共查询到20条相似文献，搜索用时 250 毫秒
1.
Moqin He Brain Veitch Neil Bose Bruce Colbourne Pengfei Liu 《Ocean Engineering》2007,34(8-9):1197-1210
Potential flow based vortex numerical methods have been widely used in aerodynamics and hydrodynamics. In these methods, vortices shed from lifting bodies are traced by using vortex filaments or dipole panels. When the wake elements encounter a downstream body, such as a rudder behind a propeller or a stator behind a rotor, a treatment is necessary to divert the wake elements to pass by the body. This treatment is vital to make wake simulations realistic and to satisfy the non-penetration condition during wake body interaction. It also helps to avoid pure numerical disturbances such as when a vortex filament or an edge of a dipole panel passes through the collection point of a body element; this is a singularity for induced velocity and it will introduce a large numerical disturbance. This necessary treatment for three-dimensional problems with geometrical complexity has not been found to date. In this study, a wake impingement model was developed to divert wake elements to slip over the body surface, model the vortex/body interaction, and predict forces on fluctuating components. The model was also tested on configurations of oscillating foils in tandem with an existing panel method code. Simulation results with the wake impingement model are shown to be in closer agreement with limited published experimental data than those without the model. With the established wake impingement model, force fluctuations on the after body due to the wake vortex impingement were investigated based on a series of simulations. The series varied several parameters including distance between two foils, oscillating frequency, span, rear foil pitch angle, swap angle and vertical position. 相似文献
2.
A low-order singularity panel method based on Green's formulation is used to predict the hydrodynamics characteristics of underwater vehicles. The low-order modeling employs constant strength sources and doublets, and the body surface is modeled by quadrilaterals. The method is first applied to predicting the force and moment coefficients of underwater vehicles for the body-alone and finned configurations. Hydrodynamic coefficients of added mass and added moment of inertia are also calculated by modifying the code. Results for several two and three-dimensional bodies show the usefulness of the method for predicting the added mass and added moment of inertia. 相似文献
3.
4.
The Development of a Biologically Inspired Propulsor for Unmanned Underwater Vehicles 总被引：1，自引：0，他引：1
Tangorra J.L. Davidson S.N. Hunter I.W. Madden P.G.A. Lauder G.V. Dong Haibo Bozkurttas M. Mittal R. 《Oceanic Engineering, IEEE Journal of》2007,32(3):533-550
Fish are remarkable in their ability to maneuver and to control their body position. This ability is the result of the coordinated movement of fins which extend from the body and form control surfaces that can create and vector forces in 3-D. We have embarked on a research program designed to develop a maneuvering propulsor for unmanned undersea vehicles (UUVs) that is based on the pectoral fin of the bluegill sunfish. For this, the anatomy, kinematics, and hydrodynamics of the sunfish pectoral fin were investigated experimentally and through the use of computational fluid dynamics (CFD) simulations. These studies identified that the kinematics of the sunfish pectoral fin are very complex and are not easily described by traditional ldquorowingrdquo- and ldquoflappingrdquo-type kinematics. A consequence of the complex motion is that the pectoral fin can produce forward thrust during both its outstroke (abduction) and instroke (adduction), and while doing so generates only small lateral and lift forces. The results of the biological studies were used to guide the design of robotic pectoral fins which were built as experimental devices and used to investigate the mechanisms of thrust production and control. Because of a design that was based heavily on the anatomy of the sunfish fin, the robotic pectoral fins had the level of control and degrees of freedom necessary to reproduce many of the complex fin motions used by the sunfish during steady swimming. These robotic fins are excellent experimental tools, and are an important first step towards developing propulsive devices that will give the next generation of UUVs the ability to produce and control thrust like highly maneuverable fish. 相似文献
5.
An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control (FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics (CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model. 相似文献
6.
This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle(ROV),which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm.The scaled model of ROV was constructed by 1:1.6.Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test.And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions.Rotation control motion was simulated to verify spatial model proposed.Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment,and accomplish some more challengeable and practical missions. 相似文献
7.
福建沿海强潮河口闽江口和九龙江口外均发育有一定规模的线状沉积沙体,通过多波束调查采集数据和浅剖、沉积物资料的分析,对此类沙体特征进行研究,初步认为其为潮流沙脊。结果表明:在平面分布上,闽江口外潮流沙脊走向近SW-NE向,沙脊局部连片;九龙江口外沙脊走向近ENEWSW向,沙脊末端有分叉现象。分析现代海洋环境作用并结合沙脊规模、水深和河口相对关系的研究显示,沙脊主体规模基本稳定,现代水动力仅对沙脊表面有改造作用。在潮流、波浪和近岸余流的共同作用下沙脊脊顶部略显平滑,两翼坡度较缓,其沉积物组成以粒度较粗的古河口砂质浅滩砂为主,沉积主体为全新世海平面上升时期,近岸河口环境的古水下三角洲遭受潮流侵蚀而成。 相似文献
8.
