Unsteady RANS method for surface ship boundary layer and wake and wave field

Results are reported of an unsteady Reynolds‐averaged Navier–Stokes (RANS) method for simulation of the boundary layer and wake and wave field for a surface ship advancing in regular head waves, but restrained from body motions. Second‐order finite differences are used for both spatial and temporal discretization and a Poisson equation projection method is used for velocity–pressure coupling. The exact kinematic free‐surface boundary condition is solved for the free‐surface elevation using a body‐fitted/free‐surface conforming grid updated in each time step. The simulations are for the model problem of a Wigley hull advancing in calm water and in regular head waves. Verification and validation procedures are followed, which include careful consideration of both simulation and experimental uncertainties. The steady flow results are comparable to other steady RANS methods in predicting resistance, boundary layer and wake, and free‐surface effects. The unsteady flow results cover a wide range of Froude number, wavelength, and amplitude for which first harmonic amplitude and phase force and moment experimental data are available for validation along with frequency domain, linear potential flow results for comparisons. The present results, which include the effects of turbulent flow and non‐linear interactions, are in good agreement with the data and overall show better capability than the potential flow results. The physics of the unsteady boundary layer and wake and wave field response are explained with regard to frequency of encounter and seakeeping theory. The results of the present study suggest applicability for additional complexities such as practical ship geometry, ship motion, and maneuvering in arbitrary ambient waves. Copyright © 2001 John Wiley & Sons, Ltd.     

Impact of a surfacewave on an elastic hull

In order to model a ship hull’s response to the impact of surface waves, the two-dimensional problem of wave impact on an elastic beam whose ends are connected by springs with a rigid structure uniformly submerged in a fluid is considered. The fluid is assumed to be ideal and incompressible and its flow symmetric; the lateral bending of the beam is described by the Euler equation. The fluid flow and the size of the wetted region are determined simultaneously with the calculation of the the beam deflection within the framework of the Wagner approach which takes into account the reshaping of the free surface of the fluid on interacting with a body. The stresses and strains arising in the beam and at its ends during impact are found. The numerical algorithm developed makes it possible to analyze the elastic effects in fluid impacts on thin-walled structures of finite length. Moreover, as the stiffness of the connecting springs tends to zero, the solution of this problem describes the impact of an elastic beam with free ends on a weakly curved fluid surface.     

面元法求解有限水深船舶兴波及水底压力变化

应用势流理论中的格林函数方法计算了船舶定常运动的水动力参数,将有限水深Kelvin移动兴波源格林函数分解成三部分:简单Rankine源集合、局部扰动项和波函数项。在亚临界和超临界航速时,采用不同的积分顺序来消除被积函数的奇异性。利用面元法在船体表面上分布Kelvin源,计算了有限水深下船体表面的源强、压力分布及表面兴波,比较了有限与无限水深结果的区别和联系,进一步求解了船舶航行时引起的水底压力变化,计算结果与实验测量结果吻合良好。     

3D free‐surface flow computation using a RANSE/Fourier–Kochin coupling

A coupling method for numerical calculations of steady free‐surface flows around a body is presented. The fluid domain in the neighbourhood of the hull is divided into two overlapping zones. Viscous effects are taken in account near the hull using Reynolds‐averaged Navier–Stokes equations (RANSE), whereas potential flow provides the flow away from the hull. In the internal domain, RANSE are solved by a fully coupled velocity, pressure and free‐surface elevation method. In the external domain, potential‐flow theory with linearized free‐surface condition is used to provide boundary conditions to the RANSE solver. The Fourier–Kochin method based on the Fourier–Kochin formulation, which defines the velocity field in a potential‐flow region in terms of the velocity distribution at a boundary surface, is used for that purpose. Moreover, the free‐surface Green function satisfying this linearized free‐surface condition is used. Calculations have been successfully performed for steady ship‐waves past a serie 60 and then have demonstrated abilities of the present coupling algorithm. Copyright © 2003 John Wiley & Sons, Ltd.     

