A unified seakeeping and maneuvering analysis of ships in regular waves

The behavior of a ship in regular waves during maneuvering was studied by using a two-time scale model. The maneuvering analysis was based on Söding’s (Schiffstechnik 1982; 29:3–29) nonlinear slender-body theory generalized to account for heel. Forces and moments due to rudder, propeller, and viscous cross-flow follow from the state-of-the-art procedures. The developed unified theory of seakeeping and maneuvering was verified and validated for calm water by comparing it with experimental and calculated zigzag and circle maneuvers. Linear wave-induced motions and loads were determined by generalizing the Salvesen-Tuck-Faltinsen (Trans SNAME 1970; 78:250–287) strip theory. The mean second-order wave loads in incident regular deep water waves in oblique sea conditions were estimated by the potential flow theories of Faltinsen et al. (Proc 13th Symp Naval Hydrody 1980), Salvesen (Proc Intl Symp Dynam Mar Vehicl Struct Wave 1974), and Loukakis and Sclavounos (J Ship Res 1978; 22:1–19). The considered theories cover the whole range of important wavelengths. Comparisons between the different mean second-order wave load theories and available experimental data were carried out for different ship hull forms when the ship was advancing forward on a straight course. The mentioned methods have been incorporated into the maneuvering model. Their applicability from the perspective of the maneuvering ability of the selected types of ships was investigated in given wave environments. The wave conditions are valid for realistic maneuvering cases in open coastal areas. It was demonstrated that the incident waves may have an important influence on the maneuvering behavior of a ship. The added resistance, mean second-order transverse force, and yaw moment also play important roles.     

江海直达船舶波浪载荷响应试验与数值计算研究（英文）

The ship motions and wave-induced loads of a new type of river-to-sea ship are investigated experimentally and numerically. A river-to-sea ship is an unconventional type of container ship characterized by high breadth to draft ratio and low length to breadth ratio, which makes it more prone to hydroelasticity than conventional ships of the same size. A segmented model was tested under two loading conditions, namely, ballast and loaded conditions, to determine the vertical motions and wave-induced loads under each condition. Results are compared with numerical simulations in the frequency domain. The wave-induced responses are calculated by a nonlinear time domain code at each time step. The response amplitude operators of vertical ship responses in regular waves are analyzed, and the wave-induced responses are consistent with the experimental results.     

数值波浪水池中船舶顶浪运动模拟研究

文献[1,2]进行了数值波浪水池波浪环境的模拟、规则波顶浪中船舶水动力的计算以及船舶辐射问题的模拟.文章在其基础上,基于N-S方程,对规则波中顶浪前进的Wigley船模运动进行了模拟.数值模拟的船模运动结果与DUT(Dem University of Technology)的试验数据进行了比较,分析,二者符合较好.文中与文献[1,2]的研究工作一起,初步构建了真正意义上的基于N-S方程的数值波浪水池.     

船舶操纵水动力导数的数值求解及敏感度分析

[目的]为了兼顾船舶操纵运动预报的成本与精度,基于数值计算方法,结合水动力导数敏感度分析,提出一种船舶操纵运动预报方法.[方法]首先,求解RANS方程,应用流体体积(VOF)法捕捉自由液面,采用动态网格方法对DTMB 5415船型进行约束运动的数值计算,并将回归得到的线性水动力导数与试验值进行对比,验证数值方案的有效性...     

Validation of 6-DOF motion simulations for ship turning in regular waves

In this study, a six degrees of freedom (6-DOF) motion simulation method of a ship steering in regular waves is validated. The proposed simulation model is based on the two-time scale concept where the 6-DOF motions are expressed as the sum of the low-frequency maneuvering motions and high-frequency wave-induced motions. Turning simulations of a KCS container ship model with a rudder angle of \(\pm 35^\circ\) in calm water and regular waves are performed and the obtained results are compared with the results of a free-running model test. The model tests were conducted using a ship model of length 3.057 m in a square tank at the National Research Institute of Fisheries Engineering, Japan. The wave conditions were as follows: the wave height was 3.6 m at full-scale, ratio of wavelength to ship length was 1.0, and the ship approached in the head wave direction before it was steered. The present method can simulate both the turning motion and wave-induced motions in regular waves with practical accuracy.

