A RANS modelling approach for predicting powering performance of ships in waves

International Journal of Naval Architecture and Ocean Engineering.
2014.
Jun,
6(2):
418-430

This is an Open-Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/3.0) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

- Published : June 30, 2014

Download

PDF

e-PUB

PubReader

PPT

Export by style

Share

Article

Metrics

Cited by

TagCloud

INTRODUCTION

The performance of a ship when travelling in a seaway has always been a hot topic. This is true now more than ever with ever increasing requirements for environmental performance and rapid transit of goods. The introduction of the Energy Efficiency Design Index (EEDI) as a design constraint for new ships from 2013 (
IMO, 2011
) is likely to lead to an increased need for design modifications that lead to improved efficiency without negatively impacting other factors such as transport capacity, safety, etc. Accurately predicting performance in waves and being able to judge the impact of subtle design changes is therefore identified as an area of high interest. From a hydrodynamical point of view, understanding the interaction between the ship, the sea state that it is in and the propeller that is powering it will give an answer to most questions regarding performance. A schematic of this interaction created by
Windén (2012)
is shown in
Fig. 1
.
PPT Slide

Lager Image

APPROACH

One reason why proper verification and validation of NS based modelling of ships in waves is hard to achieve is the complexity of the model itself. For self-propulsion, a way to model the rotating propeller has to be added on top of the already complex dynamical geometry. This leads to a difficulty in identifying the most important sources of error. For example incorrect phasing of forces and motions has been identified as a problem in recent workshops (
Larsson et al., 2014
). If the motions are seen to be out of phase, it is hard to tell if this is due to incorrect forcing, a problem with the mesh deformation scheme or the coupling scheme between forces and motions. This means that the predicted propulsive performance of the ship has many associated error sources and it may be hard to clearly quantify the underlying reason for the error.
One of the most well adopted ways to address a problem with many unknowns is to start with something that is known or can be found out easily and gradually build understanding from this. Applying this reasoning to the problem of modelling ship performance in waves means removing many of the uncertainties mentioned above. RANS is chosen as a modelling technique due to its advantage in computational efficiency over other NS based methods. A validation study based on experiments by
Journée (1992)
of the forces and moments on a fixed Wigley hull in waves predicted using the open source CFD software OpenFOAM has been carried out by
Windén et al. (2012)
.
Fig. 2
shows encouraging results for the prediction of the amplitude of the forces at different wavelengths but a problem with the phasing still remains even when the hull is fixed. The study also compares results with a nonlinear Boundary Element Method (BEM) by
Kjellberg (2011)
which seemed to predict the phasing slightly better while giving a greater error in predicting the amplitudes of the forces.
PPT Slide

Lager Image

GEOMETRY AND MESHING

The setup of the numerical towing tank is shown in
Fig. 3
. The size of the computational domain is set so that
PPT Slide

Lager Image

- • an adequate distribution of cells in the free surface region

Particulars of tested hulls.

PPT Slide

Lager Image

PPT Slide

Lager Image

PROPELLER MODELLING

The Wigley hull is a purely academical hullform and has no consideration of propeller positioning in the definition of its shape. The propeller disc is therefore positioned half a radius behind the aft perpendicular, with a lower point flush with the keel and with a diameter of 85% of the draught. This is seen as representative of a typical positioning of the propeller on a ship. The positioning of the propeller disc relative to the rear profile of the used Wigley hull is shown in
Fig. 4
. Furthermore a hub with a radius of 10% of the total disk radius is used as well as a shaft extending into the hull and ending in an ellipsoid cap to minimise separation.
PPT Slide

Lager Image

PPT Slide

Lager Image

- Active cell identification

The magnitude and direction of
PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

- Thrust and torque distribution

The body force exerted on a certain cell within the propeller disk can be calculated in several ways. The most accurate representation is to model the lift and drag of the blades along radius by separating them into finite elements, each having a certain foil shape and attitude to the oncoming flow. This is known as Blade Element Momentum theory (BEMt.) Simplifications to this can be made by allowing the blades to sweep over a certain distance to give average values in larger sectors of the disk. A further step is to assume that the propeller rotates fast enough for the thrust and torque to be smeared over the entire disk at any given time step. The approach to modelling the blades depends on the amount of information is needed about the instantaneous effect of the blades on the surrounding fluid. This must be put in relation to the time scales of other phenomena around the propeller such as vortices separating from the stern area and how well the interaction of these with the propeller is to be modelled.
In this case the frequency of the waves passing and thus the variations in resistance and surge are deemed most important. The relation between the passing period of wave crests e T at different
PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PROPELLER CONTROL