Regular wave integral approach to numerical simulation of radiation and diffraction of surface waves

A regular wave integral method is developed in the discretisation of a linear hydrodynamic problem on radiation and diffraction of surface waves by a floating or submerged body. The velocity potential of the problem is expressed as a solution of a body boundary integral equation involving the pulsating free surface Green function or pulsating free surface sources distributed on the body surface. With the use of a discretisation on the regular wave integral rather than discretisations on the singular wave integral of the Green function as in earlier investigations, the singular wave integral is approximated as an expansion of regular (or nonirregular) wave potentials. Influence coefficients between pulsating free surface source points are computed by the approximate expansion together with Hess–Smith panel integral formulas. Thus the velocity potential solution is evaluated by a boundary element algorithm. The numerical results produced from the proposed method agree well with semi-analytic solution results.     

时域Rankine源法求解有限水深船舶在规则波中的水底压力变化

应用势流理论中的Rankine源面元法和时域步进法,求解了有限水深船舶在规则波中运动的水底压力变化。将速度势分解成基本势、局部势和记忆势,以叠模解作为基本势对自由表面条件和物面条件进行了线性化,通过在水底布置面元来满足水底条件。利用研制的水底压力-水面波浪测量系统,测量了不同入射波船模表面波形与水底压力的时历曲线,理论计算与实验结果符合较好,验证了自编程序的正确性。通过对比二者的等高线图发现,水底压力与表面波形的峰谷有较好的一致性,并且压力较波形更为平滑。     

常航速船波势及船波阻力的边界元法

利用满足Laplace方程,线性化自由面条件及无穷远处条件的Havelock兴波源涵数,建立了关于常航速稳态船波势函数的边界积分方程.针对这个积分方程,建立了相应的数值计算方法,编制了一般三维问题的边界元法计算机程序,可用来计算全潜和半潜物体的稳态绕流场及船舶兴波阻力.     

Regular wave integral approach to the prediction of hydrodynamic performance of submerged spheroid

A free surface Green function method is employed in numerical simulations of hydrodynamic performance of a submerged spheroid in a fluid of infinite depth. The free surface Green function consists of the Rankine source potential and a singular wave integral. The singularity of the wave integral is removed with the use of the Havelock regular wave integral. The finite boundary element method is applied in the discretisation of the fluid motion problem so that the panel integral of the Rankine source potential is evaluated by the Hess–Smith formula and the panel integral of the regular wave integral is evaluated in a straightforward way due to the regularity nature. Present method’s results are in good agreement with earlier numerical results.     

A horizontally curvilinear non‐hydrostatic model for simulating nonlinear wave motion in curved boundaries

A horizontally curvilinear non‐hydrostatic free surface model that embeds the second‐order projection method, the so‐called θ scheme, in fractional time stepping is developed to simulate nonlinear wave motion in curved boundaries. The model solves the unsteady, Navier–Stokes equations in a three‐dimensional curvilinear domain by incorporating the kinematic free surface boundary condition with a top‐layer boundary condition, which has been developed to improve the numerical accuracy and efficiency of the non‐hydrostatic model in the standard staggered grid layout. The second‐order Adams–Bashforth scheme with the third‐order spatial upwind method is implemented in discretizing advection terms. Numerical accuracy in terms of nonlinear phase speed and amplitude is verified against the nonlinear Stokes wave theory over varying wave steepness in a two‐dimensional numerical wave tank. The model is then applied to investigate the nonlinear wave characteristics in the presence of dispersion caused by reflection and diffraction in a semicircular channel. The model results agree quantitatively with superimposed analytical solutions. Finally, the model is applied to simulate nonlinear wave run‐ups caused by wave‐body interaction around a bottom‐mounted cylinder. The numerical results exhibit good agreement with experimental data and the second‐order diffraction theory. Overall, it is shown that the developed model, with only three vertical layers, is capable of accurately simulating nonlinear waves interacting within curved boundaries. Copyright © 2011 John Wiley & Sons, Ltd.     

A simulation of free surface waves for incompressible two‐phase flows using a curvilinear level set formulation

A level set formulation in a generalized curvilinear coordinate is developed to simulate the free surface waves generated by moving bodies or the sloshing of fluid in a container. The Reynolds‐averaged Navier–Stokes (RANS) equations are modified to account for variable density and viscosity in two‐phase (i.e. water–air) fluid flow systems. A local level set method is used to update the level set function and a least square technique adopted to re‐initialize it at each time step. To assess the developed algorithm and its versatility, a selection of different fluid–structure interaction problems are examined, i.e. an oscillating flow in a two‐dimensional square tank, a breaking dam involving different density fluids, sloshing in a two‐dimensional rectangular tank and a Wigley ship hull travelling in calm water. Copyright © 2005 John Wiley & Sons, Ltd.     