     

用naoe-FOAM-SJTU求解器数值模拟船舶在波浪上的操纵运动问题（英文）

Ship maneuvering in waves includes the performance of ship resistance, seakeeping, propulsion, and maneuverability. It is a complex hydrodynamic problem with the interaction of many factors. With the purpose of directly predicting the behavior of ship maneuvering in waves, a CFD solver named naoe-FOAM-SJTU is developed by the Computational Marine Hydrodynamics Lab(CMHL) in Shanghai Jiao Tong University. The solver is based on open source platform OpenFOAM and has introduced dynamic overset grid technology to handle complex ship hull-propeller-rudder motion system. Maneuvering control module based on feedback control mechanism is also developed to accurately simulate corresponding motion behavior of free running ship maneuver. Inlet boundary wavemaker and relaxation zone technique is used to generate desired waves. Based on the developed modules, unsteady Reynolds-averaged Navier-Stokes(RANS) computations are carried out for several validation cases of free running ship maneuver in waves including zigzag, turning circle, and course keeping maneuvers. The simulation results are compared with available benchmark data. Ship motions, trajectories, and other maneuvering parameters are consistent with available experimental data, which indicate that the present solver can be suitable and reliable in predicting the performance of ship maneuvering in waves. Flow visualizations, such as free surface elevation, wake flow, vortical structures, are presented to explain the hydrodynamic performance of ship maneuvering in waves. Large flow separation can be observed around propellers and rudders. It is concluded that RANS approach is not accurate enough for predicting ship maneuvering in waves with large flow separations and detached eddy simulation(DES) or large eddy simulation(LES) computations are required to improve the prediction accuracy.     

两船在波浪中耦合运动的三维频域理论研究

本文采用三维势流理论求解两船在波浪中相互干扰的耦合运动。基于源分布方法，两船船体表面被划分成若干面元，在每一面元上进行等源强分布。为了验证该理论以及算法的可行性，计算了有限水深中两圆柱的水动力干扰，其数值计算结果与其他理论结果吻合较好。其次计算了两船在波浪中无航速与有航速情况的水动力干扰，其结果与单船结果以及双船试验结果进行比较。同时深入研究了纵横向间距以及航速变化对水动力干扰的影响，得出间距与航速不仅是水动力干扰的重要参数，而且对两船中的小船影响尤为重要。本文的研究提出了一种有效而又简单的方法预报两船在波浪中的耦合运动，为分析海上航行补给所涉及的水动力问题提供了有效的手段。     

Numerical study on the hydrodynamic forces on a ship berthing to quay by taking free-surface effect into account

In the present study, numerical simulation of the berthing maneuver of a ship in the prescribed translational motion is performed. The transient viscous flow and hydrodynamic forces on the hull are calculated by solving the unsteady Reynolds-Averaged Navier–Stokes equations in overset grid system, and the free surface is captured using volume-of-fluid (VOF) approach. The present numerical results have been compared with previous computational results by Toda and available experimental data respectively. Since the effects of the quaywall and free surface are taken into consideration in the present study, it is found that the agreement is significantly better than that resulting from Toda’s 3D CFD based approach. Then the effects of various standoff distances between the ship and quaywall on the lateral forces are investigated. Meanwhile, the detailed transient flow features around the berthing ship are obtained, which are helpful to understand the interactional effects between the ship and quaywall. The present results may provide helpful guidance for vessels’ safe maneuvering in berthing motion and the design of fender system in the quay.     

Estimation of wave-induced ship hull bending moment from ship motion measurements

A time-domain technique for estimating wave-induced ship hull bending moment from ship motion measurements is presented. This technique is developed to improve hull response monitoring systems. Artificial neural networks are used to model the time-domain relationship between the wave-induced vertical bending moment and the coupled heave and pitch motions. The application of the proposed technique is validated using experimental data.     

