粘流方法的螺旋桨尾流场数值分析(英文)

The computational fluid dynamics(CFD) method is used to numerically simulate a propeller wake flow field in open water.A sub-domain hybrid mesh method was adopted in this paper.The computation domain was separated into two sub-domains,in which tetrahedral elements were used in the inner domain to match the complicated geometry of the propeller,while hexahedral elements were used in the outer domain.The mesh was locally refined on the propeller surface and near the wake flow field,and a size function was used to control the growth rate of the grid.Sections at different axial location were used to study the spatial evolution of the propeller wake in the region ranging from the disc to one propeller diameter(D) downstream.The numerical results show that the axial velocity fluctuates along the wake flow;radial velocity,which is closely related to vortices,attenuates strongly.The trailing vortices interact with the tip vortex at the blades’ trailing edge and then separate.The strength of the vortex shrinks rapidly,and the radius decreases 20% at one diameter downstream.     

应用RANS(雷诺平均的纳维尔一斯托克斯方程)和动量理论进行螺旋桨诱导速度的计算研究(英文)

In order to provide instructions for the calculation of the propeller induced velocity in the study of the hull-propeller interaction using the body force approach,three methods were used to calculate the propeller induced velocity:1) Reynolds-Averaged Navier-Stokes(RANS) simulation of the self-propulsion test,2) RANS simulation of the propeller open water test,and 3) momentum theory of the propeller.The results from the first two methods were validated against experimental data to assess the accuracy of the computed flow field.The thrust identity method was adopted to obtain the advance velocity,which was then used to derive the propeller induced velocity from the total velocity field.The results computed by the first two approaches were close,while those from the momentum theory were significantly overestimated.The presented results could prove to be useful for further calculations of self-propulsion using the body force approach.     

CFD simulation of propeller and rudder performance when using additional thrust fins

To analyse a possible way to improve the propulsion performance of ships,the unstructured grid and the Reynolds Average Navier-Stokes equations were used to calculate the performance of a propeller and rudder fitted with additional thrust fins in the viscous flow field.The computational fluid dynamics software FLUENT was used to simulate the thrust and torque coefficient as a function of the advance coefficient of propeller and the thrust efficiency of additional thrust fins. The pressure and velocity flow behind the propeller was calculated. The geometrical nodes of the propeller were constituted by FORTRAN program and the NUMBS method was used to create a configuration of the propeller,which was then used by GAMMBIT to generate the calculation model. The thrust efficiency of fins was calculated as a function of the number of additional fins and the attack angles. The results of the calculations agree fairly well with experimental data,which shows that the viscous flow solution we present is useful in simulating the performance of propellers and rudders with additional fins.     

带吊舱水下机器人运动建模与仿真(英文)

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.     

Chebyshev Fitting Way and Error Analysis for Propeller Atlas across Four Quadrants

A Chebyshev fitting way for a propeller atlas across four quadrants is discussed. As an example, Chebyshev polynomialfitting results and its error analysis are given. Because it's difficult generally to get a propeller atlas across four quadrants,a wayis used to construct an alternative with higher accuracy based on the properties. As an application example, an alternative forthe propeller property of a Deep Submergence Vebicle across four quadrants is given practically and a simulation model of the     

Numerical Calculation of Marine Propeller Hydrodynamic Characteristics in Unsteady Flow by Boundary Element Method

In this paper, a low-order potential based on surface panel method is used for the analysis of marine propellers in unsteady flow.A linear propeller wake model is employed and its geometry is assumed to be independent of the time.The calculation in time domain is carried out from a moment when the rotation of the propeller becomes steady instead of from the moment when the rotation strats from stationary condition.At every time step a linear algebraic equation established on a key blade is solved numerically combined with the Kutta pressure conditon.The calculated results by developed code indicate good convergency and effrctiveness of present algotithm for conventional propellers and highly skewed propellers.     

Mathematical model of small water-plane area twin-hull and application in marine simulator

Small water-plane area twin-hull（SWATH） has drawn the attention of many researchers due to its good sea-keeping ability.In this paper,MMG＇s idea of separation was used to perform SWATH movement modeling and simulation;respectively the forces and moment of SWATH were divided into bare hull,propeller,rudder at the fluid hydrodynamics,etc.Wake coefficient at the propellers which reduces thrust coefficient,and rudder mutual interference forces among the hull and propeller,for the calculation of SWATH,were all considered.The fourth-order Runge-Kutta method of integration was used by solving differential equations,in order to get SWATH＇s movement states.As an example,a turning test at full speed and full starboard rudder of ‘Seagull＇ craft is shown.The simulation results show the SWATH＇s regular pattern and trend of motion.It verifies the correctness of the mathematical model of the turning movement.The SWATH＇s mathematical model is applied to marine simulator in order to train the pilots or seamen,or safety assessment for ocean engineering project.Lastly,the full mission navigation simulating system（FMNSS） was determined to be a successful virtual reality technology application sample in the field of navigation simulation.     