Numerical study on wave loads and motions of two ships advancing in waves by using three-dimensional translating-pulsating source

A frequency domain analysis method based on the three-dimensional translating-pulsating (3DTP) source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course in waves. Two experiments are carried out respectively to measure the wave loads and the free motions for a pair of side-byside arranged ship models advancing with an identical speed in head regular waves. For comparison, each model is also tested alone. Predictions obtained by the present solution are found in favorable agreement with the model tests and are more accurate than the traditional method based on the three dimensional pulsating (3DP) source Green function. Numerical resonances and peak shift can be found in the 3DP predictions, which result from the wave energy trapped in the gap between two ships and the extremely inhomogeneous wave load distribution on each hull. However, they can be eliminated by 3DTP, in which the speed affects the free surface and most of the wave energy can be escaped from the gap. Both the experiment and the present prediction show that hydrodynamic interaction effects on wave loads and free motions are significant. The present solver may serve as a validated tool to predict wave loads and motions of two vessels under replenishment at sea, and may help to evaluate the hydrodynamic interaction effects on the ships safety in replenishment operation.     

An explicit formulation for the evolution of nonlinear surface waves interacting with a submerged body

An explicit formulation to study nonlinear waves interacting with a submerged body in an ideal fluid of infinite depth is presented. The formulation allows one to decompose the nonlinear wave–body interaction problem into body and free‐surface problems. After the decomposition, the body problem satisfies a modified body boundary condition in an unbounded fluid domain, while the free‐surface problem satisfies modified nonlinear free‐surface boundary conditions. It is then shown that the nonlinear free‐surface problem can be further reduced to a closed system of two nonlinear evolution equations expanded in infinite series for the free‐surface elevation and the velocity potential at the free surface. For numerical experiments, the body problem is solved using a distribution of singularities along the body surface and the system of evolution equations, truncated at third order in wave steepness, is then solved using a pseudo‐spectral method based on the fast Fourier transform. A circular cylinder translating steadily near the free surface is considered and it is found that our numerical solutions show excellent agreement with the fully nonlinear solution using a boundary integral method. We further validate our solutions for a submerged circular cylinder oscillating vertically or fixed under incoming nonlinear waves with other analytical and numerical results. Copyright © 2007 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.     

Simulation of non‐linear free surface motions in a cylindrical domain using a Chebyshev–Fourier spectral collocation method

When a liquid is perturbed, its free surface may experience highly non‐linear motions in response. This paper presents a numerical model of the three‐dimensional hydrodynamics of an inviscid liquid with a free surface. The mathematical model is based on potential theory in cylindrical co‐ordinates with a σ‐transformation applied between the bed and free surface in the vertical direction. Chebyshev spectral elements discretize space in the vertical and radial directions; Fourier spectral elements are used in the angular direction. Higher derivatives are approximated using a collocation (or pseudo‐spectral) matrix method. The numerical scheme is validated for non‐linear transient sloshing waves in a cylindrical tank containing a circular surface‐piercing cylinder at its centre. Excellent agreement is obtained with Ma and Wu's [Second order transient waves around a vertical cylinder in a tank. Journal of Hydrodynamics 1995; Ser. B4 : 72–81] second‐order potential theory. Further evidence for the capability of the scheme to predict complicated three‐dimensional, and highly non‐linear, free surface motions is given by the evolution of an impulse wave in a cylindrical tank and in an open domain. Copyright © 2001 John Wiley & Sons, Ltd.     

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.      

A domain decomposition approach to compute wave breaking (wave‐breaking flows)

A heterogeneous domain decomposition approach is followed to simulate the unsteady wavy flow generated by a body moving beneath a free surface. Attention being focused on complex free surface configurations, including wave‐breaking phenomena, a two‐fluid viscous flow model is used in the free surface region to capture the air–water interface (via a level‐set technique), while a potential flow approximation is adopted to describe the flow far from the interface. Two coupling strategies are investigated, differing in the transmission conditions. Both the adopted approaches make use of the inviscid velocity field as boundary condition in the Navier–Stokes solution. For validation purposes, two different two‐dimensional non‐breaking flows are simulated. Domain decomposition results are compared with both fully viscous and fully inviscid results, obtained by solving the corresponding equations in the whole fluid domain, and with available experimental data. Finally, the unsteady evolution of a steep breaking wave is followed and some of the physical phenomena, experimentally observed, are reproduced. Copyright © 2003 John Wiley & Sons, Ltd.     

