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Characteristics of Hydrodynamic Derivatives in Man PDF
Characteristics of Hydrodynamic Derivatives in Man PDF
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Toru Katayama
Osaka Prefecture University
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W.L. s.s.8.7
Fx (1)
C Fx =
0.5 ρSyU
2
C.G. Fy (+)
Fy (2) side force
C Fy =
0.5 ρSyU
2
Mx
Fx (+)
C Mx = (3) drag force
W⋅B
My (4)
C My = Top view
0.5ρ SxLU
2
Mz (5)
C Mz =
0.5 ρSyLU
2
C Fz =
Fz (6) load cell
0.5ρ SzU
2
Fz (+)
The yaw angle and the attitudes of the model are systematically lift force
changed as shown in Table 2. Measured forces and moments for side force
C.G.
various advanced speeds are shown in Fig.3. The results demonstrate Fy (+)
that all the forces and moments are in proportional to square of
advanced speed. This fact suggests that we can obtain the
hydrodynamic coefficients of constant value for each attitude at any
speeds. Mx (+)
heel moment
Table 2 Experimental conditions
condition A B C D E F
H: rise(mm) 35 45 55 35 45 45 Φ (+) heel angle
C.L.
φ:heel(degree) 20 30 10 10 10 20
τ:trim(degree) 2 4 4 4 2 2 Posterior view
β:yaw(degree) 10 10 10 10 10 10
In Figs.4 and 5, the measured yaw moment and side force, which load cell
U
play important roles in maneuvering performance, are shown for
various attitudes, which means rise, heel and trim. The results show that forward speed
both the coefficients are in proportional to yaw angle. It should be noted Fz (+)
that the yaw moment is very sensitive to the change of each attitude, lift force My(+)
and that the side force depends only on trim. These results suggest that trim moment
appropriate hydrodynamic forces for corresponding attitudes should be drag force
used for prediction of maneuvering performance of a planing craft. The Fx (+)
yaw moment shown in Fig.4 increases with rising or floating of the hull. rise C.G.
This fact demonstrates that the course keeping ability of a planing craft H(+) duct
increases as the advanced speed increases.
τ
The lift force, the trim and the heel moments are shown in Figs.6, 7 trim angle
and 8 respectively. Significant dependences of these hydrodynamic
forces on yaw angle and other attitudes suggest that attitudes of a craft
must change drastically in maneuvering motion. It should be noted that Side view
the negative heel moment is found as shown in Fig.8, which means
negative restoring moment causes very large heel in turning motion of a
high-speed planing craft. Fig.2 Schematic views of experimental setup and coordinate system
drag force roll moment
Fx(kgf) Mx(kgfm)
10
0.5
: Condition A
: Condition B
: Condition C
5 0.25
0 0
0 5 10 U(m/s)
0 5 10 U(m/s)
0.5
5
0 0
0 5 10 U(m/s) 0 5 10 U(m/s)
: measured
: mean line ( Fi , Mi = AU2 )
(A : experimental coefficient )
Fig.3 Effects of advanced speed on hydrodynamic forces acting on a fully captured and obliquely towed model
Fn=2.0 Fn=2.0
CMz Rise CFy
0.1 1
: H= 35mm Rise
: H= 45mm
0.05 : H= 55mm : H= 35mm
: H= 45mm
0.5 : H= 55mm
0
0 10 20 30
β(deg.) β(deg.)
0
–0.05 0 10 20 30
at heel angle φ=20deg. & trim angle τ=4deg. at heel angle φ=10deg. & trim angle τ=4deg.
at rise H=45mm & trim angle τ=4deg. at rise H=35mm & trim angle τ=2deg.
Fig.4 Effect of running attitude on yaw moment coefficient Fig.5 Effect of running attitude on side force coefficient
Fn=2.0 Fn=2.0
C Fz C My Rise
Rise 0.02
: H= 35mm
0.2 : H= 35mm : H= 45mm
: H= 45mm : H= 55mm
: H= 55mm 0.01
0.1 β(deg.)
0
0 10 20 30
β(deg.)
0 –0.01
0 10 20 30
at heel angle φ=20deg. & trim angle τ=4deg. at heel angle φ=10deg. & trim angle τ=4deg.
Heel
Heel : φ= 0deg.
C Fz C My
: φ= 10deg.
: φ= 0deg. 0.02
: φ= 20deg.
0.2 : φ= 10deg. : φ= 30deg.
: φ= 20deg.
: φ= 30deg. 0.01
0.1
0
0 10 20 30
β(deg.)
0 –0.01
0 10 20 30
β(deg.)
at rise H=35mm & trim angle τ=4deg. at rise H=35mm & trim angle τ=6deg.
Trim Trim
CFz CMy
: τ= 0deg. 0.02 : τ= 0deg.
: τ= 2deg. : τ= 2deg.
0.2 : τ= 4deg. : τ= 4deg.
: τ= 6deg. 0.01 : τ= 6deg.
β(deg.)
0.1
0
0 10 20 30
0 –0.01
0 10 20 30
β(deg.)
at rise H=45mm & heel angle φ=20deg. at rise H=55mm & heel angle φ=10deg.
Fig.6 Effects of running attitude on vertical lift coefficient Fig.7 Effects of running attitude on trim moment coefficient
RESULTS OF FULLY CAPTURED PMM TESTS
In the fully captured PMM tests, the model is forced to move in three
Fn=2.0 modes as shown in Fig. 9. A body fixed coordinate is used and whose
origin is not at the center of gravity, the motion can be expressed by
following equations.