The development of a definitive predictive model that accurately accounts for the nonlinear hydrodynamics and structural response behavior observed in arrays of closely spaced risers on deep water structures will require a more detailed understanding of this fluid–structure interaction. Through the analysis and interpretation of data from model basin tests on single and paired tandem cylinder configurations this study is directed at uncovering the nature of some aspects of this nonlinear response behavior using an orthogonal third-order Volterra technique that can delineate between linear, quadratic and cubic nonlinear frequency dependent behavior. As part of the analysis procedure the data was organized in input–output pairs that would provide logical groupings of the measured quantities. The data pairs presented in this study include wave excitation and inline cylinder displacement, wave excitation and transverse cylinder displacement, wave excitation and inline reaction force, and, upstream cylinder and downstream cylinder response. This information is presented in terms of spectral and coherence plots. The single cylinder data is presented as a means to contrast the behavior of the tandem cylinders. Both configurations were analyzed at two different pretensions adding another dimension to this investigation. It is shown that although a primary variable such as displacement may be more easily measured, pretension and force measurements provide an important key to our understanding of this difficult problem. 相似文献
9.
S.T. Santillan 《Ocean Engineering》2011,38(13):1397-1402
This paper models a slender, flexible structure used as a drill string or riser in the offshore oil and gas industry that connects the well-head with a floating control vessel. These systems are used in deep-water drilling applications and present considerable design challenges due to their extreme flexibility and susceptibility to buckling and vibration. Two typical configurations are used (Bai and Bai, 2005), with a common feature involving the attachment of a buoy designed to relieve some of the axial forces acting on the riser, especially at the attachment points. Previous work by the authors studied numerical results of small-amplitude vibrations and two other equilibrium configurations using parameter values that closely resemble the full-scale application (Santillan et al., 2008). Here, two new configurations are considered, and experiments are designed and conducted to verify these equilibrium results. 相似文献
10.
《Ocean Engineering》2004,31(14-15):1859-1914
In this paper, a new state-space model of the potential-radiation hydrodynamics in moored ocean engineering floating structures and its parameter identification are presented. The raw data for this goal are the added mass and potential-damping matrices in frequency-discrete domain.In a preliminary study of existing approaches in the literature, two mathematical models and their estimation are comparatively analysed in detail. These served in the development of the new approach that shares certain main advantages of the previous approaches.The model is identified in a least-squares sense using a weighted norm and a free control parameter to accomplish a trade-off between quality and stability. This reduces numerical instability problems and also keeps the analytical and computational benefits of a parametric state-space model. The model can be conveniently expressed in any usual canonical form in state space.The application of the model acceptably accurate reproduces the behaviour of the potential-radiation hydrodynamic forces in time. Case studies involving a semisubmersible and buoys are shown to demonstrate the features of the proposed approach. 相似文献
11.
A three-dimensional numerical model of hydrodynamics and water quality in Hakata Bay 总被引：1，自引：0，他引：1
The hydrodynamics and water quality in Hakata Bay, Japan, are strongly affected by the seasonal variations in both the gravitational circulation and the stratification in the bay. The three-dimensional hydrodynamics and water quality model has been developed to simulate the long-term transport and fate of pollutants in the system. The model is unique in that it completely integrates the refined modelling of the hydrodynamics, biochemical reactions and the ecosystem in the coastal areas. It is a 3-dimensional segmented model which is capable of resolving mean daily variations in all the parameters relevant to pollution control. It predicts daily fluctuations in the oxygen content at different depths in water throughout the year. It takes into account transport and settling of pollutant particles. It predicts light penetration from computed turbidity variations. It includes interactions between the ecosystem and water quality, through nutrient cycling and photosynthesis. The model has been calibrated well against the data set of historical water quality observations in Hakata Bay. 相似文献
12.
Computational modeling is assuming increased significance in the area of biohydrodynamics. This trend has been enabled primarily by the widespread availability of powerful computers, as well as the induction of novel numerical and modeling approaches. However, despite these recent advances, computational modeling of flows in complex biohydrodynamic configurations remains a challenging proposition. This is due to a multitude of factors, including the need to handle a wide range of flow conditions (laminar, transitional, and turbulent), the ubiquity of two-way coupled interaction between the fluid and moving/deformable structures, and, finally, the requirement of accurately resolving unsteady flow features. Recently, as part of an Office of Naval Research sponsored review, the objective of which was to distill the science related to biology-based hydrodynamics for maneuvering and propulsion, an extensive survey of computational biohydrodynamics was undertaken. The key findings of this survey are reported in this paper. 相似文献
13.
