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A Lifting Line Theory For A Three-Dimensional Hydrofoil: Hui Liang and Zhi Zong
A Lifting Line Theory For A Three-Dimensional Hydrofoil: Hui Liang and Zhi Zong
v
v
v v
+ (
+ (
= +
| |
+ +
|
+ +
\ .
+ +
}
}
} }
(3)
where
0 2
air
1
, ,
1
g a
a k
U a
v v
= = =
+
, and is the density of
water,
air
is the density of air.
Separating the real and imaginary parts of Eq.(3) results in
vertical velocity component. Setting y h = , we obtain the
induced vertical velocity on the hydrofoil,
( )
( ) ( )
( )
( )
2
0 0
2
0 0
d
e cos d
2
d
e sin d
2
c c
h
c
kh
v x
x
k
k x k
k
v
v v
v
v
= + +
+
+
} }
} }
(4)
Journal of Marine Science and Application (2011) 10: 199-205
201
Here the approximation of
air
a
+
=
+ +
(
(
+
(
+ + +
}
(7)
where is the span of the hydrofoil. Differentiating Eq.(7)
with respect to z yields the velocity of downwash on the
one-quarter chord line:
( )
( )
2
W
2
0
2
d 1
4
W
z h
x
w
z
y
o
o
I q q u
q
=
=
c
= =
c
}
(8)
where w
W
stands for the velocity of downwash on the
hydrofoil induced by wake. In the same way, differentiating
Eq.(7) with respect to x yields the perturbation velocity on
the one-quarter chord line in the direction of incoming flow:
0
0
W
W
z h
x
u
z
u
=
=
c
= =
c
(9)
where u
W
represents the perturbation velocity on the
one-quarter chord line in the direction of incoming flow
induced by wake.
Based on the law of Biot-Savart (Katz et al., 2001), the
induced velocity by a vortex filament can be calculated:
3
d
4
C
r
I
=
}
l r
V (10)
For the bound vortex, the expression of dlr in Eq.(10) can
be obtained:
( ) d 0 d 0 d d z h x
x y z h
q q q
q
= = +
+
i j k
i k l r (11)
Thus the expression of the perturbation velocity in the
direction of incoming flow induced by bound vortex can be
expressed as
( )( )
( ) ( )
2
3
2 2
2 2
2
d 1
4
B
z h
u
x y z h
o
o
I q q
q
+
=
(
+ + +
}
(12)
where u
B
is the perturbation velocity in the direction of
incoming flow induced by bound vortex. And the velocity of
downwash on the one-quarter chord line induced by bound
vortex can be calculated:
( )
( ) ( )
2
3 0
2 2
2 2
2
d 1
0
4
B
x
x
w
x y z h
o
o
I q q
q
=
= =
(
+ + +
}
(13)
where w
B
stands for the velocity of downwash on the
one-quarter chord line induced by bound vortex.
Therefore the velocity of downwash on the one-quarter
chord line induced by the system of horseshoe vortices can
be expressed as
( )
( )
2
2
2
d 1
4
B W
w w w
y
o
o
I q q
q
= + =
}
(14)
And the perturbation velocity in the direction of incoming
flow induced by the system of horseshoe vortices is
( )( )
( ) ( )
2
3
2 2
2 2
2
d 1
4
B W
z h
u u u
x y z h
o
o
I q q
q
+
= + =
(
+ + +
}
(15)
3.2 3-D Green function of free surface
Based on the theory of potential flow, the relationship
between the velocity potential of the system of horseshoe
vortices and their induced velocities is
u
x
w
z
u
u
c
=
c
(16)
The velocity potential in the flow field can be divided into
two parts: the velocity potential of the system of horseshoe
vortices and the velocity potential induced by free surface
G. Substituting Eq.(16) into Eq.(2) yields
2
2
G G u
k k w
x z x
c c c
+ =
c c c
(17)
where k is equal to
2
U
g
.
