Inelastic impact dynamics of ships with one-sided barriers. Part I: analytical and numerical investigations

This two-part paper deals with impact interaction of ships with one-sided ice barrier during roll dynamics. The first part presents analytical and numerical studies for the case of inelastic impact. An analytical model of a ship roll motion interacting with ice is developed based on Zhuravlev and Ivanov non-smooth coordinate transformations. These transformations have the advantage of converting the vibro-impact oscillator into an oscillator without barriers such that the corresponding equation of motion does not contain any impact term. Such approaches, however, account for the energy loss at impact times in different ways. The present work, in particular, demonstrates that the impact dynamics may have qualitatively different response characteristics to different dissipation models. The difference between localized and distributed equivalent damping approaches is discussed. Extensive numerical simulations are carried out for all initial conditions covered by the ship grazing orbit for different values of excitation amplitude and frequency of external wave roll moment. The basins of attraction of safe operation are obtained and reveal the coexistence of different response regimes such as non-impact periodic oscillations, modulation impact motion, period added impact oscillations, chaotic impact motion and rotational motion. The second part will consider experimental validations of predicted results.     

Mathematical modelling and control of a nonholonomic spherical robot on a variable-slope inclined plane using terminal sliding mode control

In this paper, the three degrees-of-freedom motion of a two-dimensional rectangular liquid tank under wave action is simulated by the boundary element method in time domain. The coupling effects between tank motion and internal sloshing flow are investigated in partially filled conditions. The fourth-order Runge–Kutta method is adopted to update the wave shape and velocity potential on the free surface. The fully nonlinear mutual dependence of the incident wave, tank motion and internal sloshing flow is decoupled through an auxiliary function method, by which the liquid tank acceleration can be obtained directly without knowing the pressure distribution. The corresponding validation of numerical model is carried out and indicates that the accuracy of the present method is satisfactory to evaluate the dynamic responses of tank and sloshing motion. The corresponding response amplitude operators of tank motions for various wave frequencies, amplitudes and filling conditions are obtained, and the nonlinear coupling effects of sloshing flow on the tank responses are analyzed. It is found that the coupling effects have significant influence on sway and roll motion while have little impact on heave motion. The most important coupling effects on roll motion are the split of peak. In addition, due to the nonlinearity of sloshing flow, the roll motion amplitude is not linearly proportional to wave amplitude.     

耦合船体横摇的减摇水舱流体运动和减摇效果预测Fluid motion and stabilization effect prediction of anti-rolling tank coupled ship rolling

减摇水舱用于减小船体的横摇运动。由于水舱内部结构复杂,导致流体晃荡呈非线性。为了降低预测水舱特性和减摇效果的难度,采用计算流体力学VOF模型来分析水舱中流体的晃荡,在时域内,运用数值方法完成船体非线性横摇运动的实时仿真,其中耦合了水舱中流体和船体的运动。船体随机横摇时,进行水舱流体流量和力矩的功率谱分析,得到减摇频率范围及减摇前后的效果。结果表明,在其减摇频率范围内,减摇水舱具有良好的减摇能力,验证了此方法的可行性。     

耦合船体横摇的减摇水舱流体运动和减摇效果预测

减摇水舱用于减小船体的横摇运动。由于水舱内部结构复杂,导致流体晃荡呈非线性。为了降低预测水舱特性和减摇效果的难度,采用计算流体力学VOF模型来分析水舱中流体的晃荡,在时域内,运用数值方法完成船体非线性横摇运动的实时仿真,其中耦合了水舱中流体和船体的运动。船体随机横摇时,进行水舱流体流量和力矩的功率谱分析,得到减摇频率范围及减摇前后的效果。结果表明,在其减摇频率范围内,减摇水舱具有良好的减摇能力,验证了此方法的可行性。     

A non-hydrostatic numerical scheme for dispersive waves generated by bottom motion

