of a series of hull forms roughly in accordance with experimental measurements. Thus, the method may be used, with appropriate caution, as a practical hull form design and optimization tool. For purposes of illustration, optimized hull forms that have the same displacement and waterplane transverse moment of inertia as the classical Wigley hull, taken as initial hull in the optimization process, are determined for three speeds and for a speed range.     

Prediction of hydrodynamic forces on submarine pipelines using an improved Wake II Model

The hydrodynamic force model for prediction of forces on submarine pipelines as described includes flow history effect (wake effects) and time dependence in the force coefficients. The wake velocity correction is derived by using a closed-form solution to the linearized Navier–Stokes equations for oscillatory flow. This is achieved by assuming that the eddy viscosity in the wake is only time dependent and of a harmonic sinusoidal form. The forces predicted by the new Wake (Wake II) Model have been compared to Exxon Production Research Company Wake Model in terms of time histories (force shape) and magnitudes of peak forces. Overall, the model predictions by the Wake II Model are satisfactory and represent a substantial improvement over the predictions of the conventional models. The conventional force models representing adaptations of Morison's equation with ambient velocity and constant coefficients give predictions that are in poor agreement with the measurements especially for the lift force component. The Wake II Force Model can be used for submarine pipeline on-bottom stability design calculations for regular waves with various pipe diameters.     

Wave forces on submarine pipelines near a plane boundary

Forces induced by regular waves on submarine pipelines resting on as well as near a plane boundary and aligned parallel to wave fronts of the oncoming waves are investigated experimentally. The inline hydrodynamic coefficients of drag and inertia are evaluated through the use of Morison equation and the least squares method. The transverse force is analysed in terms of maximum transverse force and transverse root mean square (r.m.s.) coefficients. The resulting inline and transverse hydrodynamic coefficients are correlated with the period parameter or Keulegan-Carpenter number and relative clearance of the pipeline from the plane boundary. The effect of depth parameter on these coefficients and the correlation between maximum transverse force and transverse r.m.s. coefficients are also reported.     

Prediction of hydrodynamic forces on submarine pipelines using an improved Wake II Model

The hydrodynamic force model for prediction of forces on submarine pipelines as described includes flow history effect (wake effects) and time dependence in the force coefficients. The wake velocity correction is derived by using a closed-form solution to the linearized Navier–Stokes equations for oscillatory flow. This is achieved by assuming that the eddy viscosity in the wake is only time dependent and of a harmonic sinusoidal form. The forces predicted by the new Wake (Wake II) Model have been compared to Exxon Production Research Company Wake Model in terms of time histories (force shape) and magnitudes of peak forces. Overall, the model predictions by the Wake II Model are satisfactory and represent a substantial improvement over the predictions of the conventional models. The conventional force models representing adaptations of Morison's equation with ambient velocity and constant coefficients give predictions that are in poor agreement with the measurements especially for the lift force component. The Wake II Force Model can be used for submarine pipeline on-bottom stability design calculations for regular waves with various pipe diameters.     

Interaction mechanisms among waves,currents and a submerged plate

Wave-induced loads on a submerged plate, representative of submerged breakwater, coastal-bridge deck and a certain type of wave energy converter, in a uniform current are investigated in this study using fully nonlinear numerical wave tanks (NWTs) based on potential flow theory. The coupling effect of wave and current is explored, and the underlying interaction mechanisms of the hydrodynamic forces are described. The presence of a background current modifies the frequency dispersion. It produces changes of the water-surface elevation, and also has an effect on wave-induced loads. Depending on the nonlinearity, higher harmonic wave components are generated above the submerged plate. These contribute to the wave forces. It is found that the horizontal and the vertical force, hence the moment, are affected in the opposite way by the currents. The Doppler shifted effect dominates the vertical force and the moment on the plate. Whereas, the Doppler shifted effect and the generation of higher wave harmonics play opposite roles on the horizontal forces. The contribution of 2^nd order harmonics is found to be up to 30% of the linear component. The current-induced drag force, represented by the advection term ρU∂φ/∂x in the pressure equation, is found to lead to a decrease in the moment for the most range of wavelengths considered, and an increase in the moment for a small range of longer waves.     

桩列透空堤的水动力计算

分析了平面渡与桩列透空堤的相互作用.根据对矩形桩列上力平衡原理和非线性流阻等水动力学特征分析,导出一组计算反射、传递系数和波浪荷载的理论公式.计算公式内所有参数均是已知的,用它们预测的结果与现有的试验数据很好吻合.     

