CN109472065A - Forecast the three-dimensional numerical method of Low Speed Full Ships Added Resistance under severe sea condition - Google Patents
Forecast the three-dimensional numerical method of Low Speed Full Ships Added Resistance under severe sea condition Download PDFInfo
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Abstract
The present invention is to provide a kind of three-dimensional numerical methods of Low Speed Full Ships Added Resistance under forecast severe sea condition.Grid file is read, ship hydrostatic calculation is carried out；Calculate influence coefficient matrix involved in boundary integral equation；Folded mould velocity potential and its space one, second dervative and Mj solve；Time domain Green function and its space normal derivative solve；Roll damping ratio calculates；Velocity potential at Integration Scheme Free Face Conditions time stepping free surface discretization grid element center point；Taylor expansion boundary element method direct time-domain disturbs wave force calculation；Incident wave force and hydrostatic restoring force calculate；Modeling solves the equation of motion；Added Resistance calculates；According to motor imagination RAO and increase resistance RAO, substantially movement and Added Resistance spectrum analysis calculate in progress irregular wave.Using method of the invention can forecasting container ship head sea and substantially move RAO in regular wave, ship substantially moves and Added Resistance spectrum analysis result in Added Resistance RAO and irregular wave.
Description
Technical field
It is the present invention relates to a kind of method for numerical simulation, in particular to a kind of to utilize three-dimensional Taylor expansion Element BEM
Simulate the numerical method that low speed of a ship or plane full formed ship oceangoing ship severe sea condition Wave increases resistance.
Background technique
Added Resistance of Ships value is assessment ship CO2The key index of levels of emissions is during new ship is designed and developed
Meet the ship CO of IMO International Maritime Organization2In the case that emission index and transport power are superfluous.Ship Design personnel selection drop
Low design speed, to reduce main engine power.To meet ship CO2Emission index.For oil carrier, the full formed ships such as bulk freighter
Oceangoing ship host reserve capacity is insufficient, and will lead to ship security performance under severe sea condition reduces.Therefore IMO International Maritime Organization is begging for
Directive/guide is assessed by ship minimum installed power is formulated.How directive/guide core, which assesses ship under severe sea condition, increases resistance to course-stability
The influence of property.
Need to consider influence of the permanent folded mould gesture to unsteady velocity potential in ship movement prediction numerical simulation.Therefore freely
Noodles part implements logarithm forecast precision and also has an impact.Currently used Free Face Conditions include NK Free Face Conditions and DB free
Noodles part.Because DB Free Face Conditions design the calculating of folded mould gesture second dervative, more complicated than NK Free Face Conditions.And
Wedge angle boundary velocity potential second dervative accurately solve be numerical simulation difficult point.The interim directive/guide of IMO provides 8 grades of sea situations.Therefore
Need to consider that ship substantially moves the influence to Added Resistance in severe sea condition, this is the key point of numerical forecast precision.
Summary of the invention
The purpose of the present invention is to provide a kind of forecast that can provide basis for the assessment of ship minimum installed power is severe
The three-dimensional numerical method of Low Speed Full Ships Added Resistance under sea situation.
The object of the present invention is achieved like this:
Step 1, grid file is read, carries out ship hydrostatic calculation using gridding information；
Step 2, influence coefficient matrix involved in boundary integral equation needed for calculating Taylor expansion Element BEM；For
Improving numerical value efficiency includes the influence coefficient matrix generated about the mirror image point source of axial symmetry face XOZ.
Step 3, it folds mould velocity potential and its space single order, second dervative and Mj solves；
Step 4, time domain Green function and its space normal derivative solve；
Step 5, roll damping ratio calculates；
Step 6, the velocity potential at Integration Scheme Free Face Conditions time stepping free surface discretization grid element center point；
Step 7, Taylor expansion boundary element method direct time-domain disturbs wave force calculation；
Step 8, it is calculated based on the theoretical incident wave force (Froude-Krylov power) of weak scattering and hydrostatic restoring force；
Step 9, ship substantially Motion prediction equation Modeling solves the equation of motion using fourth-order Runge-Kutta method stepping；
Step 10, Added Resistance of Ships calculates；
Step 11, according to ship motor imagination RAO and increase resistance RAO, carry out ship in irregular wave and substantially move and wave
Increase resistance spectrum analysis to calculate.