3-D computational method of wave loads on turret moored FPSO tankers

A three-dimensional method of calculating wave loads of turret moored FPSO (Floating Production Storage and Offloading) tankers is presented. The linearized restoring forces acting on the ship hull by the mooring system are calculated according to the catenary theory, which are expressed as the function of linear stiffness coefficients and the displacements of the upper ends of mooring chains. The hydrodynamic coefficients of the ship are calculated by the three-dimensional potential flow theory of the linear hydrodynamic problem for ships with a low forward speed. The equations of ship motions are established with the effect of the restoring forces from the mooring system included as linear stiffness coefficients. The equations of motions are solved in frequency domain, and the responses of wave-induced motions and loads on the ship can be obtained. A computer program based on this method has been developed, and some calculation examples are illustrated. Analysis results show that the method can give satisfying prediction of wave loads.     

船舶在波浪中操纵运动仿真

本文研究了双浆双舵船在规则波中的回转运动，首先进行了约束模型试验，得到了操纵运动数学模型中的水动力系数，然后，进行了静水操纵运动数值仿真，并与自航模型试验结果进行了比较。最后，预报船舶在规则波中的回转运动，对一些影响回转运动的因素进行了讨论。     

基于OpenFOAM的船舶与液舱流体晃荡在波浪中时域耦合运动的数值模拟

波浪中载液船舶运动激励舱内液体的晃荡,舱内液体晃荡产生的冲击力同时作用在舱壁上,进而影响船舶的运动姿态。波浪中船体水动力和时延函数是在势流理论范畴下采用切片法和脉冲响应函数方法计算获得的,液舱内液体非线性晃荡是基于粘性流理论实时计算模拟,两者耦合建立了波浪中载液船舶与液舱流体晃荡耦合的运动方程。论文基于开源CFD开发平台OpenFOAM,自主开发实现了船体运动与液舱晃荡的耦合计算程序,并进行了相应的数值模拟计算和验证工作。该方法完整地考虑了波浪、船体和液舱晃荡之间的耦合作用,并结合船体内外流场特点分别采用了势流和粘性流理论,具有较高的计算效率。通过数值模拟计算和模型实验研究表明,数值模拟计算能够清晰显现出液舱晃荡对船体全局运动影响,船体运动计算结果与模型实验结果吻合良好。     

EFD and CFD for KCS heaving and pitching in regular head waves

The KCS container ship was investigated in calm water and regular head seas by means of EFD and CFD. The experimental study was conducted in FORCE Technology’s towing tank in Denmark, and the CFD study was conducted using the URANS codes CFDSHIP-IOWA and Star-CCM+ plus the potential theory code AEGIR. Three speeds were covered and the wave conditions were chosen in order to study the ship’s response in waves under resonance and maximum exciting conditions. In the experiment, the heave and pitch motions and the resistance were measured together with wave elevation of the incoming wave. The model test was designed and conducted in order to enable UA assessment of the measured data. The results show that the ship responds strongly when the resonance and maximum exciting conditions are met. With respect to experimental uncertainty, the level for calm water is comparable to PMM uncertainties for maneuvering testing while the level is higher in waves. Concerning the CFD results, the computation shows a very complex and time-varying flow pattern. For the integral quantities, a comparison between EFD and CFD shows that the computed motions and resistance in calm water is in fair agreement with the measurement. In waves, the motions are still in fair agreement with measured data, but larger differences are observed for the resistance. The mean resistance is reasonable, but the first order amplitude of the resistance time history is underpredicted by CFD. Finally, it seems that the URANS codes are in closer agreement with the measurements compared to the potential theory.     

Ship motion-sloshing interaction using a field method

Even in relatively calm waters, low amplitude wave-induced motions of an LNG carrier may induce large amplitude liquid sloshing inside the ship's partially filled tanks, and the interaction between ship motions and sloshing may affect the ship's seekeeping properties. A computational procedure, here referred to as the RANS-RANS method, was developed to account for this interaction, and this method was then employed to predict the free surface flow inside the tanks and the corresponding motions of the ship in regular head and beam waves. This method coupled a compressible VoF technique with a generic wave generation and absorption scheme to obtain wave-induced ship motions with and without considering the effects of sloshing in the ship's tanks. Systematic grid studies were performed to obtain a sufficiently fine grid needed to yield converging predictions. The resulting wave patterns, ship motions, and internal sloshing elevations were compared with results obtained from a computational method, here referred to as the RANS-BEM method, that relied on a boundary element method to obtain ship motions. This RANS-RANS method was validated against model test measurements.     

