Mathematical Modeling of Inland Vessel Maneuverability Considering Rudder Hydrodynamics

252 Pages·2020·16.169 MB·English

by  Jialun Liu

Jialun Liu
Mathematical
Modeling
of Inland Vessel
Maneuverability
Considering Rudder
Hydrodynamics
Mathematical Modeling of Inland Vessel
Maneuverability Considering Rudder
Hydrodynamics
Jialun Liu
Mathematical Modeling
of Inland Vessel
Maneuverability Considering
Rudder Hydrodynamics
123
Jialun Liu
WuhanUniversity ofTechnology
Wuhan, Hubei, China
ISBN978-3-030-47474-4 ISBN978-3-030-47475-1 (eBook)
https://doi.org/10.1007/978-3-030-47475-1
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To my wife Shijie,
my muse.
Jialun Liu
Preface
Themotivationforwritingthismonographwastoprovideknowledgeaboutinland
vessel maneuverability and ship rudders that affect ship performance to a large
extent. The ideas are put forward together by a broad literature review of
the-state-of-the-art research in this field and the specified work on the impacts of
rudders on inland vessel maneuvering performance. The contents were partly
published in my doctoral thesis entitled ‘Impacts of Rudder Configurations on
Inland Vessel Maneuverability’ from Delft University of Technology [1]. The
manuscript was rephrased and updated to provide more detailed information than
the original thesis. This monograph is intended as a reference monograph for
modeling inland vessel motions and selecting proper rudder configurations to a
wide range of researchers, engineers, and students.
Ship maneuverability is fundamental for the navigation safety of ships.
Furthermore, through the equipment used for maneuvering, it also affects the
investment, operation, and maintenance cost of these ships. Ships are primarily
designed from an economic point of view. To ensure and improve maritime effi-
ciency,researchon inland vessel maneuverability deservesmore attentionthan the
present situation. Most of the research on maneuverability has been performed for
seagoing ships. Since sailing conditions and ship particulars between seagoing
ships and inland vessels are different, the impacts of these differences on maneu-
vering prediction and evaluation should be carefully considered, which are
addressed in this monograph.
Inland vessels should be designed in such a way that they should always be
capable of maneuvering without significantly harming the cost-effectiveness of
operations. One of the biggest differences between seagoing ships and inland
vessels is the rudder configuration. Conventionally, seagoing ships have similar
single-rudder configurations while inland vessels have more complex
multiple-rudderconfigurations.Althoughmultiple-rudderconfigurationscanhavea
positive effect on maneuverability, they often have a negative effect on resistance
and, therefore, also a negative effect on fuel consumption.
vii
viii Preface
Quantitative impacts of the rudder configuration on ship maneuverability have
not been fully understood, especially for multiple-rudder configurations with
complex rudder profiles. These differences in the rudder configuration may sig-
nificantly change the ship maneuvering behaviors and, therefore, should require
further research, especiallyforinlandvessels thatcommonlyequipwithmorethan
two rudders. Moreover, to compare and evaluate the maneuvering performance of
inland vessels with different configurations, the existing maneuvering tests and
standards for inland vessels are less elaborate than those for seagoing ships.
An accurate estimation of rudder forces and moments is needed to quantify the
impacts of the rudder configurations on ship maneuvering performance. This
monograph explained the fundamentals of Computational Fluid Dynamics and
appliedbestpracticesoftheReynolds-AveragedNavier-Stokes(RANS)methodto
obtain rudder hydrodynamic characteristics and integrated the RANS results into
maneuveringmodels.Additionally,newmaneuversandcriteriahavebeenproposed
for the prediction and evaluation of inland vessel maneuverability. Simulations of
ships with various rudder configurations were conducted to analyze the impacts of
rudderconfigurationsonshipmaneuverabilityindifferentclassicandproposedtest
maneuvers.Accordingly,guidanceonruddersforinlandvesselmaneuverabilityhas
been summarized for practical engineers to make proper design choices.
Throughtheresearchpresentedinthismonograph,itisclearthatdifferentrudder
configurationshavedifferenthydrodynamiccharacteristics,whichareinfluencedby
theprofile,theparameters,andthetypeofaspecificconfiguration.Newregression
formulas have been proposed for naval architects to quickly estimate the rudder
induced forces and moments in maneuvering. Furthermore, an integrated maneu-
vering model has been proposed and validated for both seagoing ships and inland
vessels. Using the proposed regression formulas and maneuvering model, the
impacts of rudder configurations on inland vessel maneuverability have been
studied.
Themaneuveringperformanceofatypicalinlandvesselcanbeimprovedby5to
30% by changing the rudder configuration. The rudder configuration should be
capableofprovidingsufficientmaneuveringforcesandthenoptimizedtoreducethe
rudder induced resistance. In general, well-streamlined profiles are good for effi-
ciencybutnotasgoodashigh-liftprofilesforeffectiveness.Asasummary,theship
maneuvering performance can be improved by using effective profiles, enlarging
thetotalrudderarea,acceleratingtherudderinflowvelocity,increasingtheeffective
rudder aspect ratios, and enlarging the spacing among multiple rudders.
Iwouldliketoacknowledgemydoctoralsupervisors,Dr.Ir.RobertHekkenberg
andProf.HansHopmanfromDelftUniversityofTechnology,fortheirsupportand
contribution to this monograph. Special thanks go to Mr. Frans Quadvlieg from
MaritimeResearch Institute Netherlands (MARIN) for advising andimprovingthe
presented research. I am grateful to the members of my doctoral committee, Prof.
Dr. Hironori Yasukawa (Hiroshima University), Prof. Dr.-Ing Bettar Ould el
Preface ix
Moctar (University of Duisburg-Essen), Prof. Dr. Ir. Rene Huijsmans (Delft
University of Technology), Prof. Dr. Dirk Roekaerts (Delft University of