A numerical scheme based on the staggered finite volume method is presented at the aim of studying surface waves generated by a bottom motion. We address the 2D Euler equations in which the vertical domain is resolved only by one layer. The resulting non-hydrostatic scheme is used to simulate surface waves generated by bottom motion in a water tank. Here we mimic Hammack experiments numerically, in which a bed section is moved upwards or downwards, resulting in transient dispersive waves. For an impulsive downward bottom thrust, free surface responds in terms of a negative leading wave, followed with dispersive train of waves. For an upward bottom thrust, amplitude of the leading wave decays as the wave propagates, and no wave of permanent form evolves— instead, there appears a train of solitons. In this article, we show that our numerical scheme can produce the correct wave profiles, comparable with the analytical and experimental results of Hammack. Simulations using intermediate and slow bottom motions are also presented. In addition, we perform a simulation of a wave generated by submerged landslide, that compares well against previous numerical simulations. Via this simulation, we demonstrate that our scheme can incorporate a moving wet–dry boundary algorithm in the run-up simulation.     

潮流发电装置运动衰减特性与不规则波响应

为了研究基于竖轴水轮机的漂浮式潮流能发电装置的运动衰减特性与不规则波响应,提出了基于船模拖曳水池的系泊试验方法,设计了试验模型和装置,构建了系泊试验平台,进行了组合模型的自由衰减试验、系泊衰减试验和系泊状态下的不规则波响应试验. 衰减试验中测量了模型的摇动衰减特性,不规则波响应试验中测量了系缆的拉力响应和组合模型的摇动响应. 试验研究得到了关于漂浮式潮流能发电装置的衰减运动特性和4级海况、0.6m/s流速时1号系缆的拉力响应以及组合模型的摇动响应. 研究可为基于竖轴水轮机的漂浮式潮流能发电装置的理论研究和工程应用提供参考和借鉴.     

Asymmetric Surging of Ships in Following Seas and its Repercussions for Safety

A comprehensive investigation of an asymmetric longitudinal motion of ships displayed in long and steep following waves is presented. The focus is on the strongly nonlinear response, on the verge of the so called surf-riding condition, where a ship could be performing large-amplitude longitudinal oscillations around a mean forward speed. Expressions, in closed form, describing transient surge motion on the phase-plane are derived. For steady-state in particular, is shown that it is possible to determine an explicit analytical solution in the time-domain. Simple prediction formulae for the higher limit of asymmetric surging (threshold of global surf-riding) are derived on the basis of two alternative methods. Also, we investigate the effect of asymmetric surging on a ship's tendency for capsize in the neighborhood of wave crests where restoring capability is often reduced. The paper includes, as an Appendix, a review of types of ship instability and a summary of the historical roots of the field. For a better introduction to the subject we include, as Appendix A, a historical note on the evolution of the theory ship stability together with a summary of known types of ship instability distinguished on the basis of the angle of encounter between ship and waves.     

Transient response of a ship to an abrupt flooding accounting for the momentum flux

Numerical non-linear time domain simulation method for damaged ship motions is presented. Floodwater motion modelling is based on the lumped mass method with a moving free surface. The ship and floodwater motions are fully coupled. The variation of the floodwater mass is accounted for. A model to account for the flooding ingress transporting the momentum is presented. The experiments of abrupt flooding have shown that the ship may experience the first large roll towards the undamaged side, especially when a large undivided compartment is flooded. The presented time domain model is validated against the experimental data on the roll damping of the flooded ship and transient flooding. Two different initial stability conditions and two different compartment layouts are studied. Viscous dissipation of the floodwater motions is modelled with an equivalent friction coefficient. The impact of the viscous damping is studied. Transient flooding tests show that the inflow momentum has to be accounted for when the undivided compartment is flooded. The simulation model is capable of capturing the impact of the inflooding jet and the first roll on the opposite side of the damage is reproduced.     

Dynamic response of tank trains to random track irregularities

This paper presents a dynamic analytical model for tank train vibrations. The train is considered as a system of 27 degrees of freedom consisting of lateral, roll, yaw, vertical, and pitch motions for the vehicle body and its two bogies and lateral, roll and vertical motions for the four wheel-sets. Liquid sloshing in the tank is modeled using an equivalent mechanical mass-spring model. Coupling between the vehicle system and the railway track is realized through the interaction forces between the train and the rail, where the vertical and lateral irregularity profiles of the track are regarded as stationary ergodic Gaussian random processes and simulated by polynomial functions. Random vibration theory is used to obtain the response power spectral densities. Finally, numerical results for a typical test case including natural frequencies of a coupled system, frequency response functions, and output power spectral densities are presented.     

