基于减摇鳍辅助回转的船舶操纵性能研究

基于MMG分离式建模思想,考虑作用在船体、螺旋桨、舵、鳍的水动力作用,建立双桨双舵船舶四自由度非线性数学运动模型,对某船模在静水中的回转性能进行仿真分析,将单独舵控制的仿真结果与船模试验结果进行了验证和分析,并对比了单独舵控制和舵、鳍联合控制下的回转性能,结果表明鳍参与控制回转时能明显缓解回转过程中的横倾。     

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.     

全回转拖轮操纵运动建模与仿真

为提高拖轮操纵模拟器的行为真实感,运用操纵性理论和分离型建模思想,建立全回转拖轮适用于四象限全工况操纵运动的数学模型.通过处理导管桨JD75系列和四象限螺旋桨Nordstrom系列试验图谱后,提出了导管桨四象限推力模型,同时提出了一种适用于全速域的拖轮船体水动力模型.搭建拖轮运动模拟平台,开展一系列操纵性仿真试验,包括速度试航试验、螺线试验、Z形试验、回转试验及停船试验.将仿真数据与Force Techno-logy公司提供的试验数据进行比较分析,一致性良好,表明该模型精度可满足航海上仿真的需要.     

Mathematical model of single-propeller twin-rudder ship

A mathematical model of a single-propeller twin-rudder ship has been developed from captive and free running model experiments. An open water rudder experiment was carried out to figure out the characteristics of the rudder. Captive experiments in a towing tank were carried out to figure out the performance of a single-propeller twin-rudder system on a large vessel. Interactions between the hull, propeller and twin rudders, including mutual interactions between the twin rudders, were expressed with several coefficients that were calculated from the experimental results at various ship speeds. In the analysis, the unique characteristics of a single-propeller twin-rudder ship, which affects rudder forces, were explained and formulated in the mathematical model. The captive model tests were conducted with zero ship’s yaw rate, so the interaction coefficients, which are influenced by the yaw rate, are determined from free running model experiments. Validation of the mathematical model of a single-propeller twin-rudder system for a blunt body ship is carried out with an independent set of free running experiments, which were not used for determining the interaction coefficients. The validated numerical model is used for carrying out simulations. Based on simulation results, some recommendations have been proposed for installing a single-propeller twin-rudder system.     

Circular motion tests and uncertainty analysis for ship maneuverability

Circular motion test data and uncertainty analysis results of investigations of the hydrodynamic characteristics of ship maneuvering are presented. The model ships used were a container ship and two tankers, and the measured items were the surge and sway forces, yaw moment, propeller thrust, rudder normal and tangential forces, pitch and roll angles, and heave. The test parameters were the oblique angle and yaw rate for the conditions of a hull with a rudder and propeller in which the rudder angle was set to zero and the propeller speed was set to the model self-propulsion conditions. Carriage data showing the accuracy of the towing conditions in the circular motion test are also presented. It was confirmed that the uncertainties in the hydrodynamic forces such as the surge and sway forces, yaw moment, rudder tangential and normal forces, and propeller thrust were fairly small. The reported uncertainty analysis results of the circular motion test data may be beneficial in validating data quality and in discussing reliability for simulation of ship maneuvering performance.     

深海石油平台支援船动力定位数学模型与仿真研究

根据深海石油平台支援船(OSV)的特点,研究了风、浪、流、推进器和舵的数学模型,并用MATLAB里的M文件对船舶的回转运动以及在风浪流作用下的运动进行了仿真,结果与实验一致,验证了数学模型的合理性.     

Prediction of the forces acting on container carriers in muddy navigation areas using a fluidization parameter

To assess the safety of navigation in muddy areas, a comprehensive captive manoeuvring model test program was executed. Based on the results of this experimental program, a four-quadrant manoeuvring model was built with a separate set of coefficients for each combination of under-keel clearance and mud layer characteristics. The disadvantage of this model is that only conditions corresponding with the experimental ones can be simulated. A more consolidated mathematical model was needed. This was achieved with the introduction of a fluidization parameter that determines the corresponding hydrodynamically equivalent depth above a solid bottom. As a result, the under-keel clearance dependency of a given mathematical manoeuvring model can be reformulated in such way that the effect of any realistic muddy condition is included. In this article, the modelling of the hull forces, the propeller thrust and torque, and the forces acting on the rudder will be discussed.     