Technology),andDr.Henk deKoningGans(Delft University ofTechnology),for
reviewing and commenting on the thesis that lays a good foundation for this
monograph.
I would also like to say thanks to Prof. Xinping Yan, Prof. Xiumin Chu, Prof.
Xuming Wang, and Dr. Feng Ma that help me to continue the research topic and
further extend it for autonomous ships in Wuhan University of Technology.
Contributions from Mr. Bingqian Zhao are acknowledged for providing data of
inland vessels in China for explanations and validation. Furthermore, the effort of
students, including, but not limited to, Song Zhang, Suli Lu, Jinyu Kan, and
Yanyun Zhang, who helped to review and edit the content is acknowledged.
The contents in the monograph were initially supported by China Scholarship
Council (201206950025) from September 2012 to February 2017. The research is
further supported by National Key R&D Program of China (2018YFB1601505),
ResearchonIntelligentShipTestingandVerification([2018]473),NationalNatural
Science Foundation of China (51709217), Natural Science Foundation of Hubei
Province (2018CFB640), and State Key Laboratory of Ocean Engineering
(Shanghai Jiao Tong University) (1707) since March 2017.
Wuhan, China Jialun Liu
March 2020
Reference
1. Liu, J. (2017). Impacts of Rudder Configurations on Inland Vessel Manoeuvrability. PhD
thesis,DelftUniversityofTechnology
Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Applied Terminologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Inland Waterway Transport. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Inland Vessel Maneuverability. . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Arrangements of the Subjects . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2 Design and Evaluation of Ship Rudders . . . . . . . . . . . . . . . . . . . . . . 13
2.1 Introduction to Ship Rudders. . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2 Rudder Working Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2.1 Reynolds Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2.2 Angles of Attack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.3 Concluding Remarks of Rudder Working Conditions. . . . . 17
2.3 Rudder Design Choices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3.1 Rudder Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3.2 Rudder Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.3.3 Rudder Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.3.4 Concluding Remarks of Rudder Design Choices . . . . . . . . 28
2.4 Interaction Effects on Rudders. . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.4.1 Hull Flow Straightening Effects . . . . . . . . . . . . . . . . . . . . 30
2.4.2 Propeller Slipstream Effects . . . . . . . . . . . . . . . . . . . . . . . 30
2.4.3 Relative Positions of Rudders to Hull and Propeller. . . . . . 31
2.4.4 Multiple-Rudder Interactions . . . . . . . . . . . . . . . . . . . . . . 32
2.4.5 Concluding Remarks of Interaction Effects
on Rudders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.5 Rudder Performance Evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.5.1 Ship Maneuvering Performance . . . . . . . . . . . . . . . . . . . . 33
2.5.2 Fuel Consumption Performance . . . . . . . . . . . . . . . . . . . . 35
2.5.3 Rudder Cavitation Performance . . . . . . . . . . . . . . . . . . . . 36
2.5.4 Concluding Remarks of Rudder Performance . . . . . . . . . . 37
xi
xii Contents
2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3 Computational Fluid Dynamics Methods of Ship Rudders . . . . . . . . 45
3.1 Governing Equations of Fluid Dynamics . . . . . . . . . . . . . . . . . . . 46
3.2 Turbulence Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.2.1 Spalart–Allmaras . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.2.2 Standard k-e, RNG k-e, and Realizable k-e . . . . . . . . . . . . 50
3.2.3 Standard k-x and k-x SST. . . . . . . . . . . . . . . . . . . . . . . . 51
3.2.4 Concluding Remarks of Turbulence Models . . . . . . . . . . . 51
3.3 Boundary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.3.1 Velocity Inlet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.3.2 Pressure Outlet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.3.3 Wall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.3.4 Symmetry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
3.3.5 Concluding Remarks of Boundary Conditions. . . . . . . . . . 53
3.4 Numerical Solvers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.5 Mesh Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.5.1 Mesh Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.5.2 Domain Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.5.3 Grid Independence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.5.4 3D Domain and Meshes. . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.5.5 Grid Independence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3.5.6 Concluding Remarks of Mesh Generation . . . . . . . . . . . . . 67
3.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4 Hydrodynamic Characteristics of Ship Rudders. . . . . . . . . . . . . . . . 71
4.1 Validation of RANS Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
4.1.1 Validation of the 2D RANS Method. . . . . . . . . . . . . . . . . 71
4.1.2 Validation of the 3D RANS Method. . . . . . . . . . . . . . . . . 73
4.1.3 Concluding Remarks of Validation of the RANS
Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.2 2D RANS Study on Rudder Hydrodynamics . . . . . . . . . . . . . . . . 74
4.2.1 Impacts of Reynolds Numbers on Rudder
Hydrodynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.2.2 Impacts of Profiles on Single-Rudder
Hydrodynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.2.3 Impacts of Spacing on Twin-Rudder Hydrodynamics. . . . . 78
4.2.4 Impacts of Profiles on Twin-Rudder Hydrodynamics . . . . . 81
4.2.5 Impacts of Spacing on Quadruple-Rudder
Hydrodynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4.3 3D RANS Study on Rudder Hydrodynamics . . . . . . . . . . . . . . . . 85
4.4 Regression of Rudder Hydrodynamic Coefficients . . . . . . . . . . . . 87