A numerical study of the behaviour of a gas–liquid interface subjected to periodic vertical motion

A numerical study has been undertaken to examine the behaviour of a gas liquid interface in a vertical cylindrical vessel subjected to a sinusoidal vertical motion. The computational method used is based on the simplified marker‐and‐cell method and includes a continuum surface model for the incorporation of surface tension. The numerical results indicate that the surface tension has very little effect on the period and amplitude of oscillations of the interfacial waves. The stability of the interfacial waves has been found to depend on the initial pressure pulse disturbance, and exponential growth of the interfacial wave has been observed in some cases. The influence of the amplitude and frequency of the forcing oscillations has also been investigated. The results are in good agreement with available experimental and analytical solutions. Copyright © 2002 John Wiley & Sons, Ltd.     

Numerical simulations of wave interactions with vertical wave barriers using the SPH method

This paper focuses on the fluid boundary separation problem of the conventional dynamic solid boundary treatment (DSBT) and proposes a modified DSBT (MDSBT). Classic 2D free dam break flows and 3D dam break flows against a rectangular box are used to assess the performance of this MDSBT in free surface flow and violent fluid–structure interaction, respectively. Another test, water column oscillations in a U‐tube, is specially designed to reveal the applicability of dealing with two types of particular boundaries: the wet–dry solid boundary and the large‐curvature solid boundary. A comparison between the numerical results and the experimental data shows that the MDSBT is capable of eliminating the fluid boundary separation, improving the accuracy of the solid boundary pressure calculations and preventing the unphysical penetration of fluid particles. Using a 2D SPH numerical wave tank with MDSBT, the interactions between regular waves and a simplified vertical wave barrier are simulated. The numerical results reveal that the maximum horizontal force occurs at the endpoint of the vertical board, and with the enlargement of the relative submerged board length, the maximum moment grows linearly; furthermore, the relative average mass transportation under the breakwater initially increases to 11.14 per wave strike but is later reduced. The numerical simulation of a full‐scale 3D wave barrier with two vertical boards shows that the wave and structure interactions in the practical project are far more complicated than in the simplified 2D models. The SPH model using the MDSBT is capable of providing a reference for engineering designs. Copyright © 2014 John Wiley & Sons, Ltd.     

Evolution of wide-spectrum unidirectional wave groups in a tank: an experimental and numerical study

Evolution of unidirectional nonlinear wave groups with wide spectra is studied experimentally and numerically. As an example of such an evolution, focusing of an initially wide wave train that is modulated both in amplitude and in frequency, to a single steep wave at a prescribed location along the laboratory wave tank is investigated. When numerous frequency harmonics arrive at the focusing location in phase, a very wave steep single emerges. The experimental study was carried out in two wave flumes that differ in size by an order of magnitude: a 330 m long Large Wave Channel in Hanover, and in 18 m long Tel-Aviv University wave tank. The spatial version of the Zakharov equation was applied in the numerical simulations. Detailed quantitative comparison is carried out between the experimental results and the numerical simulations. Spectra of the 2nd order bound waves are calculated using the theoretical model adopted. It is demonstrated that with the contribution of bound waves accounted for, a very good agreement between experiments and simulations is achieved.     