Simulation of ship breaking bow waves and induced vortices and scars

An unsteady single‐phase level set RANS method is used to resolve and investigate bow wave breaking around a surface combatant advancing in calm water, including induced vortices and free surface scars. A level set free surface capturing approach was extended and combined with local overset grid refinement for resolution of complex interfacial topologies and small‐scale free surface features. Although the focus of the paper is on wave breaking at Fr=0.35, results over three speeds (Fr=0.28, 0.35, and 0.41) show that the method can accurately predict the changes in resistance and free surface topology, with the two highest speeds showing bow wave breaking. For the Fr=0.35 case, comparison of wave elevation results shows good agreement with the data, including the development and thickening of the bow wave sheet, sequential formation of two overturning plungers with reconnections, and the formation of two free surface scars at the reconnection sites. The computational fluid dynamics (CFD) solution shows a steep shoulder wave, similar to the experiment, but does not predict the experimentally observed weak spilling breaking shoulder wave. Although the current predictions converge to steady state, the region of unsteady free surface measured experimentally can be reasonably well predicted from the region of the simulation where the wave slope exceeds 17°. Comparisons of velocity components and axial vorticity at four cross planes show that the method can accurately predict the wake of low axial velocity and vortical cross flow associated with the breaking bow wave. In addition, the simulation is used to explain the initial development of the overturning bow wave, induced vortices and scars and to fill in the relatively sparse experimental data set by providing a global picture of the axial vortex structure near the free surface. Copyright © 2006 John Wiley & Sons, Ltd.     

A numerical method to solve the m‐terms of a submerged body with forward speed

To model mathematically the problem of a rigid body moving below the free surface, a control surface surrounding the body is introduced. The linear free surface condition of the steady waves created by the moving body is satisfied. To describe the fluid flow outside this surface a potential integral equation is constructed using the Kelvin wave Green function whereas inside the surface, a source integral equation is developed adopting a simple Green function. Source strengths are determined by matching the two integral equations through continuity conditions applied to velocity potential and its normal derivatives along the control surface. After solving for the induced fluid velocity on the body surface and the control surface, an integral equation is derived involving a mixed distribution of sources and dipoles using a simple Green function and one component of the fluid velocity. The normal derivatives of the fluid velocity on the body surface, namely the m‐terms, are then solved by this matching integral equation method (MIEM). Numerical results are presented for two elliptical sections moving at a prescribed Froude number and submerged depth and a sensitivity analysis undertaken to assess the influence of these parameters. Furthermore, comparisons are performed to analyse the impact of different assumptions adopted in the derivation of the m‐terms. It is found that the present method is easy to use in a panel method with satisfactory numerical precision. Copyright © 2002 John Wiley & Sons, Ltd.     

船行波对水中直立圆柱作用的数值模拟

针对船行波对水中直立圆柱的作用进行了数值计算。主要包括船行波的计算以及波浪对水中直立圆柱的作用。对于船行波的计算应用薄船理论和Noblesse给出的格林函数的简化形式,计算出Wigley船型在静水中匀速直线运动产生的船行波的远场解。以该船行波为入射波,应用Rankine源方法对船行波对水中直立圆柱的作用力及力矩进行了数值计算,得出了船只经过圆柱周围时圆柱的受力情况,对计算结果进行了定性的分析。     

A coupled boundary element–finite difference model of surface wave motion over a wall turbulent flow

An effective numerical technique is presented to model turbulent motion of a standing surface wave in a tank. The equations of motion for turbulent boundary layers at the solid surfaces are coupled with the potential flow in the bulk of the fluid, and a mixed BEM–finite difference technique is used to model the wave motion and the corresponding boundary layer flow. A mixing‐length theory is used for turbulence modelling. The model results are in good agreement with previous physical and numerical experiments. Although the technique is presented for a standing surface wave, it can be easily applied to other free surface problems. Copyright © 2005 John Wiley & Sons, Ltd.