The present invention provides a kind of forecast full formed ship oceangoing ship (oil carrier, bulk freighter) severe sea condition Waves to increase resistance numerical value side
Method provides basis for the assessment of ship minimum installed power.
Added Resistance of Ships is second order seaway load, is related to the second dervative of permanent and unsteady velocity potential.Therefore accurate
It solves wedge angle boundary and folds mould gesture, the tangential induced velocity of unsteady perturbation velocity potential and higher derivative are that have speed of a ship or plane Definite problem number
It is worth the key of simulation.The present invention can accurately solve the second dervative of any Basin Boundary using Taylor expansion Element BEM.
Weak scattering theory can be considered instantaneous corrugated tripping in and penetrate wave force and restoring force, consider that ship substantially moves.
Using method proposed by the present invention can forecasting container ship head sea and substantially move RAO, Added Resistance in regular wave
Ship substantially moves and Added Resistance spectrum analysis result in RAO and irregular wave.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Specific embodiment
It illustrates below and the present invention is described in more detail.
1) it reads grid file and automatically extracts ship waterline information (including head and the tail stationary point space coordinate, waterline matched curve
Function).In conjunction with flow field matching boundary wisdom parameter and waterline information, the water surface and the matching face of coincidence boundary member method are automatically generated
Discrete grid block.And it is based on hull discrete grid block, Ship ' displacement of volume, centre of buoyancy, the centre of floatation, the moment of inertia, the hydrostatic such as wetted surface area
Force parameter.The error for checking hydrostatic force parameter numerical result and physics ship parameter, examines ship mesh quality with this.
2) present invention utilizes each velocity potential ingredient of Taylor expansion Solution of Boundary Element Method and its space single order, second dervative.Taylor
Expansion core concept is the method that the boundary integral equation formed based on Green's third formula carries out numerical discretization solution.For three
Dimension problem takes cell node coordinate equal for several quadrangles or triangular element for wetted surface of floating body is discrete on each unit
Centered on value, at face element midpoint, antithesis pole strength makees Taylor expansion and retains first derivative item, makees Taylor expansion to source strength and only protects
Stay first derivative item.And the tangential first derivative for introducing site carrys out Closure equation group, to constitute strong about dipole intensity, idol
First derivative be unknown number, source strength be known variables linear algebraic equation systems.The wherein influence of even strong tangential first derivative
Coefficient includes main value (being positive/negative half after normalization).What aforesaid operations method generated solves boundary using boundary element
The method of Integral Equation Solution is known as Taylor expansion Element BEM.Any face element i can be obtained single order simplified as follows
The discrete equation group of Taylor expansion Element BEM, i=1,2 ..., N,
Element expression in each matrix of above formula:
In formula: superscript i and j indicate bin number.An explanation is done by taking element expression a certain in matrix as an example: such as:
This method can simultaneously solving speed gesture and two mutually orthogonal tangential direction derivatives.Using object plane normal direction can not
Condition is penetrated, that is, constitutes the velocity field of local local coordinate system.Velocity field can be achieved under local coordinate and earth coordinates
Under conversion.Numerical result proves that this method can obviously improve the computational accuracy of the tangential induced velocity of Basin Boundary corner.
Introduce auxiliary functionThe space of φ is solved using Taylor expansion Element BEM again, i.e. velocity potential space second order is led
Number.Therefore this method is related to several influence coefficient matrixs calculating.