URANS simulations of static and dynamic maneuvering for surface combatant: part 1. Verification and validation for forces, moment, and hydrodynamic derivatives

Part 1 of this two-part paper presents the verification and validation results of forces and moment coefficients, hydrodynamic derivatives, and reconstructions of forces and moment coefficients from resultant hydrodynamic derivatives for a surface combatant Model 5415 bare hull under static and dynamic planar motion mechanism simulations. Unsteady Reynolds averaged Navier–Stokes (URANS) computations are carried out by a general purpose URANS/detached eddy simulation research code CFDShip-Iowa Ver. 4. The objective of this research is to investigate the capability of the code in regards to the computational fluid dynamics based maneuvering prediction method. In the current study, the ship is subjected to static drift, steady turn, pure sway, pure yaw, and combined yaw and drift motions at Froude number 0.28. The results are analyzed in view of: (1) the verification for iterative, grid, and time-step convergence along with assessment of overall numerical uncertainty; and (2) validations for forces and moment coefficients, hydrodynamic derivatives, and reconstruction of forces and moment coefficients from resultant hydrodynamic derivatives together with the available experimental data. Part 2 provides the validation for flow features with the experimental data as well as investigations for flow physics, e.g., flow separation, three dimensional vortical structure, and reconstructed local flows.     

Time-domain TEBEM method for mean drift force and moment of ships with forward speed under the oblique seas

A numerical method for solving 3D unsteady potential flow problem of ship advancing in waves is put forward. The flow field is divided into an inner and an outer domain by introducing an artificial matching surface. The inner domain is surrounded by ship wetted surface and matching surface as well as part of the free surface. The free surface condition for the inner domain is formulated by perturbation about the double-body flow or uniform incoming flow assumption. The outer domain is surrounded by matching surface and the rest free surface as well as infinite far-field radiation boundary. The free surface condition for the outer domain is formulated by perturbation about uniform incoming flow. The simple Green function and transient free surface Green function are used to form the boundary integral equation (BIE) for the inner and outer domains, respectively. Taylor Expansion Boundary Element Method (TEBEM) is utilized to solve the double-body flow and inner domain and outer domain unsteady flow BIE. Matching conditions for the inner domain flow and outer domain flow are enforced by the continuity of velocity potential and normal velocity on the matching surface. Direct pressure integration on ship wetted surface is used to obtain the first-order and second-order wave forces (moments). The numerical predictions on the displacement, added resistance, sway mean drift force and yaw mean drift moment of the modified KVLCC2 ship at different forward speeds are investigated by the proposed TEBEM method. It is also compared with the other numerical results. The physical tank experiment results are also developed to validate the accuracy of numerical tank results. Compared with the experiment solutions, a good agreement can be obtained by TEBEM method.

     

A study on flow field around full ship forms in maneuvering motion

To estimate the maneuvering ability of a ship, an accurate estimation of the hydrodynamic forces and moment acting on the ship's hull is indispensable. For the purpose of developing a numerical method of computing the viscous flow field around a hull and evaluating its validity, the hydrodynamic pressure on the hull and the velocity field were measured. Two full ship models with different hull forms in the aft part were used for the experiment. From the results of pressure measurements, the distribution of hydrodynamic lateral forces was obtained. The simulation method is a numerical solution of the Navier-Stokes equation based on a finitevolume method and applied to the maneuvering motion. The measured and computed results agree qualitatively well, and the method is a valuable tool for estimating the maneuvering ability of a ship. The typical characteristics of the flow field in the steady turning condition are revealed by the numerical simulation, and the mechanism of the relations between hull form, flow field, and hydrodynamic forces are clarified.Translation and combination of articles that appeared in the Journal of the Society of Naval Architects of Japan, vols. 176, 177, 179 (1994–1996): The original article won the SNAJ prize, which is awarded annually to the best papers selected from the SNAJ Journal, JMST, or other quality journals in the field of naval architecture and ocean engineering.This work was conducted as part of the joint SR221 project supported by JSRA (Shipbuilding Research Association of Japan). The authors express their sincere gratitude to the persons concerned, and especially to M. Kanai, S. Eguchi, S. Usami, K. Tatsumi, and T. Kawamura.     