Denote distance using ( ) ( )
2 2
2
R x y z h q = + + + . The
partial derivative of
1
R
can be expressed as
Journal of Marine Science and Application (2011) 10: 199-205
203
3 3
1 1
,
x z h
x R R z R R
c c + | | | |
= =
| |
c c
\ . \ .
(18)
Rewriting Eq.(7) as an integral along the semi-infinite wake
vortices yields
( )
2
0
2
d 1
d
4
W
z R
o
o
I q q
u
c | |
=
|
c
\ .
} }
(19)
Calculating the partial derivative of Eq.(19) yields the
velocity of downwash induced by wake,
( )
2 2
2
0
2
d 1
d
4
W
z z R
o
o
I q q u
c c | |
=
|
c c
\ .
} }
(20)
Substituting Eq.(18) into Eq.(12) yields
( )
2
2
1
d
4
B
w
x R
o
o
I q
q
c | |
=
|
c
\ .
}
(21)
Thus the velocity of downwash in the flow field induced by
the system of horseshoe vortices can be expressed as
( ) ( )
W
B
2 2 2
2
0
2 2
d d 1 1
d
4 4
w w
z
x R z R
o o
o o
u
I q q I q q
c
= + =
c
c c | | | |
| |
c c
\ . \ .
} } }
(22)
Substituting Eq.(18) into Eq.(15) yields the perturbation
velocity in the direction of incoming flow induced by the
system of horseshoe vortices,
2
2
( )d 1
4
u
z R
o
o
I q q
c | |
=
|
c
\ .
}
(23)
The Fourier series expression of the reciprocal of the
distance (Abramowitz and Stegun, 1972) can be expressed
as
( ) ( ) ( )
i cos sin
0 -
1 1
e d d
2
m z h m x y
m
R
u q u
u
+ + + (
=
} }
(24)
Substituting Eq.(24) into Eq.(22) and Eq.(23) yields the
perturbation velocity induced by the system of horseshoe
vortices in the form of Fourier series expression:
( )
( ) ( ) ( )
( )
( ) ( ) ( )
2
i cos sin 2
2
0
2
2
i cos sin
2
0
2
d
e d d
8
d
i cos e d d
8
m z h m x y
m z h m x y
w m m
m m
o
u q u
o
o
u q u
o
I q q
u
I q q
u u
+ + + (
+ + + (
= +
} } }
} } }
(25)
( )
( ) ( ) ( )
2
i cos sin
2
0
2
d
e d d
8
m z h m x y
u m m
o
u q u
o
I q q
u
+ + + (
=
} } }
(26)
Substituting Eq.(25) and Eq.(26) into Eq.(17) yields a partial
differential equation with respect to G:
2
2
2
2 ( ) i [( ) cos ( ) sin ]
2
0 -
2
2
( ) i [( ) cos ( ) sin ]
2
0 -
2
2
2 ( ) i [( ) cos ( ) s
2
0 0 -
2
( )d
i cos e d d
8
( )d
i cos e d d
8
( )d
e
8
m z h m x y
m z h m x y
m z h m x y
G G
k
x z
k m m
m m
m
o
u q u
o
o
u q u
o
o
u q
o
I q q
u u
I q q
u u
I q q
+ + +
+ + +
+ + +
c c
+ =
c c
+
} } }
} } }
} } } }
in ]
d d d m
u
u
(27)
After solving the partial differential equation in Eq.(27), the
expression with respect to G can be obtained:
( )
( )
( ) ( )
( )
( ) ( ) ( )
2
2
2
i cos sin
2
0
i cos sin 2
2 2
0 0
2
d
8
i cos 1
e d d
1 cos
d e
d d d
8 1 cos
m z h m x y
m z h m x y
G
km
m
km
m
m
km
o
o
u q u
o
u q u
o
I q q
u
u
u
I q q
u
u
+ + (
+ + (
}
} }
} } } }
(28)
Then, the total velocity of downwash on the one-quarter
chord line can be calculated,
( ) ( )
st
0
Re
z h
x
G
v y w y
z =
=
(
c
(
=
( c
(29)
And the velocity of incoming flow is
( )
0
Re
z h
x
G
v y U
x =
=
(
c
(
= +
( c
(30)
4 Finding lift coefficient
According to the formula by Kutta-Joukowski, the lift per
unit span is L= U, where is the density of medium, U is
the velocity of effective coming flow and is the circulation
of the hydrofoil. Therefore, the relationship of the lift and
lift coefficient is:
2
1
( ) ( ) ( ) ( )
2
L
v y y C y U C y I = (31)
where C
L
is the lift coefficient of the hydrofoil. It is the
Hui Liang, et al. A Lifting Line Theory for a Three-dimensional Hydrofoil
204
function of lift curve slope, geometrical attack angle and the
angle of downwash: ( ) ( )
0 L i
C y a y o o = (
. Here, a
0
is lift
curve slope which is obtained by two-dimensional lifting
theory, is geometrical attack angle and
i
o
is the angle of
downwash. If the attack angle is small,
i
is equivalent to
st
v U .