Rise
C Mx Surge: m(u& − vr − xG r 2 ) + Fx A = Fx + Fx E (7)
: H= 35mm
m(v& + ur + xG r&) + Fy A = Fy + FyE
2
: H= 45mm Sway: (8)
0.3 : H= 55mm Heave: Fz A = Fz + Fz E (9)
β(deg.) Roll: − I XZ ⋅ r& + Mx A = Mx + Mx E (10)
0 Pitch: − I XZ ⋅ r2 + MyA = My + MyE (11)
0 10 20 30 Yaw: (I ZZ + mxG )r& + mxG (v& + ur ) + Mz A = Mz + Mz E
2
(12)
–0.3 where v and v& denote velocity and acceleration of sway motion
respectively, r and r& are angular velocity and acceleration of yaw
motion, u is advanced speed, m and I are mass and moment of inert ia of
–0.6 the model, xG is the distance between midship and the center of gravity.
F and M without any subscript denote hydrodynamic forces and
at heel angle φ=20deg. & trim angle τ=4deg.
moments acting on the model hull respectively, F and M with subscript
E are measured ones by the load cell, and F and M with subscript A
shows forces acting on the experimental apparatus except the model
Heel under the load cell. Hydrodynamic forces and moments acting on the
hull can be expressed by following mathematical models.
: φ= 0deg.
CMx : φ= 10deg. Fx = Fx &v&vv&2 + Fxr&r& r& 2 + Fx vvv 2 + Fxrr r 2 + Fx &v&r v&r& + Fx vrvr (13)
C Mx : τ= 0deg.
: τ= 2deg.
0.3 : τ= 4deg.
: τ= 6deg.
Pure Yaw
β(deg.)
v=0
0
0 10 20 30
–0.3
Combined Motion
–0.6
at rise H=45mm & heel angle φ=0deg.
Fig.8 Effects of running attitude on heel moment coefficient Fig.9 Modes of forced motion in planar motion mechanism test
In Fig.10 an example of measured forces in a pure sway mode are in the prediction. It should be noted that hydrodynamic heave force and
shown. The thick broken lines in the figure show the predicted forces on pitch moment with double frequency of forced motions are acting on
a quasi-static assumption, in which the measured hydrodynamic forces the hull as shown in Fig.11. This fact means that heave and pitch
by oblique towing tests are used. The predicted forces and moments are motions with higher frequency can be induced by sway and yaw
in fairly good agreement with experimental ones. In Fig.11, one of these motions in maneuvering for the planing craft.
examples in a combined mode is shown. They don’t reach good
agreement because the effects of yaw motion are not taken into account
3 Fx 0.5
Mx
kgf kgfm
2
0
8 10 12
1
–0.5 sec.
0
8 10 12 sec. My
2 Fy 0
kgf kgfm 8 10 12 sec.
0 –0.3
8 10 12
sec.
–2 –0.6
4
Fz Mz
0.2
kgf kgfm
2
0
8 10 12
0
8 10 12 sec.
–0.2 sec.
Yaw Angular Yaw Angular
Velocity Velocity
5 5
rad. /s rad. /s
0 0
8 10 12 sec. 8 10 12 sec.
–5 –5
Fig.10 Comparison of time histories between measured and predicted hydrodynamic forces obtained by pure sway test
3 Fx kgfm Mx
kgf 1
2
0
1 10 12 14
sec.
–1
0
10 12 sec. 14 My
5 Fy
kgf kgfm 0 10 12 sec. 14
–0.2
0
10 12 14
–0.4
sec.
–5
4
Fz Mz
kgf 0.5
kgfm
2
0
10 12 14
0 sec.
10 12 sec. 14 –0.5
Yaw Angular Yaw Angular
Velocity Velocity
2 2
rad./s rad./s
0 0
10 12 sec. 14 10 12 sec. 14
–2 –2
Fig.11 Comparison of time histories between measured and predicted hydrodynamic forces obtained by combined motion test
RESULTS OF PARTLY CAPTURED PMM TESTS
Roll period(deg.)
Pure Sway Test U=5m/s T=0.8s 1.2
Heave(mm)
0
10 12 14 16
–20 sec.
0.8
–40
–60
0.4
20
(deg.)
Roll(deg.)
10
Heel
0 0
10 12 14 16 sec. 0 0.4 0.8 1.2 1.6
–10 Period of forced motion(s)
–20
15
Pitch (deg.)
90 180
roll and sway velocity (deg.)
10 60 150
5 30 120
0 90
0
10 12 14 16 sec.
20 –30 60
Sway
0
10 12 14 16 sec. –60 30
–20
–90 0
–120 –30
0 0.4 0.8 1.2 1.6
Fig.12 Time histories of ship motions obtained by partly captured PMM
test
Period of forced motion (s)
: Pure Sway 2
6
: Pure Yaw
0 0
0 0.4 0.8 1.2 1.6 0 0.4 0.8 1.2 1.6
Period of forced motion(s) Period of forced motion(s)
0.6
0.4 0.4
0.2 0.2
0 0
0 0.4 0.8 1.2 0 0.4 0.8 1.2
Period of forced motion(s) Period of forced motion(s)
Time average of heave (mm)
12
40
8
直進時のHeave
: running attitude
20 without planar
motion 4 直進時のPitch
: running attitude
without planar
motion
0 0
0 0.4 0.8 1.2 1.6 0 0.4 0.8 1.2 1.6
Period of forced motion(s) Period of forced motion(s)
Fig.14 Results of heave motion obtained by partly captured PMM tests Fig.15 Results of pitch motion obtained by partly captured PMM tests
CONCLUSIONS
ACKNOWLEDGEMENTS
REFERENCES