Marine cycloidal propulsion system is efficient in maneuvering ships like tugs, ferries, etc. It is capable of vectoring thrust in all direction in a horizontal plane. When used in pair, the system enables a vessel to perform maneuvers like moving sideways, perform rotation about a point, i.e. turning diameter of its own length, etc. In this system, the propeller blades have to change their angle of attack at different angular position of the disc. Due to this reason, the inflow velocity vector to propeller blades changes continuously. The propeller blade oscillates about a vertical axis passing through its body and at the same time rotates about a point. Superposed on these motions is the dynamics of the ship on which the propulsion system is installed. This results in a formidable and challenging hydrodynamics problem. Each of the propeller blade sections could be considered as an aerofoil operating in combined heave and pitch oscillation mode. Due to the constantly varying inflow velocity, the hydrodynamic flow is unsteady. The unsteady hydrodynamic flow is simulated by incorporating the effect of shed vortices at different time instant behind the trailing edge. Due to the kinematics of the problem, the blade is subjected to higher structural deformation and vibration load. The structural deformation and vibration when coupled with the hydrodynamic loading add another level of complexity to the problem. In this paper, the variation of hydrodynamic load on the propeller blade due to steady and unsteady flow is compared. We also model the structural dynamics of the blade and study its effect on the hydrodynamic loading. Finally, we couple the structural dynamics with hydrodynamics loading and study its influence on the propeller blade for different operating regimes. 相似文献
14.
《Journal of Sea Research》2007,57(1):47-64
Benthic communities in delta fronts are subject to burial risk because of high riverine sediment discharges and to substrate instability due to deposition of fine sediments at shallow depths. This study examines the spatial distribution of macroinfauna in the subaqueous deltaic depositions of a small river in the eastern Mediterranean (the Spercheios river, Maliakos Gulf, Aegean Sea) in relation to environmental variables in the water column and sediment. Samples were taken at eight stations in January, May, August and November 2000. From late winter to spring enhanced phytoplanktonic biomass, elevated suspended load and poorly sorted sediments showed a simultaneous influence of riverine discharges and hydrodynamics on the benthic system. In contrast, from summer to autumn oligotrophy in the water column and low hydrodynamic regime were observed. Total abundance, biomass and numbers of benthic species were positively correlated with distance from the river but negatively correlated with suspended inorganic particles and sediment skewness. Species from different functional groups, ranging from surface-living opportunists to burrowers and predators, coexisted at each station. However, suspension feeders were numerically suppressed near the river mouth. Non-parametric multivariate regressions showed that the variance in the species data was explained by environmental variables to a level ranging from 53 to 69%. This indicated a strong link between the macrofauna and the delta front environment. The variables used as measures of hydrodynamics and turbidity (i.e. sediment skewness and sorting, suspended material and transparency) displayed great explanatory power. The results of the present study show that the distribution of species is related to fluctuations in hydrodynamic regime that influence substrate characteristics. The study also demonstrates that sediment discharges of small temperate rivers can determine species composition in the delta front and have a detrimental impact on the community at short distances from river outflows. 相似文献
15.
A new approach to multibody dynamics is investigated by treating floating wind turbines as multibody systems. The system is considered as three rigid bodies: the tower, nacelle and rotor. Three large-amplitude rotational degrees of freedom (DOFs) of the tower are described by 1-2-3 sequence Euler angles. Translation of the entire system is described by Newton’s second Law applied to the center of mass (CM) of the system and transferred to 3 translational DOFs of the tower. Additionally, two prescribed DOFs governed by mechanical control, nacelle yaw and rotor spin, are combined with the 6 DOFs of the tower to formulate the 8-DOF equations of motion (EOMs) of the system. The CM of the system is generally time-varying and not constrained to any rigid body due to the arbitrary location of the CM of each body and relative mechanical motions among the bodies. The location of the CM being independent of any body is considered in both the solution to 3 translational DOFs and the calculation of angular momentum of each body for 3 rotational DOFs. The theorem of conservation of momentum is applied to the entire multibody system directly to solve 6 unknown DOFs. Motions computed using the six nonlinear EOMs are transformed to each body in a global coordinate system at every time-step for use in the computation of hydrodynamics, aerodynamics and restoring forcing, which preserves the nonlinearity between external excitation and structural dynamics. The new method is demonstrated by simulation of the motion of a highly compliant floating wind turbine. Results are verified by critical comparison with those of the popular wind turbine dynamics software FAST. 相似文献
16.