3) general speed gesture can be analyzed to steady velocity gesture, unsteady incident gesture, radiation velocity gesture and diffraction velocity potential.That is:
Steady velocity gesture can be analyzed to speed of incoming flow gesture and folded mould velocity potential again, it may be assumed that
Φb=-Ux+ Φ (3)
The object plane condition of unsteady gesture Definite problem, which is related to permanent gesture, to be influenced, i.e. and mj.For DB it is assumed that its boundary values solves surely
Problem are as follows:
Based on DB linear hypothesis mj are as follows:
In formula:For the displacement at object plane each point.It is flat for hull
Dynamic displacement,For hull rotation displacement,For various point locations radius vector on hull wet structure.
4) present invention disturbs wave using matching method unofficial biography, utilizes time domain Green function construction matching item on the mating surface
Part.Time domain Green function are as follows:
5) roll damping calculates
Using Ikeda method Ship ' roll damping ratio, notice that the total damping obtained at this time is zero dimension equivalent line
Property damped coefficient.In this method, zero dimension as follows:
Wherein ρ is water density,For displacement of volume, B is that type is wide, and equivalent linear damping coefficient may be expressed as:
Wherein B441For linear damping coefficient, B443For a cube damped coefficient, η4For rolling amplitude, ωηFor the intrinsic frequency of rolling
Rate.
In order to more accurately solve nonlinear damping coefficients, the present invention finds out the equivalent linear under different rolling amplitudes respectively
Then damped coefficient carries out least square fitting according to above formula, can acquire the above nonlinear damping coefficients.
6) present invention uses time domain direct solution unsteady perturbation velocity potential, and radiation velocity gesture and diffraction velocity potential are asked together
Solution.Unsteady perturbation velocity potential Definite problem such as formula (9), solves the initial BVP using Taylor expansion boundary element method time stepping and asks
Topic.
The expression formula of Free Face Conditions right-hand vector F is expressed as follows in formula:
Using the velocity potential of each discrete unit center on the Integration Scheme Free Face Conditions stepping scope of freedom.With any letter
For number f (t), illustrates the core concept of Integration Scheme Free Face Conditions: time quadratic integral being made to integrand.
Similarly make time quadratic integral to Free Face Conditions to obtain:
Integration Scheme Free Face Conditions are calculated using trapezoidal method.To realize the stepping of Free Face Conditions time.Once disturbance
After velocity potential has solved, using Bernoulli equation in average wet structure upper integral, disturbance seaway load can be obtained.
7) incident wave force (Froude-Krylov power) below instantaneous corrugated and hydrostatic restoring force calculate；By Bernoulli Jacob side
Journey, it is known that incident wave pressure below standing level are as follows:
Hydrostatic pressure are as follows:
Ps=-ρ gz
Since the calculating for incident wave power and hydrostatic restoring force is integrated to instantaneous wet structure, therefore there are incidence wave corrugateds to exist
Situation more than standing level, therefore the present invention is using the contribution of more than Wheeler method assessment standing level incident wave pressure:
PIS=-ρ gz+ ρ g ζ (t) ek(z-ζ(t)) (z≤ζ(t)) (16)
The method ensure that wave pressure increases with depth and exponentially decays.
In order to calculate hydrostatic restoring force and incident wave force under instantaneous wet structure, first surface grids are divided to along hull surface
Deck, using quadrangle and triangular mesh.After instantaneous ship motion posture is calculated in the equation of motion, pass through transformational relation
The gridding information of original upright condition is converted into the gridding information under transient posture.Judge in each time step wet on hull
Surface mesh on incident corrugated hereinafter, more than or with incident corrugated phase cut.In instantaneous grid, water surface part below is wink
When wet structure.
After obtaining instantaneous incident corrugated and hull wet structure interface instantaneous wet structure below, by incidence wave and quiet
Water pressure PISIt is integrated in instantaneous hull wet structure, just obtains the non-linear incident wave power and hydrostatic restoring force that ship is subject to, table
Show as follows:
In above formula, incidence wave and hydrostatic righting moment take square with respect to the satellite coordinate system of ship center of gravity.After the reason is that
Continuous ship movement rotation equation is set up under the satellite coordinate system relative to ship center of gravity.