MPS-FEM方法模拟弹性船体在规则波中的运动

船舶在海洋中航行时经常会受波浪的作用,在波浪的作用下,船体可能会发生六自由度的运动.在船体运动幅度较小时,可以简单地将船体运动视为刚体运动.但当波浪环境较为剧烈、船体运动幅度较大时,船体可能会发生变形,此时船舶弹性的影响无法忽略.因此,研究弹性船体在波浪中的运动对船舶运动性能和航行安全具有重要的意义.移动粒子半隐式方法 MPS方法是一种基于拉格朗日方法表示的无网格粒子类方法,该方法在模拟具有自由面大变形特征的问题时具有其独特的优势.有限元方法 FEM作为一种传统的并且已被广泛应用的结构求解方法,具有很好的稳定性、准确性和鲁棒性.本文将MPS方法与FEM方法二者的优势结合,基于MPS-FEM耦合方法,使用自主开发的MPSFEM-SJTU流固耦合求解器,模拟刚性船体和弹性船体在规则波中的运动,并分析船体的弹性对船体运动响应的影响.首先模拟刚性船体在不同波长的规则波中的运动,研究规则波波长对船体运动响应的影响.接着分别模拟了刚性和弹性船体在规则波中的运动,结果表明,刚性船体的运动幅值大于弹性船体的运动幅值,而弹性船体船舯附近的压力大于刚性船体.     

水下爆炸冲击波壁压理论及数值计算方法改进研究

水下爆炸冲击波是舰船抗冲击评估中重要的载荷成分,也是水中结构物毁伤程度快速预报的关键和依据。通过小当量实验发现,由于传统 Taylor 平板理论公式忽略了冲击波波速的非线性变化 ,导致其在预报近距离水下爆炸冲击波壁压脉宽时出现偏差。为此,给出了比例爆距R/W1/3为0.11～5.30 m/kg1/3 (R为爆距,W为炸药质量)下的冲击波速度拟合公式,对传统Taylor理论公式进行修正。修正后,在R/W1/3=0.11 m/kg1/3下,壁压脉宽及冲量偏差大幅减小;在R/W1/3≥0.21 m/kg1/3下,两者偏差均小于12%。此外,在处理水下近场和中远场爆炸问题时,发现数值耗散会导致壁压峰值被明显削弱,于是提出了一种可行的数值策略消除计算中数值耗散导致的削弱效应,结果与修正的Taylor平板理论公式吻合良好,峰值偏差均小于9%。改进后的冲击波壁压理论公式及数值计算方法可为舰船抗爆抗冲击领域提供理论和技术支撑。     

Wave-in-deck experiments with focussed waves into a solid deck

This paper examines impact forces resulting from wave-in-deck processes from two separate series of experiments: one with a generic solid deck model, and the other with a combined jacket and deck model, both were conducted with and without an I-beam grillage in-place below the solid deck. A range of inundation levels from 2.1 to 7.1 cm at 1:80 scale is considered. The focus is on global impact forces, which are considered more relevant for integrity assessment of overall bottom-founded structures when survivability is in question and local slamming is not addressed. The objective is to characterise the resultant impact forces as well as to investigate whether there is any interaction between the flows through the jacket and hitting the deck. Focussed wave groups were generated to impinge on the models which were suspended from a carriage over a towing tank. The motion of the support carriage mimics uniform current in-line with the incident waves. Both undisturbed surface elevations as well as impact force time histories were measured. From the first series of tests, a large increase in peak forces as well as high frequency oscillations (force spikes) is observed with the grillage in-place. As soon as the jacket model is in-place for the second series of tests, albeit with a different mounting support arrangement, such a large difference vanishes, which could likely be due to the effect of frequency-dependent transfer functions. We provide experimental evidence of the presence of the jacket in modifying the wave impact on the deck through a significant reduction in the total horizontal impulse. The effects of current on the wave impact forces are also investigated. A simple analytical model based on a momentum argument is used to describe the scaling of horizontal peak force with currents and inundation levels. Finally, the importance of the short duration force spikes as well as vertical impact loads on a real structure at full-scale is discussed based on the same analytical model.     