Wave interaction with a wave absorbing double curtain-wall breakwater

This study examines the hydrodynamic performance of a wave absorbing double curtain-wall breakwater. The breakwater consists of a seaward perforated wall and a shoreward impermeable wall. Both walls extend from above the seawater to some distance above the seabed. Then the below gap allows the seawater exchange, the sediment transport and the fish passage. By means of the eigenfunction expansion method and a least square approach, a linear analytical solution is developed for the interaction of water waves with the breakwater. Then the reflection coefficient, the transmission coefficient and the wave forces acting on the walls are calculated. The numerical results obtained for limiting cases agree very well with previous predictions for a single partially immersed impermeable wall, the double partially immersed impermeable walls and the bottom-standing Jarlan-type breakwater. The predicted reflection coefficients for the present breakwater also agree reasonable with previous experimental results. Numerical results show that with appropriate structure parameters, the reflection and transmission coefficients of the breakwater may be both below 0.5 at a wide range of the relative water depth. At the same time, the magnitude of wave force acting on each wall is small. This is significant for practical engineering.     

Time-varying turbulent flows over bluff bodies predicted by finite volume integration of Reynolds equations

Dynamic flows over bluff bodies are simulated with standard models based upon Reynolds equations (k,ε)-turbulence closure and equilibrium boundary conditions. The equations are integrated by finite volume techniques. The model is applied to time varying, transverse flow over a cylinder at a plane boundary and the flow around a truncated cylinder in longitudinal oscillations. Well-behaved, plausible predictions are obtained. Accelerating flow tends to be attached even around sharp corners. Decellerated flow is associated with detachment. Laboratory scale force data are predicted reasonably realistically, without model adjustments. However, the lift force associated with a return wall jet over the transverse cylinder and the tiny damping force on the truncated cylinder are inaccurately predicted. Numerical diffusion is probably a main cause for these inaccuracies.     

波浪作用下缆船拖带系统非线性运动数值模拟

基于船舶操纵性运动方程和拖缆的三维动力学运动方程,提出了被拖点位置匹配的方法,建立了拖船—拖缆—被拖船系统整体非线性拖带动力学模型。为了考察被拖船航向稳定性与横向稳性的关系以及波浪载荷作用的影响,被拖船采用水平面四自由度运动方程,并引入了波浪的作用力和力矩。拖船采用PD控制方法较真实地模拟了拖船航向改变的运动过程。对一个拖船—拖缆—被拖船系统(5 000 t的拖船和3 000 t的被拖船)在时域内进行了规则波浪作用下拖带运动的模拟,计算结果表明被拖带船舶在波浪中运动呈现运动稳定、不稳定和临界状态3种可能的特性。根据模拟计算结果,认为波浪中拖带航向稳定是被拖带船舶保持稳性的必要条件。     

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.     

Regular wave pressures and forces on submerged pipelines near a sloping boundary

The hydrodynamic pressures induced by regular waves around the circumference of a pipeline normal to the wave direction and near a rigid bed of slope 1:10 have been investigated in a wave flume. The pressures were integrated to obtain the force time history, from which the peak horizontal and vertical forces are evaluated. The maximum and root mean square horizontal and transverse force coefficients are correlated with the Keulegan–Carpenter (KC) number. The effect of the distance between the sloping bed and the pipeline on the force coefficients is discussed. The force coefficients are found to decrease with an increase in KC number and with the decrease in the relative clearance of the pipeline from the boundary. In addition, the reflection characteristics of the sloping bed in the presence of the pipeline as a function of surf similarity parameter and their comparison with the results from existing literature are also reported. The details of the model setup, experimental procedure, results and discussion are presented in this paper.     

柔性管卷管式铺管上卷有限元模拟

采用卷管法进行海底管道铺设过程中,管道首先通过牵引作用上卷于卷筒进行储存。管道与卷筒发生非线性接触,可能会产生复杂的塑性变形和局部屈曲。通过全尺寸柔性管力学性能试验获得柔性管轴力—应变以及弯曲—曲率等非线性力学性能关系,将试验所得的非线性材料性能参数导入建立的两种柔性管上卷ABAQUS有限元模型（梁—实体单元模型与壳和桁架—实体单元模型）,实现柔性管较大轴向抗拉刚度和较小抗弯刚度的同步模拟以及管道与卷筒的非线性接触响应特征。通过对比分析两种有限元模型数值模拟得到的管道弯矩、弯曲曲率、管道轴力、管道与卷筒的接触压强等数据,发现在管道上卷过程中管道沿副法线方向的SM3弯矩占据其弯曲变形主导地位;管道与卷筒之间的摩擦效应对于管道轴力的影响较为显著;管道与卷筒的最大接触压强主要发生在卷管过渡段区域。