基于体积力法的半悬挂舵和全悬挂舵回转性对比

针对半悬挂舵和全悬挂舵回转性能差异问题,建立用于模拟螺旋桨推力的体积力模型,评估两种不同形式舵的回转性。对标模KCS船型回转运动进行计算流体动力学（Computational Fluid Dynamics,CFD）模拟,船后螺旋桨作用使用体积力模型替代。开展半悬挂舵回转性CFD模拟,并与试验结果对比验证。设计全悬挂舵并模拟其回转性,与半悬挂舵回转性进行比较。结果显示,半悬挂舵除战术直径与试验结果相差9.48%外,其他回转特性参数与试验结果相差均在3%以内,说明基于体积力法模拟回转性具有较高的可信度。全悬挂舵的回转特性参数均优于半悬挂舵,说明全悬挂舵的回转性能更佳。     

基于CFD方法的6500TEU集装箱船舵空泡腐蚀数值模拟研究

舵的空泡腐蚀研究在船型优化设计和新船型开发中具有重要意义。文章以6 500 TEU集装箱船的NACA0021舵为研究对象,通过对船、桨、舵整体三维建模,运用CFD方法在3D计算域下对舵的非定常空化现象进行数值模拟,得到了与试验比较一致的结果。同时还对改善舵空蚀现象的措施进行了分析。研究表明,通过整体建模的数值模拟方法对舵空泡性能进行预测研究,其结果是合理可信的。     

基于有限元模型的船用螺旋桨桨叶应力分析

采用计算流体动力学(Computational Fluid Dynamics,CFD)软件建立静止域(舵、导管及船体)和旋转域(螺旋桨)的三维几何模型,在螺旋桨流场内求解雷诺平均纳维斯托克斯方程(Reynolds-Averaged Navier-Stokes equations,RANS),由此对船用螺旋桨产生的推力和...     

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。     

桨舵间距对螺旋桨推进性能影响的研究

利用CFD数值工具对原型以及减少桨舵间距后的布置进行数值模拟,量化其节能效果,并通过模型试验进行验证。CFD和模型试验结果均表明,减少桨舵间距对于提高螺旋桨推进性能有明显效果。以某3万吨级散货船为例,模型试验结果显示,减少桨舵间距0.5m后,收到功率降低3.1%,航速提高0.13kn。目前市场上运行的三大主力船型中,有相当数量船舶的桨舵间距仍有一定调整空间,表明这项研究成果具有良好的市场应用前景。     

基于有限元方法的船舶主推进器区域结构强度分析

随着国内运输船日趋大型化、高速化,大型双桨双舵船舶的应用越来越广泛。本文分析双桨双舵船舶的特点,提出适合国内建造大型双桨双舵船舶主推进区域结构强度分析方法。在推进器不同推进角度和推进速度情况下,推进器所受的力进行有限元分析,对推进器区域船体外板、各层平台及肋骨等强力构件的受力进行研究,并与船级社规范对比研究,保证船体的基本构件稳定性和刚度上的要求从而为我国大型双桨双舵船舶的建造提供一些可行性的思路。     

Comparison of the mariner Schilling rudder and the mariner rudder for VLCCs in strong winds

A simulation model of a very large crude carrier (VLCC) with either a mariner type Schilling rudder or a mariner rudder was developed from captive and free-running model tests. Kijima’s regression formula was used to predict the hydrodynamic hull forces on the VLCC. To simulate full-scale maneuvering at cruising speed, the constant torque operation of the main engine was assumed. Considering the higher normal lift force and maneuverability of the mariner type Schilling rudder as compared to the mariner rudder, the size of mariner type Schilling rudder is kept smaller as compared to mariner rudder. To compare the efficiency of the two types of rudder system, maneuvering simulations at constant engine torque and course-keeping simulations at various gusting wind speeds and encounter angles were carried out. Based on the simulation results, the two rudder types were compared from the viewpoint of maneuvering and fuel efficiency in windy conditions.     