Since the thrust produced by the propeller is a function of the RPM, it is possible vary the RPM based on given criteria for the thrust. In the interest of maintaining a constant service speed in waves, the RPM can be varied as to maintain the thrust needed to keep constant forward speed. Since the undisturbed forward speed is modelled with a current in this case, keeping constant speed is equivalent with keeping zero surge motion.
This can be achieved in two ways. The most direct approach is to iterate in each time step to find the thrust that will ensure force balance in the surge direction. The other alternative is to use a control function to steer the RPM towards the correct value based on information available from previous time steps. The second approach is preferable here, both in terms of computational time but, more importantly because it more closely represents a situation that could be applied on a real ship. Because of the nonlinear properties of marine propulsion systems, to achieve optimal propulsion performance it is necessary to apply some sort of control algorithm to govern the propeller RPM (
Xiros, 2002
). This is particularly important when ship dynamics are also considered as a factor (
Kashima and Takata, 2002
). A similar approach as the one described in this paper with a body force propeller and PID regulator for the RPM was applied by (
Carrica et al., 2008
) for studying broaching events.
- PID-controller

The PID controller is defined by letting the RPM in a time step be a function of the RPM in the previous time step and a correction value based on an error
PPT Slide

Lager Image

PPT Slide

Lager Image

- RPM limiting

In addition to the PID-controller governing the RPM, some restrictions must be applied to make the simulation more realistic. The RPM should not be allowed to exceed a certain value since that would mean a great risk of cavitation and damage to machinery in a real propulsion system. Furthermore, large acceleration of the propeller rotation should also be disallowed since the torque needed to achieve such acceleration lies beyond the capability of both engines and propeller shafts. Furthermore, RPM increases are usually limited in marine engines to avoid large heat gradients etc. A typical maximum value for how fast the propeller rotation is allowed to change is around 1 RPM per minute in full scale. If the example scale factor of 40 is applied in this case, this is equivalent to a maximum increase of 0.67 RPM/s in model scale. Furthermore, typical working shaft-RPM for most large merchant vessels lie between 40 and 100 RPM. This corresponds to between 250 and 630 RPM in the example model scale.
RESULTS

Simulations are started from an initialised solution where the steady wave pattern of the hull is allowed to develop. At the initial state, the resistance is recorded and the starting RPM is set as to match this resistance with a corresponding thrust. The hull is then subjected to regular waves with the first crest reaching the hull about
PID coefficients and initial RPM value.

PPT Slide

Lager Image

Positioning and extent of propeller.

PPT Slide

Lager Image

RPM constraints.

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

PPT Slide

Lager Image

CONCLUSIONS

The controller function described in this paper is a simplified version which mostly serves to demonstrate the opportunities of using open source RANS modelling with external inputs to more closely represent real operating conditions. Much more advanced controlling algorithms could be employed here, see for example
Xiros (2002)
. Furthermore, the actuator disk model has many limitations. To properly include the propeller geometry and to draw more detailed conclusions about the effects of unsteady loading, a BEMt approach is preferred. The future aim for this model is to replace the actuator disk formulation with the BEMt model developed by
Phillips et al. (2009
;
2010)
.
This study has shown that it is possible to model and discuss around several aspects of self-propulsion using the described method. There is however need for proper validation against experimental data to ensure the accuracy of the model. The benefit of using RANS CFD to do this rather than experimental methods is that the entire flow field can be accessed and analysed to study the influence of e.g. changes in bow and stern shape and the subsequent change in performance. The future goal is to apply the methodology described in this paper to more realistic hull forms to be able to conduct detailed studies on more of the factors affecting ship performance in waves.
Finally, the conclusions drawn regarding the controller constraints may become relevant with future engine development (with for example fuel cell powered electrical engines) where the RPM increase should be able to happen faster than with current marine diesels.
Acknowledgements

All RANS-CFD simulations conducted as a part of this paper uses the open source CFD package OpenFOAM. The research has been conducted within the framework of the research project entitledship design for enhanced sustainabilitywhich is sponsored by the Lloyd’s Register Educational Trust whose support is gratefully acknowledged.