Numerical analysis of the high skew propeller of an underwater vehicle

A numerical analysis based on the boundary element method (BEM) was presented for the hydrodynamic performance of a high skew propeller (HSP) which is employed by an underwater vehicle (UV). Since UVs operate at two different working conditions (surface and submerged conditions), the design of such a propeller is a cumbersome task. This is primarily due to the fact that the resistance forces as well as the vessel efficiency under these conditions are significantly different. Therefore, some factors are necessary for the design of the optimum propeller to utilize the power at the mentioned conditions. The design objectives of the optimum propeller are to obtain the highest possible thrust, minimum torque, and efficiency. In the current study, a 5-bladed HSP was chosen for running the UV. This propeller operated at the stern of the UV hull where the inflow velocity to the propeller was non-uniform. Some parameters of the propeller were predicted based on the UV geometrical hull and operating conditions. The computed results include the pressure distribution and the hydrodynamic characteristics of the HSP in open water conditions, and comparison of these results with those of the experimental data indicates good agreement. The propeller efficiency for both submerged and surface conditions was found to be 67% and 64%, respectively, which compared to conventional propellers is a significantly higher efficiency.     

Interaction of two-dimensional impulsively started airfoils

Continuous vortieity panels were used to model general unsteady inviscid, incompressible, two-dimensional flows. The geometry of the airfoil was approximated by series of short straight segments having endpoints that lie on the actual surface. A piecewise linear, continuous distribution of vorticity over the airfoil surface was used to generate disturbance flow. The no-penetration condition was imposed at the midpoint of each segment and at discrete times. The wake was simulated by a system of point vortices, which moved at local fluid velocity. At each time step, a new wake panel with uniform vortieity distribution was attached to the trailing edge, and the condition of constant circulation around the airfoil and wake was imposed. A new expression for Kutta condition was developed to study the interference effect between two impulsively started NACA0012 airfoils. The tandem arrangement was found to he the most effective to enhance the lift of the rear airfoil. The interference effect between tidal turbine blades was shown clearly.     

使用非定常粘性和无粘求解器研究双螺旋桨在不同船舶尾流场中的性能（英文）

In this study, the performance of a twin-screw propeller under the influence of the wake field of a fully appended ship was investigated using a coupled Reynolds-averaged Navier–Stokes (RANS)/boundary element method (BEM) code. The unsteady BEM is an efficient approach to predicting propeller performance. By applying the time-stepping method in the BEM solver, the trailing vortex sheet pattern of the propeller can be accurately captured at each time step. This is the main innovation of the coupl...     

Application of large eddy simulation in the performance study of wave blocker

The configuration and aerodynamic performance of the inlet system are important aspects in the process of installing a gas turbine on a naval vessel. Under the requirements, large eddy simulation （LES） is used to simulate the three-dimensional fluid flow in the wave blocker of a marine inlet filter. The Smagorinsky-Lilly sub-grid model was used to model motions of small-scale structures. During numerical simulation, the SIMPLE algorithm was applied. The central-differencing spatial discretization scheme and the second order accuracy finite difference for the temporal discretization were used. Simulation gives satisfactory distribution of the vorticity fields and turbulent kinetic energy. Compared with the k-ε turbulent model, the results of LES are better for the distribution of parameters. The results of experimental study in a small-scale wind tunnel indicate that numerical calculation has higher accuracy. Therefore, the methods used are worthy of reference and introduction for the design of an inlet system.     

SAW焊接型剖面预报的模糊逻辑系统开发(英文)

A fuzzy model was presented to predict the weldment shape profile of submerged arc welds(SAW) including the shape of heat affected zone(HAZ).The SAW bead-on-plates were welded by following a full factorial design matrix.The design matrix consisted of three levels of input welding process parameters.The welds were cross-sectioned and etched,and the zones were measured.A mapping technique was used to measure the various segments of the weld zones.These mapped zones were used to build a fuzzy logic model.The membership functions of the fuzzy model were chosen for the accurate prediction of the weld zone.The fuzzy model was further tested for a set of test case data.The weld zone predicted by the fuzzy logic model was compared with the experimentally obtained shape profiles and close agreement between the two was noted.The mapping technique developed for the weld zones and the fuzzy logic model can be used for on-line control of the SAW process.From the SAW fuzzy logic model an estimation of the fusion and HAZ can also be developed.     

S~2 BHCA-Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the "skill". The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three "skills" for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S2BHCA.     