8) according to ship substantially Motion prediction equation Modeling, ship non-linear fortune in atrying can be carried out using the equation of motion
Dynamic assessment.According to Newton's second law, ship heaving, rolling, pitching Three Degree Of Freedom coupled motions equation are as follows:
The equation of motion is solved using fourth-order Runge-Kutta method stepping.
9) when velocity potential and its space single order, second dervative are calculated and completed, ship 6 degree of freedom goes through signal calculating when moving
After the completion, using near field stress integral formula, retain second order pressure loading item, gone through when being shown below as Added Resistance of Ships
Expression formula.Being averaged to the formula can be obtained Added Resistance of Ships value.
10) it after obtaining ship 6 degree of freedom movement RAO and Added Resistance RAO, can be obtained using spectral analysis method at different levels
The statistical value of ship movement and Added Resistance under sea situation.The two-parameter spectrum of ITTC is shown below:
Wherein, T1To compose the heart period；H1/3For ariyoshi wave height, ω is circular frequency, and S (ω) is wave spectrum density.Freely by six
Degree movement RAO value brings spectrum analysis formula into, just obtains motion amplitude of the ship in practical sea situation.
Claims (5)
1. the three-dimensional numerical method of Low Speed Full Ships Added Resistance under a kind of forecast severe sea condition, it is characterized in that including as follows
Step:
Step 1, grid file is read, carries out ship hydrostatic calculation using gridding information；
Step 2, influence coefficient matrix involved in boundary integral equation needed for calculating Taylor expansion Element BEM；
Step 3, it folds mould velocity potential and its space single order, second dervative and Mj solves；
Step 4, time domain Green function and its space normal derivative solve；
Step 5, roll damping ratio calculates；
Step 6, the velocity potential at Integration Scheme Free Face Conditions time stepping free surface discretization grid element center point；
Step 7, Taylor expansion boundary element method direct time-domain disturbs wave force calculation；
Step 8, it is calculated based on the theoretical incident wave force of weak scattering and hydrostatic restoring force；
Step 9, ship substantially Motion prediction equation Modeling solves the equation of motion using fourth-order Runge-Kutta method stepping；
Step 10, Added Resistance of Ships calculates；
Step 11, according to ship motor imagination RAO and increase resistance RAO, carry out ship in irregular wave and substantially move and Added Resistance
Spectrum analysis calculates.
2. the three-dimensional numerical method of Low Speed Full Ships Added Resistance under forecast severe sea condition according to claim 1,
It is characterized in that: the reading grid file includes reading grid file, ship waterline information, the ship waterline letter are automatically extracted
Breath includes head and the tail stationary point space coordinate, waterline matched curve function；It is described to carry out ship hydrostatic calculation tool using gridding information
Body includes: described to carry out ship hydrostatic calculation using gridding information and specifically include: in conjunction with flow field matching boundary wisdom parameter and
Waterline information automatically generates the water surface and matching face discrete grid block of coincidence boundary member method, is based on hull discrete grid block, calculates ship
Oceangoing ship hydrostatic force parameter, checks the error of hydrostatic force parameter numerical result and physics ship parameter, and the hydrostatic force parameter includes row
Water volume, centre of buoyancy, the centre of floatation, the moment of inertia and wetted surface area.
3. the three-dimensional numerical method of Low Speed Full Ships Added Resistance under forecast severe sea condition according to claim 1,
It is characterized in that: the influence coefficient matrix includes the influence coefficient matrix generated about the mirror image point source of axial symmetry face XOZ.
4. the three-dimensional numerical method of Low Speed Full Ships Added Resistance under forecast severe sea condition according to claim 1,
It is characterized in that: disturbing wave using matching method unofficial biography, matching condition is constructed using time domain Green function on the mating surface.