Numerical simulation of free surface flows with the level set method using an extremely high-order accuracy WENO advection scheme

Three-dimensional dynamic gas–liquid flow simulations that accurately track the phase interface are numerically challenging. This article presents a numerical study of the performance of the level-set phase–interface tracking method when combined with extremely high order (7th to 11th) weighted essentially non-oscillatory (WENO) advection schemes for gas–liquid free surface flows. Comparisons between simulation results and prior benchmark results suggest that such a combination of methods can be satisfactorily applied to the level-set and Navier-Stokes equations for free surface flow simulations when volume conservation is enforced at every time step, and minor numerical oscillations are suppressed through use of an artificial viscosity term. In particular, simulations of solid body rotation, the unsteady flow following an ideal dam break, tank sloshing, and the rise of a single bubble all agree with analytical or experimental results to within ± 3.12% when the level-set method is combined with an 11th order WENO scheme. Furthermore, use of an 11th order WENO advection scheme actually has a computational cost advantage because, for the same accuracy, it can be used on a coarser grid when compared with a more-common second-order advection scheme; computational savings of up to 87% are possible.     

A coupled level set and volume-of-fluid method for sharp interface simulation of plunging breaking waves

A coupled level set and volume-of-fluid (CLSVOF) method is implemented for the numerical simulations of interfacial flows in ship hydrodynamics. The interface is reconstructed via a piecewise linear interface construction scheme and is advected using a Lagrangian method with a second-order Runge–Kutta scheme for time integration. The level set function is re-distanced based on the reconstructed interface with an efficient re-distance algorithm. This level set re-distance algorithm significantly simplifies the complicated geometric procedure and is especially efficient for three-dimensional (3D) cases. The CLSVOF scheme is incorporated into CFDShip-Iowa version 6, a sharp interface Cartesian grid solver for two-phase incompressible flows with the interface represented by the level set method and the interface jump conditions handled using a ghost fluid methodology. The performance of the CLSVOF method is first evaluated through the numerical benchmark tests with prescribed velocity fields, which shows superior mass conservation property over the level set method. With combination of the flow solver, a gas bubble rising in a viscous liquid and a water drop impact onto a deep water pool are modeled. The computed results are compared with the available numerical and experimental results, and good agreement is obtained. Wave breaking of a steep Stokes wave is also modeled and the results are very close to the available numerical results. Finally, plunging wave breaking over a submerged bump is simulated. The overall wave breaking process and major events are identified from the wave profiles of the simulations, which are qualitatively validated by the complementary experimental data. The flow structures are also compared with the experimental data, and similar flow trends have been observed.     

Effects of bracings and motion coupling on resonance features of semi-submersible platform under irregular wave conditions

Resonance is a critical consideration in the design of offshore floating structures. This paper aims at analysing the nonlinear effects of bracings and motion coupling on the resonance features of a semi-submersible platform. An improved mathematical model based on potential theory is proposed to simulate the motion response of a semi-submersible platform under irregular wave conditions, considering both the variations of hydrostatic and hydrodynamic forces induced by the bracings entering and exiting the water and the nonlinear coupling induced by the platform motions. For comparison purposes, numerical simulations are also performed using a mathematical model without considering the aforementioned effects. Validated by results of wave basin tests and numerical simulations, the proposed model performs much better in capturing the characteristic resonance features of pitch motion in low-frequency region. The nonlinear hydrostatic effect of bracings leads to the increase of resonance frequency as the motion amplitude increases, while the hydrodynamic force on the bracings and the nonlinear motion coupling only influence the amplitude of resonance spectral peak. In addition, factors influencing the nonlinear effects such as the vertical position and diameter of bracings and the pitch restoring coefficient are further investigated. It is revealed that the deviation of pitch resonance frequency has evident dependence on the ratio between nonlinear and linear volumetric variations, and an empirical formula estimating the resonance frequency is proposed using the observed dependence. Theoretically, both smaller bracing radius and larger pitch restoring coefficient are beneficial for suppressing the resonance induced by the nonlinear effects. The proposed model can be an effective tool for predicting the motion response, and the understanding of the resonance features is helpful for the design of semi-submersibles.     

储液容器内液体晃荡的非线性动力学分析

基于非线性波动理论模型,求解储液容器内液体晃动的固有频率、模态及动力学响应问题。流体使用u_s-u_p状态方程,利用ABAQUS软件的自适应网格技术,建立储液容器液体晃动数学模型,通过施加水平简谐激励得到液体晃动的固有频率和模态,并与解析解对比,验证了该方法的准确性与可行性。然后,分析了矩形储液容器在多种激励作用下液体非线性晃动响应特性。