操纵运动船舶的水动力计算研究

以船舶操纵水动力预报为研究背景,通过对商用计算流体力学软件FLUENT的二次开发,采用其动网格技术以及后处理系统,对大型船舶操纵水动力导数进行了数值计算.船体按照斜航、不同舵角、纯横荡和纯首摇等状态做运动,得出随船坐标系下作用于其上的水动力及力矩.通过进行基于最小二乘法的曲线拟合,最终求得船舶操纵水动力导数.计算结果与势流理论计算结果一致,表明了所提出的计算方法适用于复杂船舶运动的水动力导数计算.     

波浪引起破损船的垂向运动和弯矩（英文）

The wave-induced vertical ship motions and bending moments of a double hull-oil tanker in realistic flooding conditions are studied. The scenarios investigated are represented by water ingress into the starboard ballast tanks for collision damage cases and both starboard and portside ballast tanks for grounding situations. Seakeeping computations are performed for eight damage scenarios and for the intact condition, each corresponding to different changes in displacement, trim, and heel. For each of the damage conditions, transfer functions of vertical motions and loads are calculated using a potential linear 3 D panel hydrodynamic code in the frequency domain that includes effect of the motion of the water in flooded tanks. A MATLAB code is developed to facilitate automated hydrodynamic simulation of many damage scenarios. Verification of seakeeping results is performed by comparing transfer functions with results of the previous study. Wave-induced vertical responses of damaged ship are then compared to those of intact ship using two spectral-based methods originating from uncertainty analysis of wave loads, which are convenient tools to assess consequences of damage on short-term ship responses. Generally, observed trend is that vertical wave-induced responses of damaged ship converge toward those of intact ship with increasing wave period. Fairly small differences between responses of asymmetrically damaged ship with respect to the symmetrical incoming wave directions are found. The results of the study are an efficient method for seakeeping assessment of damaged oil tankers and the framework for evaluating consequences of damage scenarios, heading angles, and sea conditions on seakeeping responses of damaged ships.The results can be used to decide if the intact ship model can be used instead of the damaged one for the emergency response procedure or for the risk assessment studies when modeling and computational time represent important limitations.     

Prediction of ship steering capabilities with a fully nonlinear ship motion model. Part 1: Maneuvering in calm water

This paper introduces a new method for the prediction of ship maneuvering capabilities. The new method is added to a nonlinear six-degrees-of-freedom ship motion model named the digital, self-consistent ship experimental laboratory (DiSSEL). Based on the first principles of physics, when the ship is steered, the additional surge and sway forces and the yaw moment from the deflected rudder are computed. The rudder forces and moments are computed using rudder parameters such as the rudder area and the local flow velocity at the rudder, which includes contributions from the ship velocity and the propeller slipstream. The rudder forces and moments are added to the forces and moments on the hull, which are used to predict the motion of the ship in DiSSEL. The resulting motions of the ship influence the inflow into the rudder and thereby influence the force and moment on the rudder at each time step. The roll moment and resulting heel angle on the ship as it maneuvers are also predicted. Calm water turning circle predictions are presented and correlated with model test data for NSWCCD model 5514, a pre-contract DDG-51 hull form. Good correlations are shown for both the turning circle track and the heel angle of the model during the turn. The prediction for a ship maneuvering in incident waves will be presented in Part 2. DiSSEL can be applied for any arbitrary hull geometry. No empirical parameterization is used, except for the influence of the propeller slipstream on the rudder, which is included using a flow acceleration factor.