Simulating an underwater vehicle self-correcting guidance system with Simulink

Underwater vehicles have already adopted self-correcting directional guidance algorithms based on multi-beam self-guidance systems,not waiting for research to determine the most effective algorithms.The main challenges facing research on these guidance systems have been effective modeling of the guidance algorithm and a means to analyze the simulation results.A simulation structure based on Simulink that dealt with both issues was proposed.Initially,a mathematical model of relative motion between the vehicle and the target was developed,which was then encapsulated as a subsystem.Next, steps for constructing a model of the self-correcting guidance algorithm based on the Stateflow module were examined in detail.Finally,a 3-D model of the vehicle and target was created in VRML,and by processing mathematical results,the model was shown moving in a visual environment.This process gives more intuitive results for analyzing the simulation.The results showed that the simulation structure performs well.The simulation program heavily used modularization and encapsulation,so has broad applicability to simulations of other dynamic systems.     

Simulating an underwater vehicle self-correcting guidance system with Simulink

Underwater vehicles have already adopted self-correcting directional guidance algorithms based on multi-beam self-guidance systems, not waiting for research to determine the most effective algorithms. The main challenges facing research on these guidance systems have been effective modeling of the guidance algorithm and a means to analyze the simulation results. A simulation structure based on Simulink that dealt with both issues was proposed. Initially, a mathematical model of relative motion between the vehicle and the target was developed, which was then encapsulated as a subsystem. Next, steps for constructing a model of the self-correcting guidance algorithm based on the Stateflow module were examined in detail. Finally, a 3-D model of the vehicle and target was created in VRML, and by processing mathematical results, the model was shown moving in a visual environment. This process gives more intuitive results for analyzing the simulation. The results showed that the simulation structure performs well. The simulation program heavily used modularization and encapsulation, so has broad applicability to simulations of other dynamic systems.     

A method for numerical calculation of propeller hydrodynamics in unsteady inflow

The hydrodynamic performance of a propeller in unsteady inflow was calculated using the surface panel method. The surfaces of blades and hub were discreted by a number of hyperboloidal quadrilateral panels with constant source and doublet distribution. Each panel's corner coordinates were calculated by spline interpolation between the main parameter and the blade geometry of the propeller. The integral equation was derived using the Green Formula. The influence coefficient of the matrix was calculated by the Morino analytic formula. The tangential velocity distribution was calculated with the Yanagizawa method, and the pressure coefficient was calculated using the Bonuli equation. The pressure Kutta condition was satisfied at the trailing edge of the propeller blade using the Newton-Raphson iterative procedure, so as to make the pressure coefficients of the suction and pressure faces of the blade equal at the trailing edge. Calculated results for the propeller in steady inflow were taken as initialization values for the unsteady inflow calculation process. Calculations were carried out from the moment the propeller achieved steady rotation. At each time interval, a linear algebraic equation combined with Kutta condition was established on a key blade and solved numerically. Comparison between calculated results and experimental results indicates that this method is correct and effective.     

舰船气泡尾流数值模拟(英文)

Based on a volume of fluid two-phase model imbedded in the general computational fluid dynamics code FLUENT6.3.26, the viscous flow with free surface around a model-scaled KRISO container ship (KCS) was first numerically simulated. Then with a rigid-lid-free-surface method, the underwater flow field was computed based on the mixture multiphase model to simulate the bubbly wake around the KCS hull. The realizable k-ε two-equation turbulence model and Reynolds stress model were used to analyze the effects of turbulence model on the ship bubbly wake. The air entrainment model, which is relative to the normal velocity gradient of the free surface, and the solving method were verified by the qualitatively reasonable computed results.     

Expert S-surface control for autonomous underwater vehicles

S-surface control has proven to be an effective means for motion control of underwater autonomous vehicles （AUV）. However there are still problems maintaining steady precision of course due to the constant need to adjust parameters, especially where there are disturbing currents. Thus an intelligent integral was introduced to improve precision. An expert S-surface control was developed to tune the parameters on-line, based on the expert system, it provides S-surface control according to practical experience and control knowledge. To prevent control output over-compensation, a fuzzy neural network was included to adjust the production rules to the knowledge base. Experiments were conducted on an AUV simulation platform, and the results show that the expert S-surface controller performs better than an S-surface controller in environments with currents, producing good steady precision of course in a robust way.     

船用螺旋桨叶片应力的数值分析（英文）

In this study, a series of numerical calculations are carried out in ANSYS Workbench based on the unidirectional fluid–solid coupling theory. Using the DTMB 4119 propeller as the research object, a numerical simulation is set up to analyze the open water performance of the propeller, and the equivalent stress distribution of the propeller acting in the flow field and the axial strain of the blade are analyzed. The results show that FLUENT calculations can provide accurate and reliable calculations of the hydrodynamic load for the propeller structure. The maximum equivalent stress was observed in the blade near the hub, and the tip position of the blade had the largest stress. With the increase in speed, the stress and deformation showed a decreasing trend.     

S^2 BHCA Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.