Model and full scale CFD analysis of propeller boss cap fins (PBCF)

Computational fluid dynamics (CFD) analyses of propeller boss cap fins (PBCF) were carried out for two different propellers at model and full scale Reynolds numbers with two different inflow conditions. Computations corresponding to the reverse propeller open test (POT) experiment were confirmed to be in a good agreement with the measurement. The results of computations at different conditions have shown that increased Reynolds number and presence of hull wake both positively influence the effects of PBCF. Due to the combined effect of the Reynolds number and the wake, the gain in the propeller efficiency at the full scale condition was found to be significantly larger than that at the model test condition. The detailed investigation of the results suggested that the fin drag becomes smaller and the reduction of the boss drag becomes larger at the full scale condition. However, the predicted gain is still smaller than the values reported in the sea trial and logbook analysis. The remaining gap may be attributed to the difference in the estimated and actual wake distribution or to other factors such as interactions with hull and rudder, surface roughness, unsteadiness and hub vortex cavitation.     

Modelling propeller and rudder induced forces acting on deep drafted vessels in muddy navigation areas

To assess the navigability of deep drafted vessels in muddy navigation areas a mathematical model has been built that takes into account the characteristics of the mud layer. This was achieved with the introduction of a fluidization parameter which determines the corresponding hydrodynamically equivalent depth above a solid bottom. As a result, the under keel clearance dependency of a given mathematical manoeuvring model can be reformulated in such way that the effect of any realistic muddy condition is included. In this article the modelling of the propeller and rudder induced forces and the implementation possibilities of the model will be discussed. It is concluded that the mathematical model, initially formulated for a 6,000 TEU container carrier, provides reliable predictions of the behaviour of larger container carriers and even fuller deep drafted ships.     

船舶最小回转半径

本文确定了动稳定船舶的最小定常回转半径,进而就可把最优化方法应用于船舶操纵性设计中去。 基于线性化操纵运动方程,在优化过程中,把船体诸形状参数和舵面积作为设计变量,把回转性指数的倒数作为目标函数,把动稳定准则c′作为优化的约束条件。 根据计算结果,本文清晰地阐明了船体某些形状参数及舵面积的变化对最小回转半径的影响。     

小水线面双体船纵向运动控制系统的试验研究

提出了小水线面双体船纵向运动控制系统的数学模型,并建立了该系统的试验平台,开展了前后鳍静态和动态水动力特性试验,分别进行了无控船模和前后鳍控制船模在规则波中的耐波性试验.试验结果表明,所设计的前后鳍对该小水线面双体船具有可控性;由确定控制矩阵K的方法获得了初步优化的控制规律;经初步优化控制后的实船,在不规则波上的升沉和纵摇有义值分别下降26.9%和32.0%.     

A suggestion of gap flow control devices for the suppression of rudder cavitation

This paper presents the numerical analysis of rudder cavitation in propeller slipstream and the development of a new rudder system aimed for lift augmentation and cavitation suppression. The new rudder system is equipped with cam devices which effectively close the gap between the horn/pintle and movable wing parts. A computational fluid dynamics code that solves the Reynolds-averaged Navier–Stokes equations is used to analyze the flow field of various rudder systems in propeller slipstream. The body force momentum source terms that mimic flow field behind a rotating propeller are added in the momentum equations to represent the influence of the propeller and its slipstream. For detailed explication of the new rudder system’s lift augmentation and cavitation suppression mechanism, three-dimensional flow analysis is carried out. Simulations clearly display the mechanism of the lift augmentation and cavitation suppression. The computational results suggest that the Reynolds-averaged Navier–Stokes-based computational fluid dynamics reproduces the flow field around a rudder in propeller slipstream and that the present concept for a cavitation suppressing rudder system is highly feasible and warrant further study for inclusion of the interaction with hull and mechanical design for manufacturing and operations.     

新型小水线面双体船阻力和耐波性数值模拟分析（英文）

The hydrodynamic analysis of a new semi-small waterplane area twin hull(SWATH) suitable for various applications such as small and medium size passenger ferries is presented. This may be an attractive crossover configuration resulting from the merging of two classical shapes: a conventional SWATH and a fast catamaran. The final hull design exhibits a wedge-like waterline shape with the maximum beam at the stern; the hull ends with a very narrow entrance angle, has a prominent bulbous bow typical of SWATH vessels, and features full stern to arrange waterjet propellers. Our analysis aims to perform a preliminary assessment of the hydrodynamic performance of a hull with such a complex shape both in terms of resistance of the hull in calm water and seakeeping capability in regular head waves and compare the performance with that of a conventional SWATH. The analysis is performed using a boundary element method that was preliminarily validated on a conventional SWATH vessel.