Calculating Eq.(29), Eq.(30) and Eq.(31), we can obtain a
singular integral equation with respect to . It can be solved
by Fourier series. And the lift coefficient which is a
dimensionless parameter is thus expressed as
( ) ( )
2
2
2 2
d
1 1
2 2
L
v y y y
L
C
U S U S
o
o
I
= =
}
(32)
Substituting the expression of into Eq.(32), we get the lift
coefficient.
Consider the lift coefficient of the hydrofoil of different
aspect ratio. Assume that attack angle is equal to five degree.
Based on Eq.(32), Fig.4 can be obtained.
Fig.4 shows the lift coefficient as a function of submergence
Froude number for different h/c. Abscissa denotes
submergence Froude number, and ordinate denotes lift
coefficient.
(a) Aspect ratio is equal to 5
(b) Aspect ratio is equal to 6
(c) Aspect ratio is equal to 7
(d) Aspect ratio is equal to 8
Fig.4 Lift coefficient versus submergence Froude number
We can find from Fig.4 that the lift coefficient increases with
the aspect ratio while submergence Froude number and the
value of h/c are fixed. The larger the submergence depth is,
the smoother the curve of lift coefficient will be. Thus, the
influence of the free surface on the lifting coefficient
becomes weaker as the submergence depth increases. Free
surface effect will be significant if the submergence Froude
number is small. When we set h/c=0.5, the curve of lift
coefficient versus submergence Froude number has a peak at
which the abscissa is approximately equal to 0.9 whatever
the aspect ratio is. It should be noted again that the peak
vanishes when the submergence-to-chord ratio of the
hydrofoil is larger than or equal to 1.
5 Conclusions
In this paper, we propose a systematic procedure for
predicting surface effect on lifting for 2-D and 3-D
hydrofoils beneath the free surface at the air-water interface.
It dedicates to quickly estimate the lift of three-dimensional
hydrofoil in the preliminary design stage.
The Prandtls lifting theory is generalized to the case where
theres free surface. The value of submergence-to-chord ratio
has a significant impact on lift. The larger the value, the
smoother the curve of lift versus Fr
h
. Free surface effect is
also important if the submergence Froude number is small.
Journal of Marine Science and Application (2011) 10: 199-205
205
At the end of large submergence Froude number, free
surface effect is not important.
Further studies are, however, necessary to extend the theory
to case where the water depth is finite.
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Hui Liang, born in 1988, is currently an
undergraduate student at the School of Naval
Architecture Engineering, Dalian University of
Technology. His research interests include
hydrodynamics, aerodynamics and fluid-structure
interaction.
Zhi Zong, born in 1964, is a professor at Dalian
University of Technology. His research interests are
hydrodynamics, underwater explosion and
fluid-structure interaction. He authored two
monographs in English published by Elsevier
Science in 2006 and CRC Press in 2009,
respectively.