5. the three-dimensional numerical method of Low Speed Full Ships Added Resistance under forecast severe sea condition according to claim 1,
It is characterized in that: using Ikeda method Ship ' roll damping ratio, zero dimension as follows:
Wherein ρ is water density, and ▽ is displacement of volume, and B is that type is wide, and equivalent linear damping coefficient indicates are as follows:
Wherein B441For linear damping coefficient, B443For a cube damped coefficient, η4For rolling amplitude, ωηFor rolling intrinsic frequency,
The equivalent linear damping coefficient under different rolling amplitudes is found out respectively, and least square fitting is then carried out according to above formula, is asked
Obtain the above nonlinear damping coefficients.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110532685A (en) * | 2019-08-29 | 2019-12-03 | 山东交通学院 | Floating structure sways motor imagination forecasting procedure |
| CN110717216A (en) * | 2019-08-30 | 2020-01-21 | 南京航空航天大学 | Method for forecasting rolling response of helicopter with flexible air bag under irregular wave |
| CN112182747A (en) * | 2020-09-17 | 2021-01-05 | 智慧航海（青岛）科技有限公司 | Simulation test system and method for ship wave drag performance analysis |
| CN113111603A (en) * | 2021-04-07 | 2021-07-13 | 哈尔滨工程大学 | Double-floating-body platform wave excitation force and motion response forecasting method |
| CN113705035A (en) * | 2021-07-19 | 2021-11-26 | 江苏科技大学 | Echo signal intensity simulation optimization method for moving surface ship |
| CN116776464A (en) * | 2023-06-09 | 2023-09-19 | 武汉理工大学 | Method and system for generating profile pedigree of specific-route river-sea direct container ship |
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| JP2002370689A (en) * | 2001-06-18 | 2002-12-24 | Nkk Corp | Hull shape determining method |
| CN103387038A (en) * | 2013-07-30 | 2013-11-13 | 大连理工大学 | Analysis method for reducing rolling motion of ship |
| CN103984793A (en) * | 2014-03-21 | 2014-08-13 | 上海交通大学 | Method for predicting movement of FLNG (floating liquefied natural gas) by considering rocking influence of liquid cabin |
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| JP2002370689A (en) * | 2001-06-18 | 2002-12-24 | Nkk Corp | Hull shape determining method |
| CN103387038A (en) * | 2013-07-30 | 2013-11-13 | 大连理工大学 | Analysis method for reducing rolling motion of ship |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110532685A (en) * | 2019-08-29 | 2019-12-03 | 山东交通学院 | Floating structure sways motor imagination forecasting procedure |
| CN110532685B (en) * | 2019-08-29 | 2023-02-07 | 山东交通学院 | Response forecasting method for floating structure swaying motion |
| CN110717216A (en) * | 2019-08-30 | 2020-01-21 | 南京航空航天大学 | Method for forecasting rolling response of helicopter with flexible air bag under irregular wave |
| CN112182747A (en) * | 2020-09-17 | 2021-01-05 | 智慧航海（青岛）科技有限公司 | Simulation test system and method for ship wave drag performance analysis |
| CN113111603A (en) * | 2021-04-07 | 2021-07-13 | 哈尔滨工程大学 | Double-floating-body platform wave excitation force and motion response forecasting method |
| CN113111603B (en) * | 2021-04-07 | 2022-07-15 | 哈尔滨工程大学 | Double-floating-body platform wave excitation force and motion response forecasting method |
| CN113705035A (en) * | 2021-07-19 | 2021-11-26 | 江苏科技大学 | Echo signal intensity simulation optimization method for moving surface ship |
| CN113705035B (en) * | 2021-07-19 | 2023-12-05 | 江苏科技大学 | Echo signal intensity simulation optimization method for sports water surface ship |
| CN116776464A (en) * | 2023-06-09 | 2023-09-19 | 武汉理工大学 | Method and system for generating profile pedigree of specific-route river-sea direct container ship |
| CN116776464B (en) * | 2023-06-09 | 2024-01-30 | 武汉理工大学 | Method and system for generating profile pedigree of specific-route river-sea direct container ship |
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