This paper presents numerical simulations of viscous flow past a submarine model in steady turn by solving the Reynolds-Averaged Navier?Stokes Equations (RANSE) for incompressible, steady flows. The rotating coordinate system was adopted to deal with the rotation problem. The Coriolis force and centrifugal force due to the computation in a body-fixed rotating frame of reference were treated explicitly and added to momentum equations as source terms. Furthermore, velocities of entrances were coded to give the correct magnitude and direction needed. Two turbulence closure models (TCMs), the RNG model with wall functions and curvature correction and the Shear Stress Transport (SST) model without the use of wall functions, but with curvature correction and low-Re correction were introduced, respectively. Take DARPA SUBOFF model as the test case, a series of drift angle varying between 0° and 16° at a Reynolds number of 6.53×106 undergoing rotating arm test simulations were conducted. The computed forces and moment as a function of drift angle during the steady turn are mostly in close agreement with available experimental data. Though the difference between the pressure coefficients around the hull form was observed, they always show the same trend. It was demonstrated that using sufficiently fine grids and advanced turbulence models will lead to accurate prediction of the flow field as well as the forces and moments on the hull. 相似文献
17.
Izvestiya, Atmospheric and Oceanic Physics - This paper presents a review and analysis of approaches to data assimilation in problems of geophysical hydrodynamics, from the simplest sequential... 相似文献
18.
《Ocean Modelling》2010,35(3-4):92-110
A convective adjustment (CA) algorithm is thought to be responsible for grid-scale oceanic-state sustained oscillations seen in oceanic general circulation models (OGCM), an effect that is most evident in simulations with coarse spatio-temporal scales. The CA algorithm is thought to inadvertently create a salt oscillator. Several studies have confirmed that a flip-flop type salt oscillator, which is reminiscent in some respects of simple CA schemes, can develop sustained oscillations. Subsequently, several researchers were able to show how coupled salt oscillators, reacting in a particular temporal sequence, are capable of producing large-scale oscillations not unlike those found in the OGCM simulations. However, the proxy models used to study how CA can create these oscillations in large-scale simulations were never directly related to OGCM results.Here we couple hydrodynamics to the CA and look at zonally-driven flows in the low-frequency, large-scale limit. Adding flow is a step in the direction of developing an analytically tractable model with which to understand the basics of OGCMs. We analytically determine whether, and under what circumstances, the CA scheme is responsible for sustained oscillations.We carry out this program for four basic box-model configurations, each inspired by the general shape of the eigenfunctions and constraints of the large-scale zonally-averaged forced flow over a hemisphere. Furthermore, in order to make our results relevant to the Meridional Ocean Circulation, we also investigate the effect of replacing the usual assumption of a linear relation between thermohaline flow rate and horizontal density gradient with a nonlinear hydraulic relationship.We find that a salt oscillator does not occur in the most common box-model configurations. In one of our models, however, we find wide parameter ranges in which all steady states calculated for the model fail to satisfy the CA scheme, the situation which is expected to result in CA-induced oscillations. The model in question corresponds to a hemispheric shallow thermohaline flow over a deep reservoir. However, we find that oscillations occur in these parameter ranges only if the density threshold for convection is negative, i.e., if the CA scheme turns on convection between vertically adjacent boxes when the density stratification between them is still slightly stable. In this situation, the amplitude and period of the oscillations depend strongly on the size of the density threshold, both vanishing as the threshold is taken toward zero. We also show that the same is true in the Welander flip-flop model of a single salt oscillator. For positive values of the threshold, that is, when the CA scheme is allowed to ignore small unstable stratification changes, oscillations do not occur in the limit of integration time step going to zero, but can still be seen when the time step is finite, even if small. Moreover, the system evolves toward a new steady state, one in which the stratification in one box is exactly the threshold value itself. We show how to calculate these new steady states, and explain why they give way to oscillations when the density threshold is negative. 相似文献
19.
Significant reduction of steady-state resistance of a di-hull system with certain hull configurations (relative stagger and separation between the hulls) occurs because of interference effects between the two sets of ship-generated waves. The far-field wave interference and the resulting wave-resistance reduction of an asymmetric di-hull system, consisting of two distinct Series 60 hull models with various hull configurations are studied. The initial search for optimal configurations of the maximum prospective resistance reduction is conducted by an existing di-hull thin-ship computation. These theoretical results are then compared to the ones acquired by towing-tank measurements and those given by a semi-experimental approach. The latter approach obtains the wave resistance by combining experimental “wave-cut” data and analytical expressions developed for such a di-hull system. Experimental uncertainties are briefly discussed. Results of this study show that a considerable amount of wave-resistance reduction is indeed possible for the investigated hull configurations. However, beyond the far-field interference of the waves, near-field interactions of the two hulls are found to have non-negligible influence on the total resistance performance of the di-hull system. 相似文献