Bernitsas M.
,
Ray D.
,
Kinley P.
1981
Kt, Kq and efficiency curves for the Wageningen B-series propellers, Technical report
Department of Naval Architecture and Marine Engineering College, The University of Michigan
Ann Arbor

Carrica P.
,
Ismail F.
,
Hyman M.
,
Bhushan S.
,
Stern F.
2013
Turn and zigzag maneuvers of a surface combatant using a URANS approach with dynamic overset grids
Journal of Marine Science and Technology
18
166 -
181
** DOI : 10.1007/s00773-012-0196-8**

Carrica P.
,
Paik K.
,
Hosseini H.
,
Stern F.
2008
URANS analysis of a broaching event in irregular quartering Seas
Journal of Marine Science and Technology
13
395 -
407
** DOI : 10.1007/s00773-008-0022-5**

Goldstein S.
1929
On the vortex theory of screw propellers
Proceedings of the Royal Society of London
123
(792)
440 -
465

2011
MARPOL annex VI energy efficiency amendments, Technical report,
Resolution MEPC
IMO
London
203
(62)

Jacobsen N.G.
,
Fuhrman D.R.
,
Fredse J.
2012
A wave generation toolbox for the open-source CFD library: OpenFoamⓒ
International Journal Numerical Methods in Fluids
70
1073 -
1088
** DOI : 10.1002/fld.2726**

Journée J.
1992
Experiments and calculations on 4Wigley hull forms in head waves, Technical report
Delft university of Technology
Delft

Kashima T.
,
Takata J.
2002
An optimal control of marine propulsion system considering ship dynamics
In Proceedings of the 2002 IEEE International Conference on Control Applications
1058 -
1063

Kjellberg M.
2011
Fully nonlinear unsteady three-dimensional boundary element method for force predictions on a restrained hull in waves. Thesis for the Degree of Licentiate of Engineering
Chalmers University of Technology

Larsson L.
,
Stern F.
,
Visonneau M.
2014
Numerical ship hydrodynamics
Springer
New York
An assessment of the Gothenburg 2010 Workshop
185 -

Larsson L.
,
Stern F.
,
Visonneau M.
2003
Ten years of industrial experience with the SST turbulence model
Heat and Mass Transfer
4
625 -
632

Molland A.
,
Turnock S.
,
Hudson D.
2011
Ship resistance and propulsion: practical estimation of ship propulsive power
Cambridge University Press
New York

Phillips A.
,
Turnock S.
,
Furlong M.
2009
Evaluation of manoeuvring coefficients of a self-propelled ship using a blade element momentum propeller model coupled to a Reynolds averaged Navier Stokes flow solver
Ocean Engineering
36
(15-16)
1217 -
1225
** DOI : 10.1016/j.oceaneng.2009.07.019**

Phillips A.
,
Turnock S.
,
Furlong M.
2010
Accurate capture of rudder-propeller interaction using a coupled blade element momentum-RANS approach
Ship Technology Research(Schiffstechnik)
57
(2)
128 -
139

Windén B.
2012
Powering performance of ships in waves. M.Phil/Ph.D Transfer thesis
University of Southampton

Windén B.
,
Turnock S.
,
Hudson D.
2012
Validating force calculations using OpenFOAMⓒon a Fixed Wigley hull in waves
In Proceedings of the 15th Numerical Towing Tank Symposium
170 -
175

Windén B.
,
Turnock S.
,
Hudson D.
2013
Predicting powering performance changes for ships in offshore conditions from small design modifications
In Proceedings of the 23rd International Offshore and Polar Engineering Conference (ISOPE13)
773 -
780

Xiros N.
2002
Robust control of diesel ship propulsion
Springer-Verlag
London

Citing 'A RANS modelling approach for predicting powering performance of ships in waves
'

@article{ E1JSE6_2014_v6n2_418}
,title={A RANS modelling approach for predicting powering performance of ships in waves}
,volume={2}
, url={http://dx.doi.org/10.2478/IJNAOE-2013-0189}, DOI={10.2478/IJNAOE-2013-0189}
, number= {2}
, journal={International Journal of Naval Architecture and Ocean Engineering}
, publisher={The Society of Naval Architects of Korea}
, author={Windén, Björn
and
Turnock, Stephen
and
Hudson, Dominic}
, year={